CN106414000A - Gripping jaw safety device - Google Patents

Gripping jaw safety device Download PDF

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Publication number
CN106414000A
CN106414000A CN201580029337.8A CN201580029337A CN106414000A CN 106414000 A CN106414000 A CN 106414000A CN 201580029337 A CN201580029337 A CN 201580029337A CN 106414000 A CN106414000 A CN 106414000A
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CN
China
Prior art keywords
described
protection element
jaw
grabbing device
characterised
Prior art date
Application number
CN201580029337.8A
Other languages
Chinese (zh)
Other versions
CN106414000B (en
Inventor
朱利安·斯德克斯切兰德
E·舒科夫
O·洪斯贝格
Original Assignee
库卡系统有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to DE102014210330.4A priority Critical patent/DE102014210330B4/en
Priority to DE102014210330.4 priority
Application filed by 库卡系统有限责任公司 filed Critical 库卡系统有限责任公司
Priority to PCT/EP2015/062126 priority patent/WO2015185493A1/en
Publication of CN106414000A publication Critical patent/CN106414000A/en
Application granted granted Critical
Publication of CN106414000B publication Critical patent/CN106414000B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06Safety devices

Abstract

The present invention relates to a gripping device (1), in particular as effector for an industrial robot, comprising two clamping jaws (10, 20) which are movable relative to each other to engage a workpiece. At least one of the clamping jaws (10, 20) comprises a safety element (30, 40) which is movably mounted on the clamping jaw and can be moved between a safety position and a release position in order to prevent objects or body parts from being accidentally inserted in the occupied space.

Description

Jaw guard member

Technical field

The present invention relates to a kind of grabbing device, it particularly designed to be used the executor of industrial robot, and joins It is provided with the guard member of machinery, the invention still further relates to a kind of robot system with this grabbing device.

Background technology

Industrial robot is programmable machine, and it is designed to automatically manipulate or processing object workpiece in other words. A kind of typical representative is so-called articulated robot, and it has multiple segmental appendages, and these segmental appendages are connected to each other by joint.? In simple form, this robot has support, is rotationally provided with so-called rotating disk on support.On rotating disk, pass through Another cradle head connects the first arm of robot, and this first arm is also referred to as rocking arm.Another rotation is passed through on this rocking arm close Section is provided with another arm, and this another arm is equipped with the incorporating section for instrument on its free end.This instrument is also referred to as executing Device.According to the application target of industrial robot, different instruments can be arranged so that industrial robot can have various The use field of various kinds, for example, manipulate and object of transport and workpiece, processes workpiece, measurement operation etc..Known have multiple for The robot gripping tool of manipulating objects workpiece in other words.

A kind of robot grasping mechanism for example known to patent documentation EP1943064B1, it is configured to robots arm's Executor, or can be installed on Linear actuator or the end regions of rotating driver.This known grasping mechanism bag Include the executive component that at least one framework and is arranged on framework, this executive component has two jaw jaws in other words, should Jaw can be manipulated jaw by joint unit in other words.This executive component is designed to bellows-type, and can fill Medium, is thus made it expand and is acted on jaw by suitable force transmission element, so that jaw moves relative to each other, thus Object can be captured.Here, grasping mechanism itself does not have protection device, this protection device can for example prevent with corresponding The personnel crawled mechanism injury that robot works together, particularly prevents from crushing injury.That is, in the folder of this known grasping mechanism Under the open mode of pawl, the body part of object or people may inadvertently enter in the space between two jaws.As Fruit now operates to actuator, and jaw may cause serious injury in its motor process.

Content of the invention

Therefore, it is an object of the invention to proposing a kind of grabbing device, it is particularly useful as holding of industrial robot Row device, and this grabbing device is designed to be safer, and particularly can farthest, safely prevent due to crawl Process and the injury to people that leads to.This purpose of the present invention by a kind of grabbing device according to claim 1 Lai Realize.Additionally, the present invention also aims to proposing a kind of robot system, this robot system is equipped with this grabbing device simultaneously And can particularly safe run.This purpose of the present invention by a kind of robot system according to claim 13 Lai Realize.

Be particularly useful as the instrument actuator in other words of robot according to the grabbing device of the present invention, its have to Few two jaws, they are arranged to be moved relative to each other, with grabbing workpiece.In order that jaw action, can arrange Executor's driving means in other words, the driving means of for example particularly electronic, hydraulic pressure or pneumatic actuation.According to the present invention, at least One jaw has protection element, and this protection element is movably mounted on jaw, and can be in protective position and release Move between position.This protection element is designed to, and it at least partially occupies the sky between two jaws under protective position Between, to prevent object or body part from inadvertently entering in the space that this is occupied.Preferably protection element is not having external energy For example need by governor motion come work in the case of the supply of source.Herein, preferably protection element is by means of spring element By pretension in protective position.So that grabbing device is placed towards the side of safety by this way, and protection element is not having Also it is in all the time in the case of having error-prone control device and can protect on the tram of personnel.

According to the protection device of the present invention particularly preferably using have two to or multipair correlation function face jaw.Such Jaw permission carries out function to two workpiece of different shapes and correctly captures.For example, first pair of functional surfaces may be constructed such that For capturing the object of circle, and second pair of functional surfaces is configured to capture the object with square structure.Certainly, so Grabbing device in the application always only using a pair of functional surfaces, for example there are the functional surfaces of the profile for receiving round member Right.But due to two pairs of functional surfaces being provided with same jaw, therefore during operation jaw, it is designed to process it The functional surfaces of his object (for example aforesaid square member) also move together by always companion.Let us say that:Be not used by " air transport is moved " of jaw is occurred in that, this is related to a kind of special risk in practice, because be located at should in the region of functional surfaces Space between the functional surfaces being not used by is not occupied, and such as body part may be made to inadvertently enter this In.Therefore, the present invention can make this jaw safe operation with least two pairs of correlation function faces.

Preferably safety element is designed as, it can be by being incorporated into two folders by workpiece to be captured along default direction Protective position is moved between pawl.On the contrary, when workpiece or can also be body part outside this preset direction When other directions are introduced between two jaws, protection element locking simultaneously stops drawing to space occupied by protection element Enter.In a kind of preferred design, protection element is for example designed to, and can pivot around pivot axis on jaw, and And this pivot axis is perpendicular to the direction of relative movement of jaw.Motion from protective position to off-position for the protection element is only possible Occur in the following cases:Protection element is around default pivotal axis.For this it is necessary to have being substantially perpendicular to pivot The power of axis acts in protection element.In other words, only when object or body part are along perpendicular to pivot axis When direction acts in protection element, protection element can move to off-position, and object or body part could be entered Enter in the space occupied by protection element.So that object or body part no longer can by mistake parallel to or favour pivot Shaft axis enter.

Preferably protection element is designed as, only when the direction of relative movement having perpendicular to pivot axis and perpendicular to jaw Power when acting in protection element, protection element can move from protective position.Those skilled in the art it will be clear that , the statement of " perpendicular to pivot axis and direction of relative movement " perpendicular to jaw should be understood it is not strict here Mathematical meaning, but also allow with respect to vertical direction deviation, if having sufficiently large force component vertically into.

Preferably lucky two jaws are had according to the grabbing device of the present invention, and preferably each of this two jaws It is respectively provided with corresponding protection element.That is, preferably this two jaw design are mutually symmetrical, are that at least with protection element This is symmetrical.

In another preferred embodiment, jaw is equipped with cutting or compression tool, so that jaw can not only be grabbed Take instrument, but also can cut or extrude workpiece.Herein, crawl process is also understood to cut under broadest concept Cut process or extrusion process, because cutting process or extrusion process also always include the crawl to processed workpiece.

The invention still further relates to a kind of robot system, it includes at least one robots arm, and this robots arm is as previously mentioned Ground or be equipped with grabbing device as illustrated by below according to accompanying drawing.Here, in order to operate this grabbing device, preferably Robot system includes at least one actuator in other words for robot, the holding of for example particularly electronic, hydraulic pressure or pneumatic actuation Row mechanism.

Brief description

The present invention is described in detail with reference to the accompanying drawings.Wherein:

Fig. 1 shows the grabbing device according to the present invention with schematic three dimensional views;

Fig. 2 illustrates the grabbing device according to Fig. 1 with side-looking;

Fig. 3 show in cross section grasping mechanism shown in figure 2;

Fig. 4 shows the grasping mechanism according to Fig. 1 with decomposition view;And

The 3-D view with local as section for the Fig. 5 shows in the actuator being fixed on robots arm, according to Fig. 1 Grabbing device.

Specific embodiment

Fig. 1 shows the schematic three-dimensional views of the grabbing device 1 according to the present invention.This grabbing device 1 includes two folders Pawl 10 and 20, the two is arranged to move relative to each other, with grabbing workpiece.This two jaws have the knot of substantial symmetry Structure, and the two is respectively provided with corresponding protection element 30 or 40.This protection element is installed in rotation on by bolt 13 and 23 On jaw.As those skilled in the art are as seen in accompanying drawing, the longitudinal direction of pivot axis and bolt 13 and 23 Unanimously, and therefore perpendicular to the direction of relative movement of jaw 10 and 20, here, jaw 10 and 20 is preferably with respect to carrying out base each other This is the displacement movement of straight line.

Shown grabbing device 1 has two pairs of correlation function faces, so as to carrying out to two workpiece of different shapes Function correctly captures.First pair of functional surfaces is made up of the recessed profile of functional surfaces 14 and 24.Functional surfaces 14 and 24 constitute one Association is right, and it is especially designed to capture the workpiece with rounded outer profiles, for example pipe or flexible pipe.Second pair by functional surfaces 15 and 24 compositions.Two functional surfaces 15 and 25 are flat and parallel to each other, and are designed to crawl and have flat peace The object of outer wall of row or main body.

Particularly as can well see in fig. 2, between two jaws 10 and 20, there is free space 2, this free space is partly occupied by two protection elements 30,40, to prevent object or body part from inadvertently entering this It is occupied in space.Object or body part particularly can not be made to enter between two functional surfaces 14 and 24.Protection element 30, 40 are illustrated in its protective position.Without this two protection elements, such as it may happen that following situation:Utilizing During second pair of functional surfaces 15,25 crawl object, other objects or body part is had to enter between first pair of functional surfaces 14,24 Space in, and in this place by mutually closer to functional surfaces 14,24 damage and injure in other words.However, it will be apparent that the present invention is simultaneously It is not limited to the embodiment with two pairs of functional surfaces, but its favourable model of action can be developed further, for example, do not set Put second pair of functional surfaces 15,25 and jaw 10,20 is it may be said that terminate on the height of bolt 13 and 23.

In addition as shown in Fig. 2 protection element 30,40 is discontiguous.Its reason is:Thus, it is possible to advantageous by treating Crawl/workpiece to be extruded, realizes/allows protection element 30,40 and more simply move to off-position from protective position.But It is also contemplated that following this embodiment:Wherein, protection element 30,40 is at least partially touched such that it is able to (protect Shield position) make gap between protection element 30,40 keep little as much as possible to avoid the occurrence of in other words.

Show two protection elements 30,40 being in protective position in Fig. 1 to Fig. 3, in this protective position, protect Protection element partly occupies the space between two jaws, that is, prevent to some extent object or body part is not intended to Enter in the space that this is occupied.In shown embodiment, protection element is all filled up in all three dimension The space that occupies.But it is also contemplated that protection element is only made up of for example thin protection disk, wherein, for example can be at each On jaw, two protection elements are set, be used for preventing object by mistake enter into free space 2 from front or behind (here, During front refers to arrange as illustrated in fig. 1, visible side should be " front " in FIG).Finally, protection element Spatial design scheme depends on size and the construction of jaw, and can correspondingly be selected by those skilled in the art.

Protection element 30 and 40 is movably mounted on its respective jaw, so that protection element can be from institute The protective position illustrating moves to off-position, and on this off-position, grabbing device 1 can be by means of first pair of functional surfaces 14th, 24 crawl object.Referring now to the section view of Fig. 3, those skilled in the art can see, protection element 40 is how to borrow Help spring 27 in protective position by pretension.Protection element 30 utilizes spring 17 in a similar manner by pretension.Protection unit Stopper section 41 or 31 on part stops protection element from mutually being rotated further by their spring.In addition can also see in figure 3 Arrive, jaw 20 is equipped with insertion section 26, this insertion section enters in the corresponding incorporating section 16 of jaw 10, so that two folders of guiding Pawl relative motion each other.This relative motion is illustrated by four-headed arrow in fig. 2.In order that protection element is from its protective position Move or turn to its off-position it is necessary to the strong pivot center perpendicular to bolt 13,23 acts in protection element.Protection Element 40 subsequently can move to off-position from protective position as indicated by the arrows in fig. 3 clockwise.For this Purpose, jaw 20 has the hollow space 28 of respective shapes, for receiving protection element.Protection element is basic on off-position On be accommodated in completely in this hollow space.Protection element 30 along with direction contrary clockwise around bolt 23 pivot center Turn in the corresponding hollow space 18 in jaw 10.As those skilled in the art are seen, by making to wait to grab The workpiece taking enters between two jaws it can be advantageous to produce the corresponding force perpendicular to pivot center along default direction Component.For example, when grabbing device 1 should capture a pipe fitting, this pipe fitting must be arranged essentially parallel to the rotary shaft of protection element Line orients.When this pipe fitting is directed between two jaws, the surface of this pipe fitting will be come in contact with two protection elements, and And two protection elements oppositely turn to corresponding off-position with respect to the power of spring 17,27.That is, it is not necessary to it is single Solely protection element is made to move by corresponding regulation instrument, but the motion energy of the grasping mechanism that can there is from script The energy power in other words for making protection element move is obtained in amount.

Just as shown in Figure 1 that can be clearly seen, the pivot axis of protection element or pivot center are perpendicular to jaw Direction of relative movement.Therefore shown preferred embodiment in, in order that protection element moves to off-position, workpiece Need both perpendicular to pivot axis, be introduced into the direction of relative movement being also perpendicularly to jaw.When an object or body part example When occurring in protection element 30,40 as " top " from schematic diagram as shown in Figures 2 and 3, this protection element will not be transported Move to off-position, but from the direction be surely closed off object or body part to this be occupied space " unintentionally " enter. Those skilled in the art will be consequently realised that according to the design of this embodiment:Here be not forcibly must make workpiece by Be introduced into perpendicular to pivot axis and perpendicular to direction of relative movement according to strict mathematical meaning, but make workpiece be similar to according to Being vertically introduced in mathematical meaning, so as to there is sufficiently large vertical stress component to act in protection element.

Figure 4 illustrates the schematic exploded view of grabbing device 1.Jaw 10,20 includes multiple architectural limitationly The element being spirally connected each other by means of screw 19.Additionally, it will also be appreciated that how grabbing device 1 is from this decomposition view It is assembled.

Fig. 5 is the 3-D view that local is section, and shows how grabbing device 1 is fixed on actuator 60 On, this actuator is on the end how to be arranged on robots arm 70 again.Robots arm 70 only illustrates by a dotted line, and example As being a part for articulated robot.Actuator 60 has housing 61, there are motor 62 in this housing, is used for making Two jaws can be along carrying out relative motion by the direction shown in four-headed arrow in fig. 2.Reference 63 represents motor 62 Motor control box.

Reference numerals list

1 grabbing device

2 free spaces

10,20 jaws

13,23 bolts

14,24 functional surfaces pair

15,25 second pairs of functional surfaces

16 incorporating sections being used for insertion section

17,27 springs

18,28 hollow spaces

19 screws

30,40 protection elements

31,41 stopper sections

60 actuators

61 housings

62 motors

63 motor control box

70 robots arms.

Claims (13)

1. a kind of grabbing device (1), in particular as the executor of industrial robot, described grabbing device includes:
At least two jaws (10,20), described jaw is configured to move relative to each other, with grabbing workpiece it is characterised in that At least one described jaw (10,20) has protection element (30,40), and described protection element can removably mount within described jaw On, and can move between protective position and off-position, and described protection element at least office under described protective position Occupy to portion the space (2) between described two jaws (10,20), to prevent object or body part from inadvertently entering In this space being occupied.
2. grabbing device (1) according to claim 1 is it is characterised in that described protection element (30,40) is by means of spring Element (17,27) is in protective position by pretension.
3. according to grabbing device in any one of the preceding claims wherein (1) it is characterised in that at least one jaw (10) has There is insertion section (26), and at least one other jaw (20) has the incorporating section being used for described insertion section (26) accordingly (16), described insertion section (26) enters into described receipts in the case of described two jaws (10,20) relative motion with being directed Receive in portion.
4. according to grabbing device in any one of the preceding claims wherein (1) it is characterised in that described jaw (10,20) has There are at least two functional surfaces (14,24 to association;15,25), so as to function is carried out at least two workpiece of different shapes Correct crawl.
5. according to grabbing device in any one of the preceding claims wherein (1) it is characterised in that described protection element (30, 40) it is designed to, it can be by being incorporated between described two jaws (10,20) workpiece to be captured along preset direction And move from protective position.
6. according to grabbing device in any one of the preceding claims wherein (1) it is characterised in that described protection element (30, 40) it is designed to, described jaw (10,20) can pivot around pivot axis, and described pivot axis are designed to hang down Directly in the direction of relative movement of described jaw.
7. according to grabbing device in any one of the preceding claims wherein (1) it is characterised in that described protection element (30, 40) it is designed to, it passes through workpiece to be captured is incorporated between two jaws (10,20), and and if only if described workpiece Incoming direction perpendicular to described pivot axis and perpendicular to the direction of relative movement of described jaw (10,20) when, just can transport Move and leave described protective position.
8. according to grabbing device in any one of the preceding claims wherein (1) it is characterised in that having described protection element The described jaw (10,20) of (30,40) has the hollow space (18,28) for receiving described protection element (30,40), in institute State and in hollow space, at least partially receive the described protection element (30,40) being under off-position.
9. according to grabbing device in any one of the preceding claims wherein (1) it is characterised in that described protection element (30, 40) can be pivotably mounted on described jaw (10,20) around pivot axis by means of bolt (13,23), wherein, described Pivot axis are designed the direction of relative movement perpendicular to described jaw (10,20), and wherein, described protection element (30, 40) by means of spring (17,27) in described protective position by pretension, and described releasing can be pivoted away from from this protective position Put position, and wherein, described protection element (30,40) is designed to, described protection element is passed through to draw workpiece to be captured Enter between described two jaws (10,20), and and if only if the incoming direction of described workpiece perpendicular to described pivot axis and Perpendicular to the direction of relative movement of described jaw when, just can move from described protective position.
10. according to grabbing device in any one of the preceding claims wherein (1) it is characterised in that described grabbing device (1) wraps Include lucky two jaws (10,20), wherein, preferably each jaw is respectively provided with protection element (30,40).
11. according to grabbing device in any one of the preceding claims wherein (1) it is characterised in that described jaw (30,40) is joined It is provided with cutting tool or compression tool, to cut or to extrude workpiece.
12. according to grabbing device in any one of the preceding claims wherein (1) it is characterised in that so that described jaw (10,20) move and be provided with actuator (60), the actuator (60) of particularly electronic, hydraulic pressure or pneumatic actuation.
A kind of 13. robot systems, including robots arm (70) it is characterised in that described robots arm (70) is equipped with basis Grabbing device (1) in any one of the preceding claims wherein, and include at least one actuator (60), with convenient to operate institute State grabbing device (1).
CN201580029337.8A 2014-06-02 2015-06-01 Grabbing device CN106414000B (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE102014210330.4A DE102014210330B4 (en) 2014-06-02 2014-06-02 Gripper jaw assurance
DE102014210330.4 2014-06-02
PCT/EP2015/062126 WO2015185493A1 (en) 2014-06-02 2015-06-01 Gripping jaw safety device

Publications (2)

Publication Number Publication Date
CN106414000A true CN106414000A (en) 2017-02-15
CN106414000B CN106414000B (en) 2019-03-29

Family

ID=53284252

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580029337.8A CN106414000B (en) 2014-06-02 2015-06-01 Grabbing device

Country Status (4)

Country Link
EP (1) EP3148755A1 (en)
CN (1) CN106414000B (en)
DE (1) DE102014210330B4 (en)
WO (1) WO2015185493A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015114556A1 (en) 2015-09-01 2017-03-02 Röhm Gmbh Gripper and method for making a gripper

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JPS6039090A (en) * 1983-08-11 1985-02-28 Mitsubishi Electric Corp Hand device for industrial robot
US4557661A (en) * 1982-09-16 1985-12-10 Acf Industries, Incorporated Robot safety mechanism
EP0241878A1 (en) * 1986-04-14 1987-10-21 Litton Systems, Inc. Robot gripper
CN101298142A (en) * 2008-06-27 2008-11-05 山东新华医疗器械股份有限公司 Multifunctional turnable jig
DE102011119784A1 (en) * 2011-11-30 2013-06-06 Festo Ag & Co. Kg Fluid-operated gripping device has safety device to divide gripping movement of movable grippers based on relative position of grippers into high power stage at end of gripping movement and safety phase at upstream of high power stage
DE102012107957B3 (en) * 2012-08-29 2013-09-12 Matrix Gmbh Spannsysteme Und Produktionsautomatisierung Gripping head, gripper and robot with segmented gripping surface for gripping arbitrarily shaped objects
CN103419021A (en) * 2012-05-18 2013-12-04 库卡系统有限责任公司 Assembly device and assembly cell

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DE102005046160C5 (en) * 2005-09-27 2008-12-24 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Robotic gripper and method for its manufacture
JP2012236265A (en) * 2011-05-13 2012-12-06 Seiko Epson Corp Robot hand, and robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4557661A (en) * 1982-09-16 1985-12-10 Acf Industries, Incorporated Robot safety mechanism
JPS6039090A (en) * 1983-08-11 1985-02-28 Mitsubishi Electric Corp Hand device for industrial robot
EP0241878A1 (en) * 1986-04-14 1987-10-21 Litton Systems, Inc. Robot gripper
CN101298142A (en) * 2008-06-27 2008-11-05 山东新华医疗器械股份有限公司 Multifunctional turnable jig
DE102011119784A1 (en) * 2011-11-30 2013-06-06 Festo Ag & Co. Kg Fluid-operated gripping device has safety device to divide gripping movement of movable grippers based on relative position of grippers into high power stage at end of gripping movement and safety phase at upstream of high power stage
CN103419021A (en) * 2012-05-18 2013-12-04 库卡系统有限责任公司 Assembly device and assembly cell
DE102012107957B3 (en) * 2012-08-29 2013-09-12 Matrix Gmbh Spannsysteme Und Produktionsautomatisierung Gripping head, gripper and robot with segmented gripping surface for gripping arbitrarily shaped objects

Also Published As

Publication number Publication date
CN106414000B (en) 2019-03-29
DE102014210330B4 (en) 2016-08-04
EP3148755A1 (en) 2017-04-05
WO2015185493A1 (en) 2015-12-10
DE102014210330A1 (en) 2015-12-03

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