CN106414000B - Grabbing device - Google Patents
Grabbing device Download PDFInfo
- Publication number
- CN106414000B CN106414000B CN201580029337.8A CN201580029337A CN106414000B CN 106414000 B CN106414000 B CN 106414000B CN 201580029337 A CN201580029337 A CN 201580029337A CN 106414000 B CN106414000 B CN 106414000B
- Authority
- CN
- China
- Prior art keywords
- grabbing device
- protection element
- clamping jaw
- workpiece
- pivot axis
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of grabbing device (1), are especially used as the actuator of industrial robot, and the grabbing device includes two clamping jaws (10,20), which is designed to be moved relative to each other, with grabbing workpiece.Herein; at least one clamping jaw (10; 20) there is protection element (30; 40); the protection element is movably mounted on the clamping jaw; and it can be moved between protective position and releasing position, to prevent object or physical feeling from inadvertently entering in the space being occupied.
Description
Technical field
The present invention relates to a kind of grabbing devices, are especially designed to be used as the actuator of industrial robot, and match
Equipped with mechanical guard member, the invention further relates to a kind of robot systems with this grabbing device.
Background technique
Industrial robot is programmable machine, is designed to automatically to manipulate or processing object workpiece in other words.
A kind of typically represent is so-called articulated robot, possesses multiple segmental appendages, these segmental appendages are connected to each other by joint.Most
In simple form, this robot has bracket, and so-called turntable is rotationally equipped on bracket.On turntable, pass through
First arm of another cradle head connection robot, first arm are also referred to as rocker arm.It is closed on the rocker arm by another rotation
Section is equipped with another arm, which is equipped with the incorporating section for tool on its free end.The tool also referred to as executes
Device.According to the use purpose of industrial robot, different tools can be arranged so that industrial robot can possess it is various
Various kinds uses field, such as manipulation and object of transport and workpiece, workpieces processing, measurement operation etc..It is known that there are many be used for
The robot gripping tool of manipulating objects workpiece in other words.
Such as a kind of robot grasping mechanism as known to patent document EP1943064B1, it is configured as robots arm's
Actuator, or can be installed on the end regions of Linear actuator or rotating driver.The known grasping mechanism packet
It includes at least one frame and one and executive component on frame is set, executive component tool, should there are two jaw clamping jaw in other words
Clamping jaw can be manipulated jaw by joint unit in other words.The executive component is designed to bellows-type, and can fill
Medium, thus expands it and passes through suitable force transmission element to act on clamping jaw, so that clamping jaw moves relative to each other, thus
Object can be grabbed.Here, grasping mechanism itself does not have a protective device, this protective device can for example prevent with it is corresponding
The personnel that robot works together are crawled mechanism injury, especially prevent from crushing injury.That is, in the folder of the known grasping mechanism
Under the opening state of pawl, the physical feeling of object or people may be inadvertently entered into the space between two clamping jaws.Such as
Fruit at this time operates executing agency, and clamping jaw may cause serious injury in its motion process.
Summary of the invention
Therefore, it is an object of the invention to propose a kind of grabbing device, it is particularly useful as holding for industrial robot
Row device, and the grabbing device is designed to be safer, and especially can farthest, safely prevent due to crawl
To the injury of people caused by process.This purpose of the invention is realized by a kind of grabbing device.In addition, mesh of the invention
Also reside in and propose a kind of robot system, which is equipped with the grabbing device and can particularly safe transport
Row.This purpose of the invention is realized by a kind of robot system.
Grabbing device according to the present invention is particularly useful as the tool of robot executing agency in other words, has extremely
Few two clamping jaws, what they were arranged to can be moved relative to each other, with grabbing workpiece.In order to make jaw action, can be set
Actuator driving device, such as especially electronic, hydraulic or pneumatic actuation driving device in other words.According to the present invention, at least
One clamping jaw has protection element, which is movably mounted on clamping jaw, and can be in protective position and release
It is moved between position.The protection element is designed to, and the sky between two clamping jaws is at least partially being occupied under protective position
Between, to prevent object or physical feeling from inadvertently entering in the space being occupied.It is preferred that protection element is in no external energy
Source is for example needed through regulating mechanism come work in the case where supplying.Herein, preferably protection element is by means of spring element
It is pre-tightened in protective position.Place grabbing device towards the side of safety, and protection element is not having
It is also in and is capable of on the correct position of protection staff always in the case where having error-prone control device.
Protective device according to the present invention is particularly preferably using the clamping jaw with two pairs or multipair correlation function face.It is such
Clamping jaw allows to carry out function to two workpiece of different shapes correctly to grab.For example, first pair of functional surfaces may be constructed such that
For grabbing circular object, and second pair of functional surfaces is configured to the object that crawl has square structure.Certainly, in this way
Grabbing device a pair of of functional surfaces, such as the functional surfaces with the profile for receiving round member are always used only in the application
It is right.But it is designed to handle it during operating clamping jaw due to being equipped with two pairs of functional surfaces on same clamping jaw
Also always companion moves the functional surfaces of his object (such as square member above-mentioned) together.It let us say that: what is be not used by
Occur in the region of functional surfaces " air transportion is dynamic " of clamping jaw, this is related to a kind of special risk in practice, should because being located at
The space between functional surfaces being not used by is not occupied, and such as physical feeling may be made to inadvertently enter this
In.Therefore, the present invention can make this clamping jaw safe operation at least two pairs correlation function faces.
It is preferred that safety element is designed as, it can be by the way that workpiece to be captured be introduced two folders along preset direction
Protective position is moved between pawl.On the contrary, working as workpiece or being also possible to physical feeling except the preset direction
When other directions are introduced between two clamping jaws, protection element is latched and prevents drawing to the space as occupied by protection element
Enter.In a kind of preferred design scheme, protection element is for example designed to, and can be pivoted around pivot axis on clamping jaw, and
And the pivot axis is perpendicular to the direction of relative movement of clamping jaw.Movement of the protection element from protective position to releasing position is only possible
Occur in the following cases: protection element surrounds preset pivotal axis.It must have thus and be substantially perpendicular to pivot
The power of axis acts in protection element.In other words, only when object or physical feeling are along perpendicular to pivot axis
When direction is acted in protection element, protection element can move to releasing position, object or physical feeling could by into
Enter into space occupied by protection element.So that object or physical feeling no longer unintentionally can be parallel to or favour pivot
Shaft axis enters.
It is preferred that protection element is designed as, only when having perpendicular to pivot axis and perpendicular to the direction of relative movement of clamping jaw
Power when acting in protection element, protection element can move from protective position.Those skilled in the art need clear
, the statement of " perpendicular to pivot axis and perpendicular to the direction of relative movement of clamping jaw " should be understood it is not stringent herein
Mathematical meaning, but also allow to be deviated relative to vertical direction, if having sufficiently large force component vertically into.
It is preferred that grabbing device according to the present invention has lucky two clamping jaws, and preferably each of the two clamping jaws
All have corresponding protection element.That is, being that at least with protection element it is preferred that being mutually symmetrical the two jaw designs
This is symmetrical.
In another preferred embodiment, clamping jaw is equipped with cutting or compression tool, so that clamping jaw can not only grab
Tool is taken, but also can cut or squeeze workpiece.Herein, crawl process is also understood as under broadest concept and cuts
Process or extrusion process are cut, because cutting process or extrusion process also always include the crawl to institute's workpieces processing.
The invention further relates to a kind of robot systems comprising at least one robots arm, the robots arm are as previously described
Ground or as below according to being equipped with grabbing device as illustrated by attached drawing.Here, in order to operate the grabbing device, preferably
Robot system includes at least one executing agency in other words for robot, such as especially electronic, hydraulic or pneumatic actuation is held
Row mechanism.
Detailed description of the invention
The present invention is described in detail with reference to the accompanying drawings.Wherein:
Fig. 1 shows grabbing device according to the present invention with schematic three dimensional views；
Figure 2 shows in side view the grabbing devices according to Fig. 1；
Fig. 3 shows in cross section grasping mechanism shown in figure 2；
Fig. 4 shows the grasping mechanism according to Fig. 1 with decomposition view；And
Fig. 5 using part as the 3-D view in section show it is in the executing agency for being fixed on robots arm, according to Fig. 1
Grabbing device.
Specific embodiment
Fig. 1 shows the schematic three-dimensional views of grabbing device 1 according to the present invention.The grabbing device 1 includes two folders
Pawl 10 and 20, what the two was arranged to can to move relative to each other, with grabbing workpiece.The two clamping jaws have the knot of substantial symmetry
Structure, and the two all has corresponding protection element 30 or 40.The protection element is installed in rotation on by bolt 13 and 23
On clamping jaw.As those skilled in the art seen in the attached drawing, the longitudinal direction of pivot axis and bolt 13 and 23
Unanimously, and therefore perpendicular to the direction of relative movement of clamping jaw 10 and 20, here, clamping jaw 10 and 20 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 carry out to two workpiece of different shapes
Function correctly grabs.First pair of functional surfaces is made of the recessed profile of functional surfaces 14 and 24.Functional surfaces 14 and 24 constitute one
Association pair is especially designed to the workpiece that crawl has rounded outer profiles, such as pipe or hose.Second pair by functional surfaces
15 and 25 are constituted.Two functional surfaces 15 and 25 are flat and parallel to each other, and are designed to crawl and have flat peace
The object or main body of capable outer wall.
Especially as can well see in Fig. 2, there are free spaces between two clamping jaws 10 and 20
2, which is locally occupied by two protection elements 30,40, to prevent object or physical feeling from inadvertently entering this
It is occupied in space.Object or physical feeling cannot especially entered between two functional surfaces 14 and 24.Protection element 30,
40 are shown in its protective position.If without the two protection elements, such as following situation may occur: utilizing
When second pair of functional surfaces 15,25 grabs object, there are other objects or physical feeling to enter between first pair of functional surfaces 14,24
Space in, and at this by mutually closer to functional surfaces 14,24 damage 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 advantageous mode of action can further be developed, for example, not setting
Second pair of functional surfaces 15,25 and clamping jaw 10,20 are set it may be said that terminating in the height of bolt 13 and 23.
Furthermore as shown in Fig. 2, protection element 30,40 is discontiguous.Its reason is: thus, it is possible to advantageous by
Crawl/workpiece to be extruded, realization/permission protection element 30,40 more simply move to releasing position from protective position.But
It is also contemplated that this embodiment below: where protection element 30,40 is at least partially touched, so as to (protect
Shield position) make the gap holding between protection element 30,40 is as small as possible to avoid the occurrence of in other words.
Two protection elements 30,40 in protective position are shown in figs. 1 to 3, in the protective position, are protected
Protection element locally occupies the space between two clamping jaws, that is, prevents to some extent object or physical feeling is not intended to
Ground enters in the space being occupied.In shown embodiment, protection element is filled up in all three dimensions
The space that occupies.But it is also contemplated that protection element is only made of for example thin protection disk, wherein for example can be each
Two protection elements are set on clamping jaw, for prevent object unintentionally enter in free space 2 from front or behind (here,
Front refers in setting as illustrated in fig. 1 that visible side should be " front " in Fig. 1).Finally, protection element
Spatial design scheme depends on the size and construction of clamping jaw, and can correspondingly be selected by those skilled in the art.
Protection element 30 and 40 is movably mounted on its respective clamping jaw, so that protection element can be from institute
The protective position shown moves to releasing position, and on the releasing position, grabbing device 1 can be by means of first pair of functional surfaces
14,24 crawl object.Referring now to the section view of Fig. 3, those skilled in the art be can see, and protection element 40 is how to borrow
It is preloaded in protective position to help spring 27.Protection element 30 is pre-tightened using spring 17 in a similar way.Protection member
Stopper section 41 or 31 on part prevents protection element from further mutually being rotated by their spring.Furthermore it can also be seen in Fig. 3
It arrives, clamping jaw 20 is equipped with insertion section 26, which enters in the corresponding incorporating section 16 of clamping jaw 10, to guide two folders
The mutual relative motion of pawl.The relative motion is shown in Fig. 2 by four-headed arrow.In order to make protection element from its protective position
Move or turn to its releasing position, it is necessary to effectively act in protection element perpendicular to the pivot center of bolt 13,23.Protection
Element 40 then can move to releasing position from protective position clockwise as indicated by the arrows in fig. 3.Thus
Purpose, clamping jaw 20 has the hollow space 28 of respective shapes, for storing protection element.Protection element is basic on releasing position
On be accommodated in the hollow space completely.Protection element 30 is along the pivot center for surrounding bolt 23 with opposite direction clockwise
It turns in the corresponding hollow space 18 in clamping jaw 10.As seeing those skilled in the art, by making wait grab
The workpiece taken enters between two clamping jaws along preset direction, it can be advantageous to generate the corresponding force perpendicular to pivot center
Component.For example, the pipe fitting must be arranged essentially parallel to the rotation axis of protection element when grabbing device 1 should grab a pipe fitting
Line orientation.When the pipe fitting is directed between two clamping jaws, the surface of the pipe fitting will be in contact with two protection elements, and
And two protection elements oppositely turn to corresponding releasing position relative to the power of spring 17,27.That is, it is not necessary to single
Solely move protection element by adjusting tool accordingly, but can be from the movement energy for the grasping mechanism that there is originally
The energy power in other words for moving protection element is obtained in amount.
Just as can be clearly seen in Figure 1 as, the pivot axis or pivot center of protection element are perpendicular to clamping jaw
Direction of relative movement.Therefore in shown preferred embodiment, in order to make protection element move to releasing position, workpiece
It needs both to be introduced into perpendicular to pivot axis, the direction of relative movement for being also perpendicularly to clamping jaw.When an object or physical feeling example
When such as appearing in protection element 30,40 from " top " in schematic diagram as shown in Figures 2 and 3, which will not be transported
It moves to releasing position, but is surely closed off object or physical feeling from the direction and enters to " unintentionally " that is occupied space.
Those skilled in the art according to the design scheme of the embodiment it is recognized that be not herein must forcibly make workpiece by
Be introduced into according to stringent mathematical meaning perpendicular to pivot axis and perpendicular to direction of relative movement, but make workpiece be similar to according to
Being vertically introduced into mathematical meaning, so as to there is sufficiently large vertical stress component to act in protection element.
The schematic exploded view of grabbing device 1 is shown in FIG. 4.Clamping jaw 10,20 includes multiple with being architectural limitation
The element that can be spirally connected each other by means of screw 19.In addition, it will also be appreciated that how grabbing device 1 is from the decomposition view
It is assembled.
Fig. 5 is the 3-D view that part is section, and shows how grabbing device 1 is fixed on executing agency 60
On, which how be mounted on the end of robots arm 70 again.Robots arm 70 only shows by a dotted line, and example
It such as can be a part of articulated robot.Executing agency 60 has shell 61, and there are motors 62 in the shell, for making
Two clamping jaws can carry out relative motion by the direction shown in four-headed arrow along in Fig. 2.Appended drawing reference 63 indicates motor 62
Motor control box.
Reference signs list
1 grabbing device
2 free spaces
10,20 clamping jaws
13,23 bolts
14,24 functional surfaces pair
15,25 second pairs of functional surfaces
16 are used for the incorporating section of insertion section
17,27 springs
18,28 hollow spaces
19 screws
30,40 protection elements
31,41 stopper sections
60 executing agencies
61 shells
62 motors
63 motor control box
70 robots arms.
Claims (15)
1. a kind of grabbing device (1), the grabbing device include:
At least two clamping jaws (10,20), the clamping jaw is configured to move relative to each other, with grabbing workpiece, which is characterized in that
At least one described clamping jaw (10,20) has protection element (30,40), and the protection element can be mounted on the clamping jaw with moving
On, and can be moved between protective position and releasing position and the protection element at least office under the protective position
The space (2) between described two clamping jaws (10,20) is occupied, portion to prevent workpiece or physical feeling from inadvertently entering
In the space being occupied, wherein the protection element (30,40) is designed to, can be by by workpiece edge to be captured
Preset direction be introduced between described two clamping jaws (10,20) and move from protective position.
2. grabbing device (1) according to claim 1, which is characterized in that the protection element (30,40) is by means of spring
Element (17,27) is pre-tightened in protective position.
3. grabbing device (1) according to any one of the preceding claims, which is characterized in that at least one clamping jaw (10) tool
Have insertion section (26), and at least one other clamping jaw (20) has the incorporating section for being used for the insertion section (26) accordingly
(16), the insertion section (26) enters the receipts in the case where described two clamping jaws (10 20) relative motion with being guided
It receives in portion.
4. grabbing device (1) according to claim 1 or 2, which is characterized in that the clamping jaw (10,20) has at least two
To associated functional surfaces (14,24；15,25) it, is correctly grabbed so as to carry out function at least two workpiece of different shapes
It takes.
5. grabbing device (1) according to claim 1 or 2, which is characterized in that the protection element (30,40) is designed
For that can be pivoted around pivot axis on the clamping jaw (10,20), and the pivot axis is designed to perpendicular to the folder
The direction of relative movement of pawl.
6. grabbing device (1) according to claim 5, which is characterized in that the protection element (30,40) is designed to,
It is by the way that workpiece to be captured to be introduced between two clamping jaws (10,20), and and if only if the incoming direction of the workpiece is vertical
In the pivot axis and when perpendicular to the direction of relative movement of the clamping jaw (10,20), the guarantor can be just moved from
Protect position.
7. grabbing device (1) according to claim 1 or 2, which is characterized in that with the protection element (30,40)
The clamping jaw (10,20) has hollow space (18,28) for storing the protection element (30,40), absolutely empty in described
Between in at least partially protection element (30,40) of the storage under the releasing position.
8. grabbing device (1) according to claim 5, which is characterized in that the protection element (30,40) is by means of bolt
(13,23) it can be pivotably mounted on the clamping jaw (10,20) around pivot axis, wherein the pivot axis is set
It is calculated as the direction of relative movement perpendicular to the clamping jaw (10,20), and wherein, the protection element (30,40) is by means of bullet
Spring (17,27) is pre-tightened in the protective position, and can be pivoted away from from the protective position to the releasing position, and
Wherein, the protection element (30,40) is designed to, and the protection element is described two by the way that workpiece to be captured to be introduced into
Between clamping jaw (10,20), and and if only if the incoming direction of the workpiece perpendicular to the pivot axis and perpendicular to the folder
When the direction of relative movement of pawl, the protective position can be just moved from.
9. grabbing device (1) according to claim 1 or 2, which is characterized in that the grabbing device (1) includes lucky two
A clamping jaw (10,20).
10. grabbing device (1) according to claim 9, which is characterized in that each clamping jaw all has protection element
(30,40).
11. grabbing device (1) according to claim 1 or 2, which is characterized in that the clamping jaw (30,40) is equipped with cutting
Tool or compression tool, to cut or squeeze workpiece.
12. grabbing device (1) according to claim 1 or 2, which is characterized in that in order to enable the clamping jaw (10,20) is transported
It moves and is equipped with executing agency (60).
13. grabbing device (1) according to claim 12, which is characterized in that the executing agency (60) is electronic, hydraulic
Or the executing agency of pneumatic actuation.
14. grabbing device (1) according to claim 1, which is characterized in that the grabbing device is used as industrial robot
Actuator.
15. a kind of robot system, including robots arm (70), which is characterized in that the robots arm (70) is equipped with basis
Grabbing device described in any one of preceding claims (1), and including at least one executing agency (60), to operate
State grabbing device (1).
Applications Claiming Priority (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 CN106414000A (en) | 2017-02-15 |
| CN106414000B true CN106414000B (en) | 2019-03-29 |
Family
ID=53284252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580029337.8A Expired - Fee Related 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 (4)
| 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 |
| IT201900003031A1 (en) * | 2019-03-01 | 2020-09-01 | Gimatic S R L | Gripper for industrial manipulators |
| CN110355777A (en) * | 2019-07-17 | 2019-10-22 | 苏州托克斯冲压设备有限公司 | It is automatically aligned to grabbing device and is automatically aligned to capture apparatus |
| CN110696037A (en) * | 2019-09-27 | 2020-01-17 | 惠州市百欧森环保新材料有限公司 | Clamp assembly and mechanical arm device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6039090A (en) * | 1983-08-11 | 1985-02-28 | 三菱電機株式会社 | Hand device for industrial robot |
| 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 |
-
2014
- 2014-06-02 DE DE102014210330.4A patent/DE102014210330B4/en not_active Expired - Fee Related
-
2015
- 2015-06-01 EP EP15726946.5A patent/EP3148755A1/en not_active Withdrawn
- 2015-06-01 CN CN201580029337.8A patent/CN106414000B/en not_active Expired - Fee Related
- 2015-06-01 WO PCT/EP2015/062126 patent/WO2015185493A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
|---|---|
| DE102014210330B4 (en) | 2016-08-04 |
| CN106414000A (en) | 2017-02-15 |
| DE102014210330A1 (en) | 2015-12-03 |
| WO2015185493A1 (en) | 2015-12-10 |
| EP3148755A1 (en) | 2017-04-05 |
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