EP0384100B1 - Power driven pliers-type tool holder for handling devices - Google Patents

Power driven pliers-type tool holder for handling devices Download PDF

Info

Publication number
EP0384100B1
EP0384100B1 EP90100068A EP90100068A EP0384100B1 EP 0384100 B1 EP0384100 B1 EP 0384100B1 EP 90100068 A EP90100068 A EP 90100068A EP 90100068 A EP90100068 A EP 90100068A EP 0384100 B1 EP0384100 B1 EP 0384100B1
Authority
EP
European Patent Office
Prior art keywords
cam
tool holder
base
axis
handling devices
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 - Lifetime
Application number
EP90100068A
Other languages
German (de)
French (fr)
Other versions
EP0384100A2 (en
EP0384100A3 (en
Inventor
Gerd-Jürgen Eckold
Hans Maass
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Walter Eckold GmbH and Co KG Vorrichtungs und Geraetebau
Original Assignee
Walter Eckold GmbH and Co KG Vorrichtungs und Geraetebau
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
Application filed by Walter Eckold GmbH and Co KG Vorrichtungs und Geraetebau filed Critical Walter Eckold GmbH and Co KG Vorrichtungs und Geraetebau
Publication of EP0384100A2 publication Critical patent/EP0384100A2/en
Publication of EP0384100A3 publication Critical patent/EP0384100A3/en
Application granted granted Critical
Publication of EP0384100B1 publication Critical patent/EP0384100B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/03—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal otherwise than by folding
    • B21D39/031—Joining superposed plates by locally deforming without slitting or piercing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53709—Overedge assembling means
    • Y10T29/5377—Riveter
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53796—Puller or pusher means, contained force multiplying operator
    • Y10T29/5383—Puller or pusher means, contained force multiplying operator having fluid operator

Definitions

  • the invention relates to a power-operated plier-like tool holder for handling devices, according to the preamble of claim 1.
  • a plier-like tool holder is e.g. known from document US-A-4571975.
  • a handling device commonly referred to as a “robot”, is to be understood as a device that can execute program-controlled movements in the direction of several degrees of freedom.
  • a well-known example are automatic welding machines which place spot welds at predetermined positions on motor vehicle bodies.
  • the body or, more generally, the workpiece is supported in a predetermined position, which provides a spatial reference coordinate system according to which the machine is programmed.
  • both electrodes exert the same, oppositely directed forces on the workpiece so that it is not deformed, for example by a bending load.
  • the object of the invention is to provide a tool carrier for handling devices of this type for carrying out work processes in which forces acting on one side can occur.
  • the cam track head determines the course of movement of the individual (at least two) pliers links through the course of the respective cam tracks, but only a single drive needs to be provided.
  • Figures 1 to 3 show a partially sectioned side view of a tool carrier according to the invention in three successive stages of the movement sequence.
  • the sheets to be connected are supported on a die 14, while a punch cuts the sheets from the other side and penetrates them into the die cavity, after which the material which has passed through is spread out laterally; then the punch 16 is withdrawn again and the die is released from the workpiece.
  • the tool carrier comprises a base 20 which can be attached to a working arm (not shown) of a handling device in a predetermined position, e.g. by screwing.
  • the position of the base relative to the working axes of the handling device is thus fixed.
  • the working arm can be displaced in the direction of an axis 22 and can pivot about this axis.
  • the underside of the sheet 10 is the reference plane in which the axis 22 should lie, and that the base 20 is rotated about the axis 22 such that the axis 24 of the joint 26 runs parallel to this reference plane . If, as provided here, the axis 22 intersects the hinge axis 24 vertically, the programming is simplified.
  • joints can also be provided, which preferably have axes that are parallel to one another.
  • Two pliers members 30 and 32 are pivotable about the axis 24, of which the pliers member 30 carries the die 14 and the pliers member 32 carries the punch 16.
  • the pliers links are designed as two-armed levers. The free tool facing away from the die or die Each end is equipped with a cam follower 34, the engagement surface 36 of which is rounded.
  • a working cylinder preferably a hydraulic cylinder 40, is mounted on the base, the piston of which carries a cam track head 42.
  • the cam track head is interchangeable to adapt to different tools that can be mounted on the pliers links.
  • the cam track head has cam tracks 44, 46, one for each tong member, the cam follower of which is held in contact with the associated cam track by means of a biasing spring 48.
  • the tool carrier In the starting position according to FIG. 1, the tool carrier is in its open position, so that it can be moved along the axis 22 via the sheet metal angle 12 in the working position.
  • the working cylinder 40 If the working cylinder 40 is then actuated, the pliers member 30 is first pivoted into its end position by the cam track 44, in which the die just comes to rest on the side of the sheet 10 facing it. At the same time, the stamp is steadily approached the sheet metal angle 12.
  • the pliers member 30 stops (the corresponding section of the cam track 44 runs parallel to the reference plane), while the cam track 46 pivots the punch 16 into the position shown in FIG. 3, in which the joining process is finished.
  • the movements of the tong links run in reverse order.
  • pliers links can be actuated simultaneously.
  • another pliers member could have an ejector element that detaches the workpiece from the die.
  • one could dispense with the bias springs if the cam followers were guided in channel-like cam tracks.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Scissors And Nippers (AREA)
  • Automatic Assembly (AREA)
  • Mounting, Exchange, And Manufacturing Of Dies (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Processing Of Terminals (AREA)
  • Gripping Jigs, Holding Jigs, And Positioning Jigs (AREA)

Abstract

A power-driven tool holder for handling devices comprises a base on which tong members are articulated. These are designed as two-armed levers and, at one free end, carry a tool and, at the other, a cam follower. A cam-track head associated jointly with all tong members is hydraulically displaceable and, for each tong member, has an individually matched cam track against which the associated cam follower rests. <IMAGE>

Description

Die Erfindung betrifft einen kraftbetriebenen zangenartigen Werkzeugträger für Handhabungsgeräte, entsprechend dem Oberbegriff des Anspruchs 1. Ein zangenartiger Werkzeugträger ist z.B. aus dem Dokument US-A-4571975 bekannt.The invention relates to a power-operated plier-like tool holder for handling devices, according to the preamble of claim 1. A plier-like tool holder is e.g. known from document US-A-4571975.

Unter einem Handhabungsgerät, landläufig "Roboter", soll ein Gerät verstanden werden, das programmgesteuert Bewegungen in Richtung mehrerer Freiheitsgrade ausführen kann. Ein bekanntes Beispiel sind Schweißautomaten, die an vorgegebenen Stellen von Kraftfahrzeugkarossen Punktschweißungen setzen. Dabei wird die Karosse oder, allgemeiner, das Werkstück in einer vorbestimmten Position abgestützt, wodurch ein räumliches Bezugs-Koordinatensystem gegeben ist, gemäß dem der Automat programmiert wird. Beim Schweißen üben beide Elektroden gleiche, entgegengesetzt gerichtete Kräfte auf das Werkstück aus, so daß dieses nicht deformiert, etwa durch eine Biegebelastung, wird.A handling device, commonly referred to as a “robot”, is to be understood as a device that can execute program-controlled movements in the direction of several degrees of freedom. A well-known example are automatic welding machines which place spot welds at predetermined positions on motor vehicle bodies. The body or, more generally, the workpiece is supported in a predetermined position, which provides a spatial reference coordinate system according to which the machine is programmed. When welding, both electrodes exert the same, oppositely directed forces on the workpiece so that it is not deformed, for example by a bending load.

Aufgabe der Erfindung ist es, einen Werkzeugträger für derartige Handhabungsgeräte für die Ausführung von Arbeitsgängen zu schaffen, bei denen einseitig wirkende Kräfte auftreten können.The object of the invention is to provide a tool carrier for handling devices of this type for carrying out work processes in which forces acting on one side can occur.

Diese Aufgabe wird durch die im Patentanspruch 1 angegebenen Merkmale gelöst. Der Nockenbahnkopf bestimmt dabei durch den Verlauf der jeweiligen Nockenbahnen den Bewegungsablauf der einzelnen (mindestens zwei) Zangenglieder, wobei jedoch nur ein einziger Antrieb vorgesehen zu sein braucht.This object is achieved by the features specified in claim 1. The cam track head determines the course of movement of the individual (at least two) pliers links through the course of the respective cam tracks, but only a single drive needs to be provided.

Die Unteransprüche definieren zweckmäßige Weiterbildungen des in Patentanspruch 1 zusammengefaßten Konzepts.The sub-claims define expedient developments of the concept summarized in claim 1.

Ein Ausführungsbeispiel des Gegenstandes der Erfindung ist in den beigefügten Zeichnungen weitgehend schematisiert dargestellt.An embodiment of the object of the invention is shown largely schematically in the accompanying drawings.

Die Figuren 1 bis 3 zeigen in teilgeschnittener Seitenansicht einen Werkzeugträger gemäß der Erfindung in drei aufeinanderfolgenden Etappen des Bewegungsablaufs.Figures 1 to 3 show a partially sectioned side view of a tool carrier according to the invention in three successive stages of the movement sequence.

Als Beispiel wird angenommen, daß ein Blechteil 10 mit einem Blechwinkel 12 mittels Durchsetzfügung verbunden werden soll; die hierfür verwendeten Werkzeuge sind im einzelnen in der Europäischen Patentschrift 77 932 beschrieben. Es genügt daher die nachfolgende Kurzbeschreibung:As an example, it is assumed that a sheet metal part 10 is to be connected to a sheet metal bracket 12 by means of clinching; the tools used for this are described in detail in European patent specification 77 932. The following brief description is therefore sufficient:

Die zu verbindenden Bleche werden auf einer Matrize 14 abgestützt, während ein Stempel von der andern Seite her die Bleche einschneidet und in den Matrizenhohlraum durchsetzt, wonach das durchgesetzte Material seitlich gebreitet wird; danach wird der Stempel 16 wieder zurückgezogen, und die Matrize wird vom Werkstück gelöst.The sheets to be connected are supported on a die 14, while a punch cuts the sheets from the other side and penetrates them into the die cavity, after which the material which has passed through is spread out laterally; then the punch 16 is withdrawn again and the die is released from the workpiece.

Der Werkzeugträger umfaßt einen Sockel 20, der an einem Arbeitsarm (nicht gezeigt) eines Handhabungsgeräts in vorgegebener Position befestigt werden kann, z.B. durch Verschrauben. Damit ist die Lage des Sockels relativ zu den Arbeitsachsen des Handhabungsgeräts festgelegt. Es sei angenommen, daß der Arbeitsarm in Richtung einer Achse 22 verlagerbar sei und um diese Achse schwenken kann. Bei der Programmierung wird davon ausgegangen, daß die Unterseite des Blechs 10 die Bezugsebene ist, in der die Achse 22 liegen soll, und daß der Sockel 20 um die Achse 22 so gedreht wird, daß die Achse 24 des Gelenks 26 parallel zu dieser Bezugsebene verläuft. Wenn, wie hier vorgesehen, die Achse 22 die Gelenkachse 24 senkrecht schneidet, wird die Programmierung vereinfacht.The tool carrier comprises a base 20 which can be attached to a working arm (not shown) of a handling device in a predetermined position, e.g. by screwing. The position of the base relative to the working axes of the handling device is thus fixed. It is assumed that the working arm can be displaced in the direction of an axis 22 and can pivot about this axis. When programming, it is assumed that the underside of the sheet 10 is the reference plane in which the axis 22 should lie, and that the base 20 is rotated about the axis 22 such that the axis 24 of the joint 26 runs parallel to this reference plane . If, as provided here, the axis 22 intersects the hinge axis 24 vertically, the programming is simplified.

Abweichend von der vorgestellten Konstruktion können aber auch mehrere Gelenke vorgesehen sein, die vorzugsweise zueinander parallele Achsen aufweisen.Deviating from the construction presented, several joints can also be provided, which preferably have axes that are parallel to one another.

Um die Achse 24 schwenkbar sind zwei Zangenglieder 30 und 32, von denen das Zangenglied 30 die Matrize 14 und das Zangenglied 32 den Stempel 16 trägt. Die Zangenglieder sind als zweiarmige Hebel ausgeführt. Das den Werkzeugen -- Matrize bzw. Stempel -- abgewandte freie Ende ist jeweils mit einem Nockenfolger 34 bestückt, dessen Eingriffsfläche 36 abgerundet ist.Two pliers members 30 and 32 are pivotable about the axis 24, of which the pliers member 30 carries the die 14 and the pliers member 32 carries the punch 16. The pliers links are designed as two-armed levers. The free tool facing away from the die or die Each end is equipped with a cam follower 34, the engagement surface 36 of which is rounded.

Am Sockel ist ein Arbeitszylinder, vorzugsweise ein Hydraulikzylinder 40 montiert, dessen Kolben einen Nockenbahnkopf 42 trägt. Der Nokkenbahnkopf ist auswechselbar zur Anpassung an unterschiedliche, an den Zangengliedern montierbare Werkzeuge. Der Nockenbahnkopf weist Nockenbahnen 44, 46 auf, jeweils eine für jedes Zangenglied, dessen Nockenfolger an der zugeordneten Nockenbahn mittels einer Vorspannfeder 48 in Anlage gehalten wird.A working cylinder, preferably a hydraulic cylinder 40, is mounted on the base, the piston of which carries a cam track head 42. The cam track head is interchangeable to adapt to different tools that can be mounted on the pliers links. The cam track head has cam tracks 44, 46, one for each tong member, the cam follower of which is held in contact with the associated cam track by means of a biasing spring 48.

In der Ausgangsposition nach Fig. 1 ist der Werkzeugträger in seiner Offenstellung, so daß er längs der Achse 22 über den Blechwinkel 12 in Arbeitsposition verfahren werden kann. Wird dann der Arbeitszylinder 40 betätigt, so wird zunächst das Zangenglied 30 durch die Nockenbahn 44 in seine Endlage verschwenkt, in der die Matrize gerade an der ihr zugekehrten Seite des Blechs 10 zur Anlage kommt. Zugleich wird der Stempel stetig dem Blechwinkel 12 genähert. Bei weiterem Hub des Arbeitskolbens bleibt das Zangenglied 30 stehen (der entsprechende Abschnitt der Nockenbahn 44 verläuft parallel zur Bezugs/ebene), während die Nockenbahn 46 den Stempel 16 in die in Fig. 3 dargestellte Position verschwenkt, in der der Fügevorgang beendet ist. Beim Rückhub des Arbeitskolbens verlaufen die Bewegungen der Zangenglieder in umgekehrter Reihenfolge.In the starting position according to FIG. 1, the tool carrier is in its open position, so that it can be moved along the axis 22 via the sheet metal angle 12 in the working position. If the working cylinder 40 is then actuated, the pliers member 30 is first pivoted into its end position by the cam track 44, in which the die just comes to rest on the side of the sheet 10 facing it. At the same time, the stamp is steadily approached the sheet metal angle 12. When the working piston is lifted further, the pliers member 30 stops (the corresponding section of the cam track 44 runs parallel to the reference plane), while the cam track 46 pivots the punch 16 into the position shown in FIG. 3, in which the joining process is finished. During the return stroke of the working piston, the movements of the tong links run in reverse order.

Es versteht sich, daß nicht nur -- wie im Ausführungsbeispiel -- zwei, sondern noch mehr Zangenglieder simultan betätigt werden können. So könnte beispielsweise ein weiteres Zangenglied ein Auswerferelement aufweisen, das das Werkstück aus der Matrize löst. Ferner könnte man auf die Vorspannfedern verzichten, wenn die Nockenfolger in kanalartigen Nockenbahnen zwangsgeführt würden.It goes without saying that not only - as in the exemplary embodiment - two, but even more pliers links can be actuated simultaneously. For example, another pliers member could have an ejector element that detaches the workpiece from the die. Furthermore, one could dispense with the bias springs if the cam followers were guided in channel-like cam tracks.

Claims (4)

  1. Power-driven pincer-like tool holder for robotic devices, comprising:
       a base (20) arranged to be connected in a defined position with the robotic device,
       jaw members (30, 32) coupled to the base, each in the form of a two-armed lever, to the working ends of which tools (14, 16) can be fastened and at the drive ends of which there are arranged cam followers (34),
       a working cylinder (40) mounted on the base for displacing a cam head (42) substantially at right angles to the axis of articulation (24), which cam head has cam surfaces (44, 46) against which the cam followers lie,
    characterized in that on the base there are provided together a plurality of pairs of co-operating jaw members for tools that are simultaneously actuated, yet act differently in respect of time and space, the cam head has for each jaw member a separate cam surface (44, 46) individually associated with this jaw member, so that together all cam surfaces define in respect of time and space the sequences of movement required for use of the tool.
  2. A tool holder according to claim 1, with coaxially arranged bearings (26) for all jaw members (30, 32).
  3. A tool holder according to claim 2, which is arranged to be connected with the robotic device in such a position that a reference axis (22) of the same intersects the bearing axis (24) at right angles.
  4. A tool holder according to one of the preceding claims, in which the cam followers are held resiliently in engagement with the associated cam surfaces.
EP90100068A 1989-02-22 1990-01-03 Power driven pliers-type tool holder for handling devices Expired - Lifetime EP0384100B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3905466A DE3905466A1 (en) 1989-02-22 1989-02-22 POWERED PLIERS-LIKE TOOL HOLDER FOR HANDLING DEVICES
DE3905466 1989-02-22

Publications (3)

Publication Number Publication Date
EP0384100A2 EP0384100A2 (en) 1990-08-29
EP0384100A3 EP0384100A3 (en) 1991-05-29
EP0384100B1 true EP0384100B1 (en) 1993-08-11

Family

ID=6374678

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90100068A Expired - Lifetime EP0384100B1 (en) 1989-02-22 1990-01-03 Power driven pliers-type tool holder for handling devices

Country Status (9)

Country Link
US (1) US5040278A (en)
EP (1) EP0384100B1 (en)
JP (1) JPH02243287A (en)
AT (1) ATE92802T1 (en)
CA (1) CA2008433C (en)
DE (2) DE3905466A1 (en)
DK (1) DK0384100T3 (en)
ES (1) ES2044233T3 (en)
SU (1) SU1766242A3 (en)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5077870A (en) 1990-09-21 1992-01-07 Minnesota Mining And Manufacturing Company Mushroom-type hook strip for a mechanical fastener
US5337470A (en) * 1993-03-03 1994-08-16 Bethlehem Steel Corporation Method and apparatus for removing a nozzle insert from a steelmaking ladle
US5404641A (en) * 1993-08-16 1995-04-11 Avco Corporation Method of drilling through contiguous plate members using a robotic drill clamp
US5621958A (en) * 1995-01-31 1997-04-22 Woodcox; Gordon G. Brake element processing device and method
US6115898A (en) * 1995-06-06 2000-09-12 Btm Corporation Force multiplying apparatus for clamping a workpiece and forming a joint therein
GB2315236B (en) * 1996-07-12 1999-04-07 Standard Prod Ltd Clinching apparatus
US5853211A (en) * 1997-01-10 1998-12-29 Btm Corporation Universal gripper
US5868987A (en) * 1997-06-19 1999-02-09 Minnesotamining And Manufacturing Superimposed embossing of capped stem mechanical fastener structures
US6132660A (en) * 1997-06-19 2000-10-17 3M Innovative Properties Company Method for forming headed stem mechanical fasteners
US6125684A (en) * 1997-12-18 2000-10-03 Phd, Inc. Parts stamper
US6324886B1 (en) 1997-12-18 2001-12-04 Phd, Inc. Parts stamper
US6233803B1 (en) * 2000-02-25 2001-05-22 Vought Aircraft Industries, Inc. Angled C-squeezer attachment
US6405421B1 (en) * 2001-01-03 2002-06-18 Hon Hai Precisionind. Co., Ltd. Die assembly for riveting
FR2865952B1 (en) * 2004-02-10 2006-06-23 Airbus France METHOD AND DEVICE FOR THE MECHANICAL MACHINING OF FLEXIBLE PANELS, PARTICULARLY OF COMPLEX SHAPE
US20080016939A1 (en) * 2004-07-02 2008-01-24 Egbert Frenken Pair of pressing jaws for hydraulic or electric pressing tools
US7216523B2 (en) * 2004-07-02 2007-05-15 Gustav Klauke Gmbh Pair of pressing jaws for hydraulic or electric pressing tools, and insulating covering for a pressing jaw
DE202006013693U1 (en) * 2006-09-07 2008-01-17 Gustav Klauke Gmbh Pressing jaw pair for hydraulic or electrical pressing devices
US7464578B2 (en) * 2005-06-03 2008-12-16 Fci Americas Technology, Inc. Hand-held, portable, battery-powered hydraulic tool
US7290431B1 (en) 2007-01-12 2007-11-06 U.S. Industrial Tool & Supply Company Rivet squeezer
DE102009049616B4 (en) * 2009-10-16 2019-05-09 Böllhoff Verbindungstechnik GmbH Setting tool, feeding module of the setting device and joining method for connecting at least two components
EP2508275B1 (en) * 2011-04-04 2014-09-10 Novopress GmbH Pressen und Presswerkzeuge & Co. KG Press tool and use of such a press tool
CN109625929B (en) * 2018-12-10 2024-05-03 苏州市天烨医疗设备有限公司 Water mould autoloader

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1346022A (en) * 1919-11-23 1920-07-06 William G Hassel Fuse remover and placer
US2405779A (en) * 1944-05-17 1946-08-13 Davis Jack Tool for installing nut plates or the like
US3630391A (en) * 1969-01-28 1971-12-28 Gulf & Western Ind Prod Co Work gripper
US3579795A (en) * 1969-08-08 1971-05-25 Burroughs Corp Component removing tool
JPS5422458B2 (en) * 1974-02-19 1979-08-07
EP0077932B1 (en) * 1981-10-28 1984-12-27 WALTER ECKOLD GmbH &amp; Co. KG Vorrichtungs- und Gerätebau Apparatus for making a riveted joint of metal sheets
JPS60155390A (en) * 1984-01-24 1985-08-15 三菱電機株式会社 Hand device for industrial robot
US4571975A (en) * 1984-03-29 1986-02-25 Pawloski James A Fluid actuated tool
US4599037A (en) * 1984-07-02 1986-07-08 United Technologies Corporation Method and apparatus for manipulating miniature parts
AT391827B (en) * 1984-12-07 1990-12-10 Sticht Walter HANDLING DEVICE FOR ASSEMBLY PARTS

Also Published As

Publication number Publication date
ATE92802T1 (en) 1993-08-15
JPH02243287A (en) 1990-09-27
US5040278A (en) 1991-08-20
DE59002234D1 (en) 1993-09-23
CA2008433C (en) 1995-01-17
DK0384100T3 (en) 1993-10-25
EP0384100A2 (en) 1990-08-29
SU1766242A3 (en) 1992-09-30
EP0384100A3 (en) 1991-05-29
DE3905466A1 (en) 1990-08-23
ES2044233T3 (en) 1994-01-01
CA2008433A1 (en) 1990-08-22

Similar Documents

Publication Publication Date Title
EP0384100B1 (en) Power driven pliers-type tool holder for handling devices
DE69001202T2 (en) TOOLING SYSTEM FOR RIVETING WORKPIECES.
DE3610317C2 (en)
DE4330683C2 (en) Folding device
DE3203295C2 (en)
DE10052509C1 (en) Device for spot welding at least two components
DE3120772A1 (en) WELDING DEVICE FOR A MOTOR VEHICLE BODY
DE3506314A1 (en) METHOD AND DEVICE FOR AUTOMATIC JOINTING AND EDITING
EP3191254B1 (en) Laser ablation and welding method for workpieces
DE19905527A1 (en) Ductile workpiece joining device, with reaction part of joining tool fixed to linearly movable part of holding-down device
CH650424A5 (en) FORGING MACHINE WITH AUTOMATIC TOOL CHANGE.
EP0638010B1 (en) Method and device for the automatic assembly and working of several components
EP1002595A2 (en) Method and device for forming a workpiece
AT397625B (en) MANIPULATOR FOR A BENDING MACHINE AND ROBOT EQUIPPED WITH THIS MANIPULATOR
DE102016009520A1 (en) Processing system with machine tool and robot for attaching and detaching a workpiece
DE3916014C2 (en)
DE102004057814B4 (en) Method for controlling the position of workpiece and tool with a robot in a processing machine
DE1201245B (en) Device for conveying a workpiece
EP0449281B1 (en) Method and device for inserting parts in holes
DE19755338C2 (en) Feeding device and feeding method for plate-shaped workpieces
DE3901655C2 (en) Tool system with changeable tool elements
DE102020133999B4 (en) Resetting device and method for resetting a plate-shaped workpiece in a processing machine
DE4036656C1 (en) Vehicle bodywork panel mfr. - involves toggle-action punch working onto die
DE3842721C2 (en)
DE8709013U1 (en) Tool combination for handling equipment

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AT BE CH DE DK ES FR GB GR IT LI LU NL SE

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AT BE CH DE DK ES FR GB GR IT LI LU NL SE

17P Request for examination filed

Effective date: 19911127

17Q First examination report despatched

Effective date: 19920709

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE CH DE DK ES FR GB GR IT LI LU NL SE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 19930811

REF Corresponds to:

Ref document number: 92802

Country of ref document: AT

Date of ref document: 19930815

Kind code of ref document: T

REF Corresponds to:

Ref document number: 59002234

Country of ref document: DE

Date of ref document: 19930923

ITF It: translation for a ep patent filed

Owner name: STUDIO TORTA SOCIETA' SEMPLICE

REG Reference to a national code

Ref country code: DK

Ref legal event code: T3

ET Fr: translation filed
GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

Effective date: 19931118

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2044233

Country of ref document: ES

Kind code of ref document: T3

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19940131

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed
EAL Se: european patent in force in sweden

Ref document number: 90100068.7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 19971211

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 19971217

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: AT

Payment date: 19971223

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DK

Payment date: 19971230

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 19971231

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CH

Payment date: 19980107

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: BE

Payment date: 19980108

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 19980119

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 19980130

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 19980318

Year of fee payment: 9

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19990103

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19990103

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19990104

Ref country code: ES

Free format text: LAPSE BECAUSE OF EXPIRATION OF PROTECTION

Effective date: 19990104

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19990131

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19990131

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19990131

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19990202

BERE Be: lapsed

Owner name: MAASS HANS

Effective date: 19990131

Owner name: ECKOLD GERD-JURGEN

Effective date: 19990131

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19990801

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 19990103

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19990930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19991103

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

REG Reference to a national code

Ref country code: DK

Ref legal event code: EBP

REG Reference to a national code

Ref country code: ES

Ref legal event code: FD2A

Effective date: 20010910

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES;WARNING: LAPSES OF ITALIAN PATENTS WITH EFFECTIVE DATE BEFORE 2007 MAY HAVE OCCURRED AT ANY TIME BEFORE 2007. THE CORRECT EFFECTIVE DATE MAY BE DIFFERENT FROM THE ONE RECORDED.

Effective date: 20050103