Classifications

• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
  • F16L21/00—Joints with sleeve or socket
  • F16L21/06—Joints with sleeve or socket with a divided sleeve or ring clamping around the pipe-ends
  • F16L21/065—Joints with sleeve or socket with a divided sleeve or ring clamping around the pipe-ends tightened by tangentially-arranged threaded pins
• • 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
  • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
  • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
  • F16L23/00—Flanged joints
  • F16L23/04—Flanged joints the flanges being connected by members tensioned in the radial plane
  • F16L23/08—Flanged joints the flanges being connected by members tensioned in the radial plane connection by tangentially arranged pin and nut
  • F16L23/10—Flanged joints the flanges being connected by members tensioned in the radial plane connection by tangentially arranged pin and nut with a pivoting or swinging pin
• • E—FIXED CONSTRUCTIONS
  • E04—BUILDING
  • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
  • E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
  • E04B1/38—Connections for building structures in general
  • E04B1/58—Connections for building structures in general of bar-shaped building elements
  • E04B1/5825—Connections for building structures in general of bar-shaped building elements with a closed cross-section
  • E04B1/5837—Connections for building structures in general of bar-shaped building elements with a closed cross-section of substantially circular form
  • E04B1/585—Connections for building structures in general of bar-shaped building elements with a closed cross-section of substantially circular form with separate connection devices
• • E—FIXED CONSTRUCTIONS
  • E04—BUILDING
  • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
  • E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
  • E04B1/38—Connections for building structures in general
  • E04B1/58—Connections for building structures in general of bar-shaped building elements
  • E04B2001/5868—Hinged connections
• • 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
  • Y10T29/53435—Means to assemble or disassemble including assembly pallet

Definitions

• the present invention relates to a device for assembling standard elements intended for producing precision mechanical structures.
• grippers are generally manufactured from steel or aluminum alloy tubes, or from aluminum alloy profiles; the dimensions of these connecting elements are defined by the loads to be supported and by the required positioning details. They thus constitute as such tools which have to be adapted to specific needs and which require high rigidity, associated with the lowest possible mass; their production cost is consequently high in view of a manufacture which can be qualified as artisanal, taking into account the diversity of the mechanical parts to be treated. In addition, in the event of failure or damage, the immobilization of such grippers constitutes an additional cost which obstructs the repair costs.
• connection between the connection element and at least one of said standard elements comprises:
• a flange consisting of two half-collars, connected to each other by clamping means, having conformations which cooperate with the corresponding conformations of said connecting element and said standard element so that the tightening of the two half-collars causes the application and centering of the above two contact faces against each other.
• the contact faces, to be associated, of the above standard elements and of the connecting elements will consist of end plates, of circular shape, which may comprise or not comprise angular positioning elements, such as at least one flat or a tenon / mortise type assembly or at least one cylindrical tenon.
• At least two connecting elements can be assembled by means of junction elements associated with transition elements; said joining elements may be cubic or prismatic so as to arrange the connecting elements, one with respect to the other, in respectively orthogonal or oblique directions; said elements of transition will be integral with the junction elements by means of clamping elements and positioned by means of a tenon / mortise type assembly; the association of the connecting element with the transition element is carried out by flanges made up of half-collars articulated to one another by one of their ends and include clamping means to the other end.
• the standard element comprising the bearing surface
• the standard element comprising the bearing surface
• the aforesaid bearing surface can be positioned relative to the end flange, according to at least one degree of freedom.
• the connecting element consisting of a section and two end flanges may be of different lengths, and thus meet the requirements of the needs expressed; it may also include orifices arranged parallel to the main axis of said connecting element so as to allow the passage of fluid circuits, electrical circuits or control members.
• the assembly of standard elements made up of connecting elements, of different lengths, associated with standard elements, adjustable and non-adjustable, which connecting elements can be associated with one another by junction elements making it possible to arrange them in different directions, could constitute a gripper comprising multiple bearing surfaces referenced with respect to a reference surface or with respect to at least one other bearing surface constituting the said reference surface.
• connection elements will, for example, be made from extruded aluminum alloy profiles;
• elements adjustable standard will include precise positioning members in translation or rotation;
• the flanges made up of half-collars will conform to the shape of the end flanges while respecting the requirements of precision and rigidity; it will be the same for the tenon / mortise type assembly allowing the association of standard elements and transition elements.
• - Figure 1 is a perspective representation of a basic element, shown in exploded form
• - Figure 2 is a perspective representation of a connecting element
• - Figure 3 is a perspective representation of terminal elements not adjustable
• - Figure 4 is a perspective representation of adjustable end elements
• - Figure 5 is a perspective representation of junction elements
• - Figure 6 is a perspective representation of a junction element associated with transition elements
• - Figure 7 is a perspective representation of flanges
• - Figure 8 is an example of assembly of standard elements.
• the basic element EB essentially comprises an upper plate EBi of rectangular shape, a lower plate EB 2 of rectangular shape identical to that of the upper plate EBi, an inspection plate EB associated with the lower plate EB 2 , and a certain number of basic transition elements EB 4 , 8 in this case, arranged between said upper plates EBi and lower EB 2 .
• the basic element EB by means of the upper plate EB l5, will make it possible to secure the assembly of standard elements according to the invention constituting a gripper, with a fixed support or a mobile support such as a robot head.
• the upper surface of the above-mentioned upper plate EBi will constitute the so-called reference surface of the gripper.
• the upper plate EBi comprises grooves EB ⁇ , arranged parallel to the long side of said upper plate EBi and facing the upper face of said upper plate EBi; said EB ⁇ grooves also include circular orifices EB ⁇ 2 passing through the wall at the bottom of the groove.
• the above-mentioned lower plate EB 2 of length and width identical to those of the upper plate EBi, comprises a rectangular opening EB 2 ⁇ acting as an access hatch, which rectangular opening EB 2 ⁇ is associated with a plate EB 3 , in shape and made integral with said lower plate EB 2 by appropriate means; the aforesaid lower plate EB 2 also comprises circular orifices EB 22 , passing through the wall of said lower plate EB 2 , and the axes of which are collinear with the axes of the circular orifices EB 12 of the upper plate EBi.
• a number of basic transition elements EB 4 are interposed between the above upper EBi and lower EB 2 plates; in this case, there are eight of them.
• Each basic transition element EB 4 comprises a parallelepiped body EB 4 ⁇ , a flange of circular section EB 42 and a connecting body EB 43 , associating the body EB 41 and the flange EB 42 , of circular section.
• each body EB 4 ⁇ comprises two circular orifices EB 45 whose axes are parallel to the axes of the orifices EB ⁇ 2 , EB 22 -
• the aforesaid orifices EB 45 , EB 22 , EB ⁇ 2 have their collinear axis, and make it possible to associate the different basic elements EB 4 between the upper EBI and lower EB 2 plates, by means of EB 5 cylindrical barrels and EB 6 shoulder screws.
• cylindrical barrels EB 5 comprise a cylindrical part EB 51 accommodating in the circular orifice EB 12 of the upper plate EBi and the circular orifice EB 45 of the basic transition element EB 4 , a shoulder EB 52 of rectangular or square section accommodating in correspondence of shape in the groove EB n of the upper plate EBi, and a threaded orifice EB 5 whose axis is collinear with that of the cylindrical part EB 51 .
• shoulder screws EB 6 comprise a head EB 6 ⁇ coming to bear on the lower surface of the lower plate EB 2 , and a threaded part EB 62 coming to be screwed into the threaded orifice EB 53 of the cylindrical barrel EB 5 corresponding.
• each of said flanges 42 EB basic transition elements EB 4 comprises, at their periphery, at least one notch EB 46 of width equal to the diameter of the flanged hinge pin which will be described later.
• the connecting element EL consists of a section ELi of circular section and two flanges EL 2 , EL 3 , also of circular section; the axes of symmetry of the ELi section and of the EL 2 flanges,
• EL 3 are collinear with the main axis ⁇ EL of the connecting element EL.
• the distance separating the two external faces of the flanges EL 2 , EL 3 determines the length of the connecting element EL.
• each of said flanges comprises, at their periphery, at least one notch EL 4 of width equal to the diameter of the hinge pin of the flanges which will be described later.
• the aforementioned EL 4 notch allows angular positioning of the EL connecting element relative to the element which will be associated with it.
• the connecting element will include orifices EL 5 arranged parallel to the axis ⁇ EL ; their section may be circular or of any other shape; they will thus make it possible to lighten the mass of the EL connecting element without however compromising the rigidity of said EL connecting element; they will also make it possible to have fluid circuits, electrical circuits or control members, having to pass right through the connecting element EL.
• the section of the section ELi may be square, polygonal, or any other, so as to constitute, with the orifices EL 5 , a compromise between a minimum surface and a maximum main moment of inertia in the two orthogonal directions of inertia.
• the non-adjustable terminal elements ET A , ET B , ET C essentially consist of a flange ET ls of circular section, centered on the main axis ⁇ ET , and comprising on their periphery at least one notch ET 7 of width equal to the diameter of the articulation pin of the flanges which will be described later, of a body ET 2 , ET 3 , comprising a bearing surface, respectively rectangular or circular, and of a body ET 4 , ET 5 , ET 6 , constituting the connection between the flanges ETi on the one hand and the bodies comprising the bearing surfaces on the other hand.
• three types of non-adjustable terminal element AND A , AND B , AND C represented in FIG. 3, allow respectively to obtain a rectangular bearing surface containing the main axis ⁇ ET , a surface rectangular support offset from the main axis ⁇ ET , and a circular support surface centered on the main axis ⁇ E ⁇ -
• the adjustable terminal elements ETR A , ETR B , ETR C , ETR D essentially consist of an ETRi flange, of circular section, centered on the main axis ⁇ ETR , and comprising on their periphery at least one notch ETR ⁇ 6 of width equal to the diameter of the hinge pin of the flanges which will be described later, of a body ETR 2 , ETR 3 , ETR 4 , ETR 5 , integral with the corresponding flange ETRi, and d 'a movable body respectively ETR ⁇ ETR 7 , ETR 8 , ETR 9 , with respect to the aforesaid body ETR 2 , ETR 3 , ETR 4 , ETR 5 , comprising either a circular bearing surface or a rectangular bearing surface.
• the first example of an adjustable terminal element ETR A comprises an ETR flange 15 , of circular section, integral with the movable body ETRg, and constituting the bearing surface of the terminal element ETR A ; said movable body ETRg can pivot around an axis perpendicular to the main axis ⁇ ETR , by means of an ETR shaft 7 rotatably mounted in the fixed body ETR 2 ; thus the axis of symmetry of the flange ETR 15 can pivot in the plane containing the main axis ⁇ ETR by an angle greater than 90 ° on either side of said main axis
• the ETR flange 15 may comprise, on its periphery at least one ETR notch 16 of width equal to the diameter of the hinge pin of the flanges which will be described later. Furthermore, the locking in angular position of the mobile body ETRg relative to the fixed body ETR 2 will be carried out by means of a pin. disposed in at least one circular orifice ETRn disposed around the axis of rotation of said movable body ETRg.
• the second example of an adjustable terminal element ETRB comprises a flange ETR ⁇ 5 , of circular section, integral with the movable body ETR 7 , and constituting the bearing surface of the terminal element ETR B ; said moving body ETR 7 can slide parallel to the main axis ⁇ ETR ; thus the axis of symmetry of the flange ETR ⁇ 5 will be collinear with the main axis ⁇ E T R -
• the flange ETR ⁇ 5 may comprise, on its periphery at least one notch ETR ⁇ 6 of width equal to the diameter of the hinge pin flanges which will be described later.
• the locking in longitudinal position of the movable body ETR 7 with respect to the fixed body ETR 3 will be carried out by means of a stud disposed in at least one circular orifice ETRn disposed perpendicularly to the main axis ⁇ ETR .
• the third example of an adjustable terminal element ETRc comprises a movable body ETR 8 relative to the fixed body ETR 4 , and constituting the bearing surface of the terminal element ETRn; said mobile body ETR 8 can slide perpendicular to the main axis ⁇ ETR - Furthermore, the locking in transverse position of the mobile body ETR 8 relative to the fixed body ETR 4 will be carried out by means of a shoulder screw ETR 13 , threaded mounting in the ETR movable body 8 and capable of sliding in at least one oblong ETR orifice 14 whose longitudinal axis is perpendicular to the main axis ⁇ ETR - P r elsewhere, for example, four ETR 17 orifices are made perpendicular to the aforesaid support surface, allowing the connection between the mechanical part to be treated and the assembly, according to the invention, constituting the gripper.
• the fourth example of an adjustable terminal element ETR D comprises a movable body ETR 9 relative to the fixed body ETR 5 , and constituting the bearing surface of the terminal element ETR D ; said ETR 9 moving body can slide perpendicular to the main axis ⁇ ETR and along the main axis ⁇ ETR - Furthermore, the locking in transverse position and in longitudinal position of the moving body ETR 9 relative to the fixed body ETR 5 will be carried out by means of at at least one bolt ETR 13 , which can slide in two oblong holes ETRi 4 , the longitudinal axes of which are respectively perpendicular and parallel to the main axis ⁇ ETR - Advantageously, the locking in transverse position and in longitudinal position of the movable body ETR 9 relative to the ETR 5 fixed body will be made by means of a stud disposed in at least one circular orifice ETRn arranged perpendicular to the main axis ⁇ ETR - Furthermore, by way of example, four ETR orifices 17
• the junction element EJ A essentially consists of a prismatic main body and the junction elements EJ B , EJ C , EJ D , EJ E , EJ F , EJ G , EJ H , consist essentially of a cubic main body.
• the bearing faces of the prism or of the cube can receive at least one transition element ETT which will be described later.
• the aforementioned EJ A junction element may receive two ETT junction elements; the bearing faces make an angle which can vary between 0 ° and 90 °, preferably equal to 30 °, or 45 °, or 60 °.
• EJ B , EJ C , EJ D , EJ E , EJ F , EJ G , EJ H junction elements can receive 2, 3, 3, 4, 4, 5, 6 ETT junction elements respectively, corresponding to the different possible combinations taking into account the six faces of a cube.
• the EJ junction element consists essentially of a cubic main body.
• Each of the six faces of said cubic main body EJ comprises a mortise EJi whose longitudinal axis contains the center of the face corresponding and whose length is equal to the length of said corresponding face.
• each of the six faces of said cubic main body EJ comprises a threaded circular orifice EJ 2 whose main axis is perpendicular to the corresponding face and contains the center of said corresponding face.
• each of the six faces of the cubic main body EJ can receive an ETT transition element, which consists of a flange ETTi of circular section, a stud ETT 2 and a connecting body ETT 5 .
• ETT transition element which consists of a flange ETTi of circular section, a stud ETT 2 and a connecting body ETT 5 .
• the assembly consisting of the flange ETT 15 of the stud ETT 2 and of the connecting body ETT 5 , is crossed by a circular orifice ETT 4 whose main axis contains the center of said flange ETTi.
• the post ETT 2 will be in shape correspondence with the mortise EJi made in the bearing face of the junction element EJ receiving the corresponding transition element ETT.
• An ETT shoulder head screw will bear on the external face of the ETTi puddle and will hold the ETT transition element by screwing the threaded part of the ETT 3 screw into the threaded circular hole EJ 2 .
• the same principle of securing the transition element ETT to the junction element of prismatic type could be applied to the two faces of said junction element.
• flanges BR A , BR B , BRc, BR D , BR E are offered as examples; the flanges BR A , BR B , consist of two half-collars associated with a pin; the flanges BRc, BR D , BR E , consist of two half-collars associated with two pins. Furthermore, said half-collars are tightened, at the opposite end to that comprising either one or two pins, of a locking device, or by bolt resting on the two half-collars, or by shouldered head screws, articulated on one of the two half-collars and bearing on the other half-collar.
• Each of the two half-collars comprises a groove of trapezoidal section in shape correspondence with the two flanges of circular section corresponding to the two elements to be associated; these elements may be connecting elements EL, non-adjustable terminal elements ET, adjustable terminal elements ETR, transition elements ETT associated with junction elements EJ, basic transition elements associated with. the basic element EB.
• the aforementioned BR A flange comprises two half-collars BRi, BR ⁇ >, articulated at one of their ends by means of a pin.
• BR 2 the aforementioned pin BR 2 being of length greater than the width of said half-collars BRi, BR ⁇ ".
• the axis ⁇ BRI of said pin BR 2 is parallel to the central axis ⁇ BR of the flange BR A.
• a bolt BR 3 whose main axis ⁇ BR2 is perpendicular to the central axis ⁇ BR of the flange BR A , is supported on the ends of the two half-collars opposite the aforementioned pin BR 2 .
• This type of flange can be essentially used in the case where the respective angular positioning of the two flanges corresponding to the two elements to be associated, is not necessary.
• the above-mentioned BR B flange comprises two half-collars BRi, BR ⁇ , articulated at one of their ends by means of a trunnion BR 2 , the aforementioned trunnion BR 2 being of length at least equal to the width of said half-collars BiS, BR ⁇ >. Furthermore, the axis ⁇ B R I of said pin BR 2 is parallel to the central axis ⁇ B R of the flange BR B.
• a bolt BR 3 whose main axis ⁇ BR2 is perpendicular to the central axis ⁇ BR of the flange BR B , is supported on the ends of the two half-collars opposite the aforementioned pin BR 2 .
• ends of the two half-collars associated with the aforementioned trunnion BR 2 are perforated so as to release the corresponding portion of the aforementioned trunnion BR 2 .
• This type of flange can be essentially used in the case where the respective angular positioning of the two flanges corresponding to the two elements to be associated is necessary; in this case, the aforesaid corresponding portion of the pin BR 2 will come to bear in a notch, described above, made in the two flanges.
• the aforesaid flange BRc comprises two half-collars BR 5 , BR 5 >, articulated at one of their ends by means of two trunnions BR 4 , BRt-, the aforementioned trunnions BR 4 , BRi-, being of at least equal length to the width of said half-collars BR 5 , BR 5 >.
• the axes ⁇ BRI , ⁇ B I ' , of said pins BR 4 , B are parallel to the central axis ⁇ BR of the flange BRc.
• the journals BR 4 , BR ⁇ >, are kept apart by a spacer BR 9 comprising a flat surface, oriented towards the central axis ⁇ B and parallel to said central axis ⁇ BR .
• a locking device comprising a threaded sleeve BR 8 , articulated on the end of one of the two half-collars opposite the aforementioned pins BR 4 , BR ⁇ >, by means of an axis BRe, and a head screw shouldered BR 7 bearing on the end of the other of the two half-collars opposite the aforementioned pins BR 4 , BRi-, allows, by screwing the aforementioned shouldered head screw BR 7 in the threaded sleeve BR 8 , to tighten the two half-collars BR 5 , BR 5 >.
• This type of flange can be mainly used in the case where the respective angular positioning of the two flanges corresponding to the two elements to be associated, is necessary; in this case, the aforesaid BR 9 spacer will come to bear on a flat formed on the two flanges.
• the above-mentioned BR D flange comprises two half-collars BR 5 , BR 5 >, articulated at one of their ends by means of two journals BR 4 , BRi ", the above journals BR 4 , BR 4 ' , being of length at less equal to the width of said half-collars BR 5 , BR 5 >.
• the axes ⁇ BR ⁇ , ⁇ BR ⁇ >, of said pins BR 4 , BR 4 ' are parallel to the central axis ⁇ BR of the flange BRc.
• the pins BR 4 , BR 4 ' are held apart by two spacers BR 10 , BR 10' (not shown).
• a locking device comprising a threaded sleeve BR 8 , articulated on the end of one of the two half-collars opposite the aforementioned pins BR 4 , BR ⁇ >, by means of an axis BRg, and a head screw shouldered BR 7 bearing on the end of the other of the two half-collars opposite to the aforementioned pins BR 4 , BR ⁇ >, allows, by screwing the aforementioned shouldered head screw BR 7 in the threaded sleeve BR 8 , to tighten the two half-collars BR 5 , BR 5 >.
• This type of flange can be essentially used in the case where the respective angular positioning of the two flanges corresponding to the two elements to be associated, is not necessary.
• the above-mentioned BR E flange comprises two half-collars BR 5 , BR 5 >, articulated at one of their ends by means of two journals BR 4 , BR 4 ' , the above journals BR 4 , BR 4' , being of length at least equal to the width of said half-collars BR 5 , BR 5 >. Furthermore, the axes ⁇ BR ⁇ , ⁇ B RI>, of said pins BR 4 , BRi-, are parallel to the central axis ⁇ B R of the flange BRc-
• the journals BR 4 , BR 4 ' are held apart by a spacer
• a locking device comprising a threaded sleeve BR 8 , articulated on the end of one of the two half-collars opposite the aforementioned pins BR 4 , BR 4 ' , by means of a axis BR ⁇ , and a screw with BR 7 shouldered head resting on the end of the other of the two half-collars opposite to the above pins BR 4 , BR ⁇ >, allows, by screwing the aforementioned shouldered head screw BR 7 in the threaded sleeve BR 8 , to tighten the two half-collars BR 5 , BR 5 >.
• This type of flange can be essentially used in the case where the respective angular positioning of the two flanges corresponding to the two elements to be associated is necessary; in this case, at least one BR ⁇ 2 pin mounted on one of the two flanges will position the other flange.
• An EB base element is equipped with eight EJ connection elements
• Connection elements EL, EL 2 , EL 3 , EL 4 , EL 5 , EL 6 , EL 7 are either joined together by connecting elements EJ 2 , EJ 3 , EJ 4 , EJ 5 , EJ 6 , EJ 7 , either integral with the basic element EB.
• a non-adjustable terminal element ETi is integral with the base element EB.
• Adjustable terminal elements ETR i5 ETR 2 , ETR 3 , ETR 4 are integral with the junction elements EJ 3 , EJ 5 , EJ 8 , EJ 9 .
• EJi, EJ 6 , EJ 10 junction elements are available for other associations.
• An adjustable terminal element ETR 5 is integral with the adjustable terminal element ETRi.
• this example of a gripper will have five bearing surfaces, positioned and oriented with precision with respect to the reference surface formed by the upper surface of the base element EB.
• the adjustments according to the geometry of the mechanical parts to be treated, will be facilitated.

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• Engineering & Computer Science (AREA)
• General Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Robotics (AREA)
• Connection Of Plates (AREA)
• Clamps And Clips (AREA)
• Pivots And Pivotal Connections (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=34684892

Family Applications (1)

Country Status (4)

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• 2004
  • 2004-01-09 FR FR0400158A patent/FR2864920B1/fr not_active Expired - Lifetime
  • 2004-10-29 US US10/977,148 patent/US7331104B2/en not_active Expired - Lifetime
  • 2004-12-16 EP EP04816409A patent/EP1704356A1/de not_active Ceased
  • 2004-12-16 WO PCT/FR2004/003274 patent/WO2005075874A1/fr not_active Application Discontinuation

Non-Patent Citations (1)

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