EP1710448B1 - Organe de travail alimentée avec air pressurisé - Google Patents

Organe de travail alimentée avec air pressurisé Download PDF

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Publication number
EP1710448B1
EP1710448B1 EP06002702A EP06002702A EP1710448B1 EP 1710448 B1 EP1710448 B1 EP 1710448B1 EP 06002702 A EP06002702 A EP 06002702A EP 06002702 A EP06002702 A EP 06002702A EP 1710448 B1 EP1710448 B1 EP 1710448B1
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EP
European Patent Office
Prior art keywords
damping
operating
chamber
movement
working
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Not-in-force
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EP06002702A
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German (de)
English (en)
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EP1710448A1 (fr
Inventor
Thomas Feyrer
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Festo SE and Co KG
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Festo SE and Co KG
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Publication of EP1710448A1 publication Critical patent/EP1710448A1/fr
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/22—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke
    • F15B15/228—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke having shock absorbers mounted outside the actuator housing

Definitions

  • the invention relates to a working with compressed air working device, which has a pneumatic drive with an oscillating to each other opposite strokes driven working piston and which is equipped with damping means that allow a controlled braking of the moving working piston.
  • the WO 01/68490 A1 describes a designed as a handling device for repositioning of parts, pneumatically actuated working device.
  • a fluid-operated rotary drive is provided, the working piston is driven to oscillate to each other opposite pivoting strokes, the lifting movements cause the displacement of a gripper, can be detected with the umzuposition Schlode parts.
  • a part participating in the movement hits a fluidic shock absorber and is thereby braked to reduce the final impact position.
  • Working devices which comprise a pneumatic drive embodied as a linear drive can also have damping means for braking the working piston, which interact with the working piston or a part driven by the working piston, in particular when the working piston approaches an end position.
  • Such a working device is in DE 46600 disclosed.
  • the object of the present invention is to realize effective and at the same time cost-effective damping measures in a working device equipped with a pneumatic drive.
  • a working with compressed air working device having a pneumatic actuator
  • the piston is driven by controlled by control compressed air at least one of his limited working chambers via a connected to the respective working chamber, a throttle-containing control line oscillating to opposite reciprocating strokes and comprising at least one pneumatic damping cylinder having a damping damper defining a movable damper member capable of reducing the volume of the damper damper damping chamber and an opposite extension movement, and during a damper phase for carrying out the damper movement, drivingly or indirectly by the working piston acted upon, wherein the pneumatic drive and the at least one damping cylinder so fluidly interconnected in that, during the damping movement of the attenuator, the damping chamber is connected to the venting-connected working chamber on the upstream side of the throttle and, outside the damping phase, also communicates with either a vented working chamber or a pressurized working chamber of the pneumatic drive.
  • the throttle is switched into the control line, a check valve in parallel, which allows a free flow to the connected working chamber and thus allows a high lifting speed in the corresponding stroke direction.
  • another throttle may be turned on. This allows adjustment of the damping rate of the damping cylinder independently of influencing the lifting speed of the working piston outside the damping phase. One can therefore pretend the damping intensity relatively independent of the lifting speed of the working piston.
  • such a connection is provided that the damping chamber of the at least one damping cylinder is in fluid communication with one and the same working chamber independently of the instantaneous stroke movement of the working piston. If the working chamber is acted upon by compressed air via the throttle seated in the control line, a corresponding action is taken on the damping chamber and, consequently, a loading of the damping element in the direction of extension. If, on the other hand, the working chamber is vented, a simultaneous venting of the connected damping chamber takes place, whereby the outflow velocity is reduced by the throttle switched on in the control line, which leads to a backflow which ensures a damped, decelerated movement.
  • Such a design is particularly suitable for use in conventional pneumatic linear or rotary drives, wherein in each case an independent damping cylinder can be provided for the damping in the two stroke directions of the working piston, which is connected to one of the two working chambers.
  • a single damping cylinder is sufficient if damping in only one stroke direction is desired.
  • a connected to the working piston working part due to a specific kinematic coupling per stroke movement of the working piston performs an oscillatory movement with two opposite stroke phases. If a damping phase is desired only at the end of one of the lifting phases, it is possible to resort to a single damping cylinder, which is effective in both two-phase lifting movements. In particular, in such a case, it is advantageous if switching means are present, the at a Pressurization of each one working chamber cause a connection of the damping chamber of the damping cylinder with the currently vented other working chamber.
  • the damping chamber is set by the pressure of the respective one working chamber via the intermediate switching means with the currently vented working chamber in communication, so that it is vented together with this on the subsequent throttle.
  • the extension movement of the attenuator is in each case caused by the exhaust air of the vented working chamber, which accumulates at the switched on in the control line choke and thereby acts on the connected damping chamber.
  • the pneumatic drive can be a linear drive, both with and without a piston rod.
  • An embodiment as a rotary drive is also possible, for example, comparable to that in the DE 39 41 255 C2 described type in which the working piston performs a pivoting movement during operation.
  • All embodiments of the working device operated with compressed air together have the presence of a pneumatic drive 1 which has a drive housing 2 in which an oscillating reciprocating working piston 3 is located.
  • the working piston 3 divides the interior of the drive housing 2 into a first and a second working chamber 4, 5.
  • the first working chamber 4 communicates with a first fluidic control line 6 and the second working chamber 5 with a second fluidic control line 7 in connection.
  • both control lines 6, 7 are connected to control means in the form of an electrically actuatable control valve 8, which enables controlled pressurized air admission of the two working chambers 4, 5.
  • the control valve 8 is a 5/2-way valve in the embodiment.
  • the control means could include, for example, two mutually operable 3/2-way valves.
  • the control valve 8 is connected in a conventional manner to a compressed air source 12 and has communicating with the atmosphere outputs 13.
  • a compressed air source 12 By at least one electric valve drive 14 which is connected to an electronic control device, not shown, of the control means is, the switching position of the control valve 8 can be specified.
  • the respective one working chamber is switched to admission, so is connected to the compressed air source 12 in conjunction, while at the same time the other working chamber is switched to ventilation and communicates with the atmosphere.
  • 5 pressure gradient of the working piston 3 is driven to alternatively one of two oppositely directed lifting movements 15, 16. The latter are indicated in the drawing by arrows. So there is a reciprocating, oscillating movement of the working piston 3 available.
  • the pneumatic drive 1 is designed as a rotary drive 1a.
  • His working piston 3 is formed wing-like and pivotally mounted so that it is in the two strokes 15, 16 are oppositely directed pivoting movements.
  • the working piston 3 is non-rotatably connected to an output shaft 17, which is driven by the pivotal movement of the working piston 3 to a rotational movement about its own axis in one or the other direction.
  • the rotary drive 1a for example, in the in DE 39 41 255 C2 be formed described manner.
  • the pneumatic drive 1 is a linear drive 1b, so that the lifting movements 15, 16 of the working piston 3 are linear movements.
  • the linear drive 1b is a rodless linear drive whose drive housing 2 has a longitudinal slot which is penetrated by a driver 18 which is coupled in a motion-coupled manner to the working piston 3, externally to the latter Hubtownen 15, 16 can be tapped.
  • the basic structure of the linear drive 1b for example, in the EP 1 426 623 A correspond described.
  • the output member 17, 18 of the pneumatic actuator 1 is drivingly connected to a working part 22 and drives this when performing its strokes 15, 16 to a direction indicated by a double arrow, reciprocating working movement 23 at.
  • This working movement 23 is a linear movement in all embodiments, but could also be a pivoting or rotational movement.
  • the working device forms a handling device used for repositioning parts 24.
  • This has a preferably plate-like base 25, to which the pneumatically driven rotary drive 1a is mounted on the back, with its output shaft 17, the base 25 passes through and in the front of the base 25 carries a radially projecting pivot arm 26 which by the rotational movement of the output shaft 17 a reciprocating pivotal movement (arrow 27) is drivable.
  • the pivoting arm 26 is in driving connection with a rod-like handling part 28 in the exemplary embodiment, which is displaceably guided on a carriage 32 in the direction of a first movement axis 33, so that it can perform relative to the carriage 32 a first linear movement 35 indicated by a double arrow.
  • the carriage 32 is fixed to a base 25 fixed to the base 37 is adjustably guided in the direction of a second movement axis 34 perpendicular to the first movement axis 33, so that it can execute a second linear movement 36 perpendicular to the first linear movement 35 along the second movement axis 34.
  • a cross slide guide which makes it possible to move the handling part 28 including a arranged thereon, operated gripper operable gripper 38 in a two-dimensional coordinate system and position.
  • the movement path 42 which is executed by the handling part 28 or the gripper 38 is defined by a path presetting curve 43 which is fixed relative to the base 25. With this, the handling part 28 is engaged by a cam follower 44.
  • the path specification curve 43 extends a little way around the pivot axis 45 of the pivot arm 26 defined by the wear shaft 17.
  • the pivot arm 26 engages on the handling part 28 so that it causes a displacement of the cam follower 44 along the path specification curve 43 during its pivoting movement 27, from which the already mentioned movement path 42 is formed, which has a U-shaped configuration in the embodiment.
  • the path specification curve 43 is also U-shaped according to the desired trajectory 42 in the embodiment, so that the cam follower 44 simultaneously varies its distance with respect to the pivot axis 45 in its movement following the movement path 42.
  • the driving motion coupling between the pivot arm 26 and the handling member 28 via a formed in the pivot arm 26 longitudinal slot 46. Its slot flanks transmit the driving force, while allowing a relative movement along the longitudinal slot 46 to follow the mentioned radial movement.
  • Per stroke movement of the working piston 3 takes place a handling cycle in which the gripper 38 passes through the handling path 42 once, including two defined by the U-legs linear end portions 42a, 42b.
  • the carriage 32 carries out its working movement 23, which is initially a forward movement and subsequently an oppositely oriented reciprocation.
  • the kinematic coupling is designed so that the working part 22 per extending in one direction lifting movement 15 and 16 of the working piston 3 a linear both outgoing and forth going stroke phase of the working movement 23 performs.
  • the working part 22 is thus initially deflected per stroke movement of the working piston 3 and then returned to its basic position.
  • the carriage-like working part 22 is coupled in such a manner directly to the working piston 3 that the working movement 23 runs synchronously with the lifting movements 15, 16 and the working part 22 likewise displaces in only one direction per stroke movement of the working piston 3.
  • the pneumatic drive 1 is equipped with means 47 for exhaust air throttling for each stroke movement.
  • These include a throttle 48 which is switched into a respective control line 6, 7 and which is preferably adjustable with respect to its throttling intensity and a non-return valve 52 connected in parallel.
  • the check valve 52 is designed such that it permits compressed air flow toward the connected working chamber 4, 5 and blocks it in the opposite direction , Consequently, the compressed air displaced from a respective working chamber 4, 5 can always flow out only via a throttle 48, that is to say with a flow rate which is reduced as desired, so that the stroke speed of the working piston can be influenced via the selected throttling setting.
  • Each working device is additionally equipped with pneumatic damping means 53, which contribute to a slowing down of the working piston 3 when approaching an end position.
  • the damping means 53 expediently influence the piston speed only indirectly, by not interacting directly with the working piston 3, but with the working part 22 driven by it.
  • the driving connection between the working piston 3 and the generally larger mass having working part 22 is protected from overuse.
  • a direct interaction with the working piston would be possible.
  • These damping cylinder 54 are conventionally designed in the manner of so-called single-acting pneumatic cylinder and have a cylinder housing 55 with a seal guided therein displaceably guided piston 56, which is connected to a one side out of the cylinder housing 55 piston rod 57 is.
  • Piston 56 and piston rod 57 together form the movable damping member 58 of the damping cylinder 54, wherein the piston chamber 56 on the opposite side of the piston 56 lying cylinder chamber forms a damping chamber 62 still to be described function.
  • the opposite cylinder chamber is via a vent port 63 in constant unthrottled connection with the atmosphere.
  • the volume of the damping chamber 62 When the attenuator 58 is extended, the volume of the damping chamber 62 has a maximum.
  • the volume of the damping chamber 62 increasing movement of the attenuator 58 is referred to as the extension movement 64.
  • the opposite movement of the damping member 58, in the context of which the volume of the damping chamber 62 decreases, is referred to as damping movement 65.
  • the damping effect of a respective damping cylinder 54 is based on the fact that the extended damping member 58 is acted upon at least during a desired damping phase directly or indirectly by the working piston 3 and thereby causes the execution of the damping movement 65.
  • an indirect application by the working piston 22 driven by the working piston 3 is provided in each case.
  • the compressed air contained in the damping chamber 62 is ejected by the damping member 58.
  • This compressed air discharge is done together with the discharge of the compressed air from the currently switched on ventilation working chamber of the pneumatic actuator 1 via the switched on the associated control line 6 and 7 throttle 48 away.
  • the pneumatic drive 1 and the at least one damping cylinder 54 are fluidly interconnected in such a way that the damping chamber of the associated damping cylinder 54 on the upstream of the control means 8 upstream side of the throttle 48 with the switched on ventilation working chamber 4 or 5 is connected.
  • a damping cylinder 54 is outside the damping phase, that is, there is currently no damping movement, it is achieved by the fluidic connection that the damping chamber 62 either - as in the embodiment of FIGS. 1 and 2 - Also connected to the currently switched on ventilation working chamber or - as in the embodiment of FIGS. 3 and 4 - Is in communication with a switched on loading working chamber of the pneumatic actuator 1.
  • dam attenuator 58 is acted upon outside the damping phase by an effective pneumatic force in the extension direction, which has the result of extending the damping member 58 or at least supported.
  • damping cylinder 54 available, each responsible for a damping phase in one of the two strokes 15, 16.
  • the damping chamber 62 of a respective damping cylinder 54 is fluidly connected upstream of the throttle 48 with that working chamber 4, 5, which is connected to the exhaust stroke to be damped 15, 16 to vent.
  • FIGS. 3 and 4 is shown an intermediate position of the working piston 3 and the working part 22, as they can occur in one or the other lifting movement 15, 16.
  • the working part 22 is not yet with an attenuator 58th motion coupled and performs a solely on the setting of the throttle 48 influenced undamped lifting movement.
  • the damping phase begins when the working part 22 impacts on the piston rod 57 of the one or the other damping member 58 projecting towards it as part of the lifting movement, as indicated by dot-dash lines 66. From this moment, the damping member 58 is taken from the output member 22 and the working piston 3 and it is displaced the hitherto in the damping chamber 62 trapped compressed air to cause the damping movement.
  • the further throttle 66 does not influence the lifting speed of the working piston 3, but only has an effect on the damping intensity of the connected damping cylinder 54.
  • the damping intensity of the damping cylinder 54 and the lifting speed of the working piston 3 can be adjusted largely independently.
  • An increased damping does not affect the lifting speed of the working piston 3 outside the damping phase.
  • the further restrictor 66 is expediently connected in parallel with another check valve 67, which allows compressed air flow toward the connected damping chamber 62 and prevents it in the opposite direction. In this way, a fast filling of the damping chamber 62 is achieved with compressed air when switched on loading control line 6, 7, because the other throttle 66 is bypassed in this case.
  • the working part 32 per stroke movement of the working piston 3 from an oscillatory movement with two opposite stroke phases, corresponding to the passage of the two linear end portions 42 a, 42 b of the movement path 42.
  • the single damping cylinder 54 is arranged so that only at the end of the respective second stroke phase of the working part 22 is associated with a damping phase.
  • the attenuator 58 extends to retract during the subsequent second lifting phase by performing the damping movement 65.
  • the single damping chamber 62 is now connected by switching means 68 upstream of the throttled in the two control lines 6, 7 throttles 48 to both control lines such that the described switching characteristic occurs.
  • the switching means 68 preferably comprise a so-called two-pressure valve with a working port 69 connected to the damping chamber 62 and two control ports 73, 74 connected to one of the two control lines 6, 7.
  • the differential pressure acting on the two control ports 73, 74 causes the valve member 76 of FIG Switching means 68 connected in each one of two possible switching positions, in which case the lower pressure having control port is connected to the working port 69 and the higher pressure having control port is shut off.
  • the two-way valve acting as a changeover valve is switched over the control line 8 currently switched to admission control line so that the current connected to vent other control line is connected to the damping chamber 62.
  • the once set connection is present during a respective entire stroke 15 or 16 of the working piston 3, so in both this occurring lifting phases of the working part 22.
  • the damping chamber 62 is filled per stroke first with extending damping member 58 with compressed air from the currently vented control line and In the subsequent damping phase, the compressed air contained in the damping chamber 62 is ejected back into the same control line, so that it flows off in throttled fashion via the associated throttle 48, with simultaneous damping action.
  • the fixed connection has the advantage that the extension movement of the attenuator 58 is synchronized with the correspondingly directed movement of the working part 22 and is also available at high operating speed during the subsequent damping phase of the entire damping stroke available.
  • the back pressure prevailing in the damping chamber connected to the currently vented control line can nevertheless be sufficient to ensure the full extension movement.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Actuator (AREA)
  • Nozzles (AREA)

Claims (16)

  1. Organe de travail entraîné par air comprimé, avec un entraînement pneumatique (1) dont le piston de travail (3) peut être entraîné de manière oscillante pour exécuter des mouvements opposés (15, 16) par exposition à de l'air comprimé, sous le contrôle de moyens de commande (8), d'au moins une chambre de travail (4, 5) délimitée par lui, par l'intermédiaire d'une conduite de commande (6, 7) contenant un étranglement (48) et raccordée à la chambre de travail (4, 5) concernée, et avec au moins un vérin d'amortissement pneumatique (54) qui présente un organe d'amortissement (58) mobile délimitant une chambre d'amortissement (62), qui peut exécuter un mouvement d'amortissement (65) réduisant le volume de la chambre d'amortissement (62) et un mouvement de sortie (64) opposé à celui-ci, en étant sollicité pendant une phase d'amortissement, pour exécuter le mouvement d'amortissement (65), directement ou indirectement par le piston de travail (3) en termes d'entraînement, l'entraînement pneumatique (1) et le vérin d'amortissement (54) au nombre d'au moins un étant montés ensemble, en termes d'écoulement de fluide, de telle manière que, pendant le mouvement d'amortissement (65) de l'organe d'amortissement (58), la chambre d'amortissement (62) est reliée à la chambre de travail (4 resp. 5) mise en purge du côté amont de l'étranglement (48) opposé aux moyens de commande (8) et, en dehors de la phase d'amortissement, est en liaison soit avec une chambre de travail (4 resp. 5) également mise en purge, soit avec une chambre de travail (4 resp. 5) de l'entraînement pneumatique (1) placée en exposition à la pression.
  2. Organe de travail selon la revendication 1, caractérisé en ce qu'en parallèle sur l'étranglement (48) est monté un clapet anti-retour (52) permettant un écoulement d'air comprimé en direction de la chambre de travail (4, 5) raccordée et réalisant une obturation dans la direction opposée.
  3. Organe de travail selon la revendication 1 ou 2, caractérisé en ce qu'entre l'étranglement (48) et la chambre d'amortissement (62) du vérin d'amortissement (54) respectif, un autre étranglement (66) est monté à l'extérieur de la liaison existant entre l'étranglement (48) et la chambre de travail (4, 5) associée.
  4. Organe de travail selon la revendication 3, caractérisé en ce qu'en parallèle sur l'autre étranglement (66) est monté un clapet anti-retour (67) permettant un écoulement d'air comprimé en direction de la chambre d'amortissement (62) et réalisant une obturation dans la direction opposée.
  5. Organe de travail selon l'une des revendications 1 à 4, caractérisé en ce que la chambre d'amortissement (62) du vérin d'amortissement (54) au nombre d'au moins un, à chaque course (15, 16) du piston de travail (3), est en liaison de fluide avec une seule et même chambre de travail (4, 5), de telle manière qu'en cas d'exposition à la pression des chambres de travail (4, 5) raccordées, elle est également exposée et peut être purgée également avec étranglement en cas de purge de la chambre de travail raccordée.
  6. Organe de travail selon l'une des revendications 1 à 5, caractérisé par deux vérins d'amortissement (54), dont le premier est responsable d'une phase d'amortissement pendant la première course (15) et l'autre est responsable d'une phase d'amortissement pendant l'autre course (16) opposée, leurs chambres d'amortissement (62) étant raccordées à des chambres de travail (4, 5) différentes en amont de l'étranglement (48) respectif associé, de telle manière que, dans l'état exposé à la pression des chambres de travail (4, 5) respectives raccordées, les chambres d'amortissement (62) sont également exposées à la pression et l'organe d'amortissement (58) respectif associé subit ainsi une exposition à la pression dans le sens d'une sortie, tandis que, dans l'état purgé d'une chambre de travail (4, 5), la chambre d'amortissement (62) raccordée peut également être purgée par l'intermédiaire de l'étranglement (48) associé.
  7. Organe de travail selon l'une des revendications 1 à 4, caractérisé par des moyens d'inversion (68) qui, en cas d'exposition à la pression d'une chambre de travail (4, resp. 5) respective, établissent une liaison de la chambre d'amortissement (62) du vérin d'amortissement (54) au nombre d'au moins un avec l'autre chambre de travail (5, resp. 4) alors purgée.
  8. Organe de travail selon la revendication 7, caractérisé en ce que les moyens d'inversion (68) présentent une vanne d'inversion, conformée en particulier en vanne bi-pression, raccordée d'une part à la chambre d'amortissement (62) et d'autre part, en amont de l'étranglement respectif (48) associé, aux deux chambres de travail (4, 5), vanne dont la position est imposée par la différence de pression régnant entre les deux raccords de chambre de travail (73, 74).
  9. Organe de travail selon l'une des revendications 1 à 8, caractérisé en ce que le piston de travail (3) coopère indirectement avec l'organe d'amortissement (58) du cylindre d'amortissement (54) au nombre d'au moins un par l'intermédiaire d'une partie d'entraînement (22) entraînée par lui.
  10. Organe de travail selon la revendication 9 rattachée à la revendication 7 ou 8, caractérisé en ce que la partie de travail (22) exécute à chaque course (15, 16) du piston de travail (1) un mouvement oscillant avec deux phases de déplacement opposées.
  11. Organe de travail selon la revendication 10, caractérisé en ce qu'une phase d'amortissement n'est associée qu'à la fin d'une phase de déplacement.
  12. Organe de travail selon l'une des revendications 1 à 11, caractérisé en ce que la chambre d'amortissement (62) est raccordée par une conduite de dérivation (75) à la conduite de commande (6, 7) s'étendant entre les moyens de commande (8) et la chambre de travail (4, 5) respective, en amont de l'étranglement (48) intercalé sur la conduite de commande (6,7).
  13. Organe de travail selon l'une des revendications 1 à 12, caractérisé par une configuration sous forme d'appareil de manutention convenant pour le repositionnement de pièces.
  14. Organe de travail selon l'une des revendications 1 à 13, caractérisé en ce que l'entraînement pneumatique est un entraînement rotatif (1a).
  15. Organe de travail selon l'une des revendications 1 à 13, caractérisé en ce que l'entraînement pneumatique (1) est un entraînement linéaire (1 b).
  16. Organe de travail selon l'une des revendications 1 à 15, caractérisé en ce que les moyens de commande (8) présentent au moins une vanne de commande à actionnement électrique.
EP06002702A 2005-04-07 2006-02-10 Organe de travail alimentée avec air pressurisé Not-in-force EP1710448B1 (fr)

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DE102005015949A DE102005015949B4 (de) 2005-04-07 2005-04-07 Mit Druckluft betriebene Arbeitsvorrichtung

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EP1710448A1 EP1710448A1 (fr) 2006-10-11
EP1710448B1 true EP1710448B1 (fr) 2008-03-19

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JP2011169359A (ja) * 2010-02-17 2011-09-01 Koganei Corp ショックアブソーバおよびショックアブソーバユニット
DE102010029809B4 (de) * 2010-06-08 2012-04-19 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Handhabungseinheit zum Umsetzen von Teilen und Verfahren hierfür
ITMI20130725A1 (it) 2013-05-03 2014-11-04 Cosberg Spa Manipolatore per il prelievo e posizionamento di pezzi
ITMI20130726A1 (it) 2013-05-03 2014-11-04 Cosberg Spa Manipolatore per il prelievo e posizionamento di pezzi
GB2575879A (en) 2018-07-27 2020-01-29 Moog Bv Actuator

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ATE389815T1 (de) 2008-04-15
EP1710448A1 (fr) 2006-10-11
DE102005015949A1 (de) 2006-10-12
DE102005015949B4 (de) 2007-01-25
DE502006000469D1 (de) 2008-04-30

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