EP1846195A1 - Dispositif universel de saisie et de retenue - Google Patents

Dispositif universel de saisie et de retenue

Info

Publication number
EP1846195A1
EP1846195A1 EP06706683A EP06706683A EP1846195A1 EP 1846195 A1 EP1846195 A1 EP 1846195A1 EP 06706683 A EP06706683 A EP 06706683A EP 06706683 A EP06706683 A EP 06706683A EP 1846195 A1 EP1846195 A1 EP 1846195A1
Authority
EP
European Patent Office
Prior art keywords
arrangement according
granules
container
objects
elastic
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.)
Withdrawn
Application number
EP06706683A
Other languages
German (de)
English (en)
Inventor
Andreas Plaas-Link
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of EP1846195A1 publication Critical patent/EP1846195A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06—Work-clamping means
    • B23Q3/08—Work-clamping means other than mechanically-actuated
    • B23Q3/086—Work-clamping means other than mechanically-actuated using a solidifying liquid, e.g. with freezing, setting or hardening means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/24—Details, e.g. jaws of special shape, slideways
    • B25B1/2405—Construction of the jaws
    • B25B1/241—Construction of the jaws characterised by surface features or material
    • B25B1/2415—Construction of the jaws characterised by surface features or material being composed of a plurality of parts adapting to the shape of the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B5/00—Clamps
    • B25B5/06—Arrangements for positively actuating jaws
    • B25B5/061—Arrangements for positively actuating jaws with fluid drive
    • B25B5/065—Arrangements for positively actuating jaws with fluid drive involving the use of flexible pressure bags or diaphragms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B9/00—Hand-held gripping tools other than those covered by group B25B7/00
    • 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
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/908—Devices for picking-up and depositing articles or materials with inflatable picking-up means

Definitions

  • the invention relates to an arrangement and a method for gripping, holding, lifting and / or moving objects of all kinds.
  • the following invention is based on the object to provide an arrangement that makes an adaptation to the holding, gripping, 2o transporting, sorting and / or objects to be processed superfluous and has such a high strength that even picked up heavy objects, tools held and can be secured against twisting and falling out.
  • the arrangement should be able to adapt individually to the objects.
  • BESTATIGUNGSKOPIE The object is achieved by an arrangement according to claim 1.
  • the container with its deformable structure form-fitting over the objects to be gripped, transported or fixed objects deforms and then solidified by vacuum and the deformable surface encloses the form to be gripped or holding objects (7) and thus the same device can hold very different shaped objects.
  • the hardening of the substances contained under the deformable surface is achieved, inter alia, by the fact that the substances are a granulate and the individual parts of the granules get caught on their surfaces by vacuum and thereby solidified.
  • the advantage that can be achieved thereby is that the granules can be loose and mobile without negative pressure and, depending on the task, can be fine or very coarse.
  • both gases or liquids can be located and pneumatically or hydraulically reduced by vacuum these spaces and compact the granules.
  • the advantage that can be achieved thereby lies in the fact that even the smallest objects such as screws, closures, nuts, electronic components, as well as larger objects such as tools, stones, bulk material can be picked up, rotated, transported and fixed.
  • objects can also be inserted into such a structure, which are thereby held, moved and lifted.
  • the advantage that can be achieved thereby is that, for example, objects are placed in a gripper of the above type manually or with corresponding devices and then processed, moved and lifted therein.
  • the granules which produce the strength can also be flushed in via hoses, catheters or pipes only after the membranes have enclosed the objects to be gripped and then solidified by pressure reduction, thereby increasing the rigidity or preventing bending of the structure or closures, seals Ensure supports and stiffeners.
  • the advantage that can be achieved thereby is that the enclosing of the objects to be gripped is easier and that solidification, supports or reinforcements becomes possible. Even with medical application, a flexible structure can first be positioned and then a stiffening by flushing in of the granules and subsequent solidification, Seal or support cause.
  • the membrane can, as shown in FIGS. 1 to 3, be fixed in a solid container, which inverts with the container on the objects to be gripped and that in this container is a granulate (3) that by negative pressure (5) is solidified by the individual parts of a granulate (3) get caught on their surfaces.
  • the advantage that can be achieved thereby lies in the fact that a tendency to deform during solidification which builds up in the granulate does not take place to the outside, but leads to a firmer enclosure of the objects and the membrane can be kept as small as possible.
  • the granules may be made of any solid to very solid materials, e.g. Silicon crystals or sand, exist. They can also be made of hollow materials. Likewise, they can be made of relatively lightweight materials such as aluminum.
  • the advantage that can be achieved thereby lies in the fact that, in the case of particularly hard materials, the mechanical load on the bearing object to be fixed can be high. Furthermore, the weight of the granules can be reduced by hollow material or aluminum.
  • the granules may also consist of particles of a porous or light material.
  • the granules may also consist of elastic material.
  • the achievable advantages are that the surfaces of the objects to be gripped are not damaged.
  • the container with the hardening material may have solid, non-deformable walls, except for the part covered by elastic material.
  • structures can be embedded in the solidifiable material in which parts can be moved and are not fixed.
  • structures, roughnesses, vertical or horizontal struts may be present in the container with the granules on the walls.
  • the elastic parts enclosing the articles may be membranes (2) made of latex or rubber.
  • the elastic structures or the elastic surfaces (2) may be reinforced with metallic reinforcements, carbon fibers or other tensile material.
  • the tensile materials in tortuous structures may be embedded in the elastic structure and stretch when deformed.
  • the deformable surfaces (2) may have profiles which allow the direct contact of the other sensitive parts of the deformable surface (2) with the objects to be grasped or locked.
  • the granules in the container can be flushed through inserted hoses, lines or channels in the container wall with air or liquids and thus loose, ie held displaceable.
  • the introduction of air or liquids between the granules particles can also be effected via channels in the container wall or hoses or lines.
  • the grippers can also be mounted on rotatable machines, drills and other positioning tools. This can be performed with the gripper or the holder device screwing operations.
  • objects of all kinds such as vehicles, woods, stones, machines, goods in bags, can be picked up and transferred with the gripping device.
  • the gripping mechanism is particularly suitable for use in sorting machines, for example.
  • the gripper benefits from the fact that it can pick up and move objects of very different position and shape.
  • the gripper can be used in handheld devices for picking up objects by means of a long handle. It is e.g. possible without bending down to pick up objects from the ground.
  • the negative pressure can be generated pneumatically or hydraulically via pistons and cylinders by hand or by mechanical drive.
  • the arrangement according to the invention can be used in placement machines. This saves in many cases changing the component-related vacuum pipettes used there.
  • the arrangement according to the invention can also be used.
  • Seating furniture such as car seats, airplane seats and the like can be equipped with elastic pads that are filled with fine granules and solidify after removal of the body shape by negative pressure in the pads this body shape.
  • structures can be incorporated into the mattresses of beds, which can switch between hard and soft and can be changed continuously in areas where the patient is supported or rests with the body.
  • the advantage that can be achieved is the prevention of pressure points that would otherwise occur during prolonged pressure loads.
  • the elastic structures in the mattresses can also be inflated to achieve soft structures. It can be varied and juxtaposed hard and soft areas.
  • an additional structure (hose, chamber, elastic hollow spheres) can be hydraulically or pneumatically enlarged in its volume by overpressure and pressed against the object (7).
  • the granules may be in a deformable Schlauchi (15), which by an elastic band or a corresponding structure
  • a hose 3 (22) on the inside of the bend in the curved state can be inflated.
  • the advantage that can be achieved is that a gripper modeled on a finger is possible, which can be solidified both in the stretched state and solidified in the curved state.
  • the parts standing on the ground may consist of parts with elastic casings in which granules can solidify.
  • the advantage that can be achieved is that the stands can adapt to the soil profile and solidify.
  • moving stands with these deformable parts can also be in direct contact with the ground and used on walking robots.
  • the advantage that can be achieved is that, as in the case of a human foot, parts are solid and deformable again as needed.
  • structures (25) can be embedded on or through the membrane (2), which can be attached to the object to be held, rotated or transported (7) as well as simultaneously in the granules (3) find.
  • the advantage achieved thereby lies in the fact that the membrane (2) has only one function aligning the structures (25) and, under mechanical load, the structures become so tightly entangled or tilted between the granulate and the object to be held that the membrane separates from the membrane Item holding function is exempt.
  • the structures are elongate and possibly obliquely (25) mounted in the membrane.
  • hoses (24) are introduced into the container (1) and inflated after introduction of the article (7) in the membrane (2) with gas or liquid and thereby the Press membrane with its structures (25) more firmly against the object to be held.
  • the advantage that can be achieved is that even objects that have a conical shape or when using thick membranes these membranes are pressed through the hoses firmly against the object.
  • the arrangement is also suitable for pressing the containers with the membranes and the granules via the holding device (38/39) from the inside against an object (34) which has cavities into which the holding device (38/39) can be inserted and itself adapt to the surfaces (40) or get caught there.
  • the arrangement can also be designed fireproof.
  • FIGS. 12 to 16 In order to prevent the granules from falling out of the container when the gripper is tilted, it is provided according to FIGS. 12 to 16 that above the granules (3) there is a membrane or a net (28) which stores the granules in the container (FIG. 1) and is permeable to gas or liquid.
  • a plurality of grippers 41/43) of different size and type can be attached to a robot arm (42).
  • the active gripper (43/44) is respectively pivoted or rotated to the working position (Figs. 19 and 20).
  • the contact pressure of the membrane structures in the membrane to the object can also take place in that there are cavities in the membrane, which expand at reduced pressure.
  • This method can also be used according to claim on lathes and in material processing for holding or gripping materials and tool parts or tools.
  • an air-permeable punch (45) can be pressed into the container 1, which stabilizes the granulate (3) and encloses the object (7).
  • the advantage that can be achieved is that the membrane (2) with the granules (3) controls the object (7) forms.
  • structures (48) can be placed on the membrane (49), which laterally allow only a mobility of the membrane inwards and upwards only a mobility to the outside.
  • the advantage that can be achieved with it is that a very resistant membrane can be used which has a profile.
  • a chamber (50) separated by a membrane can press the membrane (49) against the objects (7) by overpressure and subsequently generate a vacuum in the granules (3).
  • the advantage that can be achieved is the possibility of overpressing the granules with the deformable membrane against the object and even strengthen the pressure.
  • the air extraction may be via ducts (or outlets) (5) made laterally in the tank (1/49).
  • this holding and G ripe device may be equipped with protruding into the granules elongated braces (53, 54) which stabilize the solidified granules.
  • the advantage that can be achieved is a higher tensile strength of the clamped object (7).
  • the vertical struts assume the function of, for example, the reinforcements embedded in concrete.
  • elongate struts may be slidable and press against the object (7) via springs (52).
  • the struts When an object is pressed against the membrane, the struts are pressed against the springs (52).
  • the struts are locked in the later solidifying granules in train and are immovable.
  • the granules are in an elastic, air-impermeable enclosure in a slidable container (60) and this container (60) can be displaced by hydraulic or pneumatic overpressure via the access (59).
  • the chamber (60) can be pushed inwards by an hydraulic control on an opposite gripper and together they enclose an object (7).
  • the granulate (3) is in an elastic, air-impermeable envelope and by overpressure it is pushed out via the access (58) from the container (60) against the object (7).
  • the advantage that can be achieved with that is that over the overpressure n of the chamber (60), an accurate metering of the contact pressure can be achieved. Only over the access (58) is pressed by overpressure the granules (3) around the object (7).
  • gripping arms (65) move on the model (7) from both sides according to the model of classical grippers and the granules closed with an elastic membrane (2) are thereby pressed around the object (7) and then a vacuum is created in the granules.
  • the advantage obtainable thereby is that classical grippers with a pillow or bag of elastic material filled with granules are placed on the gripping arms of a gripper and after detection of the article (7) are vented through an access and solidify after the bag or the pillow this Has molded negative object and thus does not exert a large pressure on the object, but it has firmly enclosed partially or completely. In this way, almost all objects can grip and fix with high torque.
  • collapses (66) which are not completely filled with air are contained in the granules (3) and these expand when the vacuum is established (67).
  • the advantage that can be achieved thereby is that a small change in volume is compensated for by the suction of the air only by the enlargement of the not completely filled hoses and ensures a sufficient back pressure against the object (7).
  • pillows (68) are filled with granules (3) and a vacuum is created in them via valves, which solidifies these pillows.
  • the advantage that can be achieved thereby is that flexible cushions as a support, seal, packaging material etc. can safely stabilize objects after the air has been sucked off.
  • the pillows (68) can before the solidification and the
  • Generating a vacuum can be easily deformed. This allows the pillow to give a desired shape before it solidifies.
  • the pillows or Bags (68) can be gases that are absorbed quickly or slowly by absorbers in the granules (3) over time, thereby creating a vacuum that solidifies the granules. No vacuum pump is required here. It is only necessary to release the absorber from the outside in order to start the vacuum process. This can be done by external mechanical action, where the absorber substances can relate to the gas in the bag or pad.
  • the gas is CO2, which is absorbed by corresponding absorbers in the granules. This then becomes gas-free and solidifies.
  • the bag (69) are filled with granules filled with thick elastic wall, sucked by oblique piercing with a vacuum needle or cannula (70) and solidify, after which the puncture site (71) then from itself (72) closes.
  • the thick elastic wall may also relate to a part of the bag.
  • Fig. 37 and 38 is located above the granules a closed filled with gas and equipped with elastic membrane balloon (73, 74) which is compressed when pressing the article (7) and builds up a back pressure, which does not have an external supply line Overpressure must be done. In this way, by the ever-present counter-pressure against the
  • a gripper to which granules-filled containers or bags (81) are attached.
  • the forklift can move the gripper multiaxially.
  • the forklift is no longer limited to the displacement of pallets, but can remove individual, even sensitive items from the pallets or shelves, etc. and without damage and the
  • Figs. 39 and 40 shown how the gripper from either inside to outside (a TV) (80) or from outside to inside (here a filled box) (82) summarizes and then can safely transport (see Fig. 41 and 42).
  • the two normal forks can be folded down by the holder (77). But it should be the gripper over the
  • Forklift can be tilted, or turned up. This can be a
  • Forklifts not only transport pallets, but also unload or load the pallets, or grasp and transport motors, gearboxes, beverage crates etc. individually. Almost nothing has to be touched by hand.
  • the gripper can grip from the inside to the outside (82) and from outside to inside (81).
  • a holder (91) having plural grippers (92 to 94) may be rotated and the gripper thereafter selected so as to suit each gripper size (92 to 94).
  • the direction of movement of the gripper arm (91) should be considered.
  • the advantage that can be achieved is that such a gripping arm can be adapted for small and large objects and thus becomes a universal tool.
  • FIGS. 44 and 45 it is provided that two jaws (95 to 98) are pressed under and against the object to be held, transported or fixed (7) and part of the pillow or bag (96 to 98) partially against and under the The article (7) presses and that after closing the jaws, the bags (96 to 98) are stiffened by vacuum.
  • the advantage that can be achieved is that the object can be held firmly and secured against slipping by a projection of the gripper or the cushion stiffened by the vacuum and can be transported. As a result, a disadvantage of previous gripper is avoided, which always had to consider whether the plan gripping jaws hold firmly enough on the surfaces of the objects, with some slipping may have dangerous effect.
  • hoses (99) can be guided through the membrane (2) and the granules (3), which additionally fix the object to be held by sucking air onto the gripper.
  • the advantage is that with objects that can not be sufficiently enclosed by the gripper, 5 also remain on the gripper without falling out. Since the form-fitting is maintained, with nuts, screws, tools, etc., a high load (torque) can be maintained.
  • the principle of stiffening the granules (3) in shock absorbers can be used by a support (108) to be damped in air space (109) protruding airtight and compressing this air space under load while the in the granules (3) embedded hoses ( 110) is compressed (112) and by the extent of the vacuum in the granules (3) this compression more or less severely precipitates and thereby the damping of the shock absorber is affected (Fig. 48 to 51).
  • FIGS. 2 and 3 An embodiment is described in more detail below in FIGS. 2 and 3.
  • a conically shaped cylinder (1) is closed at the bottom with an elastic membrane (2).
  • rubbery thicker rubber profiles are embedded in stripes.
  • In the cylinder is a granulate (4) made of aluminum or metal balls with uneven surface.
  • This cylinder is slipped over a brick (7) with a steerable arm in all directions. Thereafter, a negative pressure is pneumatically generated in the cylinder and the stone locked. Thereafter, the cylinder with the stone over the freely movable arm by remote control on a wall to be built. Since very different stone sizes can be moved so this arrangement facilitates the construction of buildings.
  • Another embodiment is the removal of nuts from a container in which the nuts are present as bulk material.
  • the gripper grips the nuts from this bulk material without precise control and places them on a vibrating table individually. After the nuts are shallow due to the shaking, the gripper grasps the mother precisely by means of a simple sensor control and then unscrews it onto a screw at a desired location.
  • the sensor control can be carried out by the fact that 3 phototransistors are mounted around the cylinder register the objects on the vibrating table and the gripper always moves by a controller in the direction in which a sensor detects an object. If none of the 3
  • FIG. 4 A further example is shown in Fig. 4, in which a gripper (9) with a fixed wall at the bottom is closed only by a membrane which has slipped over a rod-shaped object (8).
  • the gripper is suspended on a crane (11) and in the hollow space (9) vacuum (10) is replaced.
  • the object (8) is fixed and can be transported.
  • FIG. 1 Another embodiment is shown in FIG. In this case, by a rotatable gripper (12) of the closure (13) of a bottle (14) taken and placed on this and closed by rotation. Another embodiment is set forth below.
  • Two grippers as described in Figs. 6 and 7 are attached to a freely movable arm so as to contact each other in the curved state. After inflation of the hose 2 (16) stretch both grippers. After these grippers are passed over a test tube, the excess pressure in the tube 2 (16) is reduced and the two grippers curve until they touch the test tube. Thereafter, a negative pressure is generated in the tube 1 (15), which solidifies the granules therein and stabilizes the grippers. In order to ensure a sufficient contact pressure of the gripper against the test tube, the tube 3 (22) is subjected to an overpressure. Thereafter, the test tube can be moved, transported and tilted free of the grippers. It can be grasped and moved with such a gripper design objects of very different thickness and length.
  • a walking robot has "feet" of elastic material filled with granules, this elastic material with granules is subdivided and can be respectively solidified independently or deformable To ensure foot profiles and adaptations to the individual needs of "walking".
  • FIG. 37 An exemplary embodiment is described in greater detail in FIG. 37.
  • a conically shaped housing (1) In this housing is located in the upper part (73) a sealed gas-filled balloon, which is compressed in response to the pressing of an object (7). After enclosing the article (7) through the membrane (2) with the granules (3), a vacuum is generated via the outlet (5), which solidifies the granules. In this way it is possible to pick up and place any arbitrarily shaped electronic small parts.
  • the invention further relates to a method for gripping, holding, lifting and / or moving objects of all kinds, wherein at least one container with a deformable and adaptable to the object surface, with a under the influence of temperature, under pressure, vacuum and / or overpressure solidifiable substance is filled, is brought into contact with the object and then subjected to a temperature or pressure change until a positive connection is achieved.
  • the inventive method is in particular by the features of the gripping assembly according to the invention, as set forth above and in the claims configured.
  • the invention particularly relates to the use of the inventive arrangement for gripping, lifting, moving, positioning, installation, fixing, sorting and processing of objects of all kinds.
  • the arrangements can be used in robots and forklifts, but also for stabilizing, fixing and stiffening of components and in particular of legs, for example, in mobile stands, mobile devices whose feet must be stabilized or adapted, as well as robots.
  • the arrangements according to the invention can be used to make facilities, such as robots and the like, "walkable".
  • a preferred field of application of the arrangements according to the invention are forklifts, which in this way can be converted into so-called forklift trucks by converting the forks into grippers which can grasp and move objects with gripper arrangements arranged on the grippers according to the invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

Dispositif permettant de saisir, de retenir, de soulever et / ou de déplacer des objets de toutes sortes, qui comporte au moins un récipient (1) pourvu d'une surface (2) déformable et pouvant s'adapter à l'objet, ledit récipient contenant des matières pouvant être compactées sous l'effet de la température, de la basse pression, du vide ou de la surpression, et au moins un système destiné à influencer la température et / ou la pression. La présente invention concerne en outre un procédé permettant de saisir, de retenir, de soulever et / ou de déplacer des objets de toutes sortes, selon lequel un récipient (1) de ce type est mis en contact avec l'objet, puis soumis à un changement de température et / ou de pression jusqu'à ce qu'une liaison de forme soit obtenue.
EP06706683A 2005-02-05 2006-02-06 Dispositif universel de saisie et de retenue Withdrawn EP1846195A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
DE102005005639 2005-02-05
DE102005027889 2005-06-16
DE102005031047 2005-07-02
DE102005046559 2005-09-28
DE102005047521 2005-10-04
PCT/EP2006/001028 WO2006082100A1 (fr) 2005-02-05 2006-02-06 Dispositif universel de saisie et de retenue

Publications (1)

Publication Number Publication Date
EP1846195A1 true EP1846195A1 (fr) 2007-10-24

Family

ID=36190726

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06706683A Withdrawn EP1846195A1 (fr) 2005-02-05 2006-02-06 Dispositif universel de saisie et de retenue

Country Status (3)

Country Link
EP (1) EP1846195A1 (fr)
JP (1) JP2008528408A (fr)
WO (1) WO2006082100A1 (fr)

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KR20130055587A (ko) * 2010-04-15 2013-05-28 코넬 유니버시티 그립 및 해제 장치 및 방법
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