EP2419338A1 - Dispositif de saisie intérieure de corps creux - Google Patents

Dispositif de saisie intérieure de corps creux

Info

Publication number
EP2419338A1
EP2419338A1 EP10718852A EP10718852A EP2419338A1 EP 2419338 A1 EP2419338 A1 EP 2419338A1 EP 10718852 A EP10718852 A EP 10718852A EP 10718852 A EP10718852 A EP 10718852A EP 2419338 A1 EP2419338 A1 EP 2419338A1
Authority
EP
European Patent Office
Prior art keywords
rod
cylinder
piston
bellows
pressure chamber
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.)
Granted
Application number
EP10718852A
Other languages
German (de)
English (en)
Other versions
EP2419338B1 (fr
Inventor
Günther Zimmer
Martin Zimmer
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 EP2419338A1 publication Critical patent/EP2419338A1/fr
Application granted granted Critical
Publication of EP2419338B1 publication Critical patent/EP2419338B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
    • B66C1/54—Internally-expanding grippers for handling hollow articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B21/00—Packaging or unpacking of bottles
    • B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
    • B65B21/14—Introducing or removing groups of bottles, for filling or emptying containers in one operation
    • B65B21/18—Introducing or removing groups of bottles, for filling or emptying containers in one operation using grippers engaging bottles, e.g. bottle necks
    • B65B21/186—Inflatable grippers

Definitions

  • the invention relates to a device for non-positive internal absorption of hollow bodies with a cylinder space and a piston limited by a pressure chamber comprising cylinder-piston unit and extending in the axial direction of the device, an elastically deformable, in two at least in the axial direction relative to each other movable receiving elements supported elastically deformable ring bellows-carrying rod, wherein the cylinder and the piston by means of pressurization of the pressure chamber relative to each other, the receiving elements with deformation of the annular bellows are moving toward each other, displaced and wherein the
  • Pressure chamber by means of a cylinder and the piston relative to each other leading return spring is compressible.
  • the rod penetrates the cylinder in the axial direction.
  • the receiving elements are floating.
  • the compression of the pressure chamber releases the re-deformation of the annular bellows.
  • FIG. 1 Dimetric view of an apparatus for indoors
  • FIG. 2 a longitudinal section of the device from FIG. 1;
  • FIG. 3 FIG. 2 with expanded ring bellows;
  • FIG. 4 receiving element
  • FIG. 5 ring bellows
  • FIG. 7 device for small inner diameters
  • FIG. 8 FIG. 7 with expanded bellows
  • FIG. 9 device with driving piston
  • FIG. 10 rod of FIG. 9;
  • FIG. 11 piston of FIG. 10
  • FIG. 12 Cylinder of FIG. 10.
  • Figures 1 - 3 show a device (10) for non-positive internal absorption of hollow bodies, such as bottles.
  • the device (10) is used for example in the neck opening of the bottle.
  • a ring bellows (110) is pushed together in the axial direction (11) and thereby expanded in the radial direction (13).
  • the annular bellows (110) frictionally engages the inner wall of the bottle neck and thus enables handling, processing, transporting, etc. of the bottle.
  • the device (10), e.g. a so-called finger or expansion gripper comprises in the illustrated embodiment, a cylinder-piston unit (20), this one in the axial direction (11) penetrating rod (81) and the rod (81) surrounding the annular bellows (110).
  • the cylinder-piston unit (20) is surrounded in the illustration of Figures 1-3 a mounted on the rod (81) protective hood (82). Furthermore, e.g. arranged on the annular bellows (110) oriented end face of the cylinder-piston unit (20) has a pneumatic connection (22).
  • the overall length of the handling tool (10) shown in FIGS. 1-3 is e.g. 88 millimeters. For example, it has a diameter of 37 millimeters in the area of the protective hood (82).
  • the outer diameter of the undeformed annular bellows (110) shown in FIGS. 1 and 2 is 32 millimeters.
  • the annular bladder (110) has e.g. an outer diameter of 38 millimeters.
  • the central rod (81) is made for example of AlZn5.5MgCu with the material number 3.4365 (EN-AW 7075).
  • The- This high-strength material is a hardenable wrought alloy and has good machining properties.
  • the surface of the rod (81) is hard-coated and ground.
  • the rod (81) has a central, continuous longitudinal bore (84) with a e.g. constant diameter of five millimeters. It carries in the illustrated embodiment the piston (61), e.g. has a diameter of 25 millimeters.
  • the piston (61) is integrated into the rod (81). Its distance from the front rod end (85) pointing in the insertion direction (12) is, for example, 58 millimeters.
  • the piston (61) has a circumferential annular groove (62) in which e.g. a sealing ring (63) sits. In the areas adjoining the piston (61), the rod (81) has a diameter of ten millimeters.
  • the rod end (85) has a peripheral receiving groove (86), the receiving collar (87) is partially flattened.
  • a rod end (85) is present, for example, in the rod shown in FIG.
  • an annular groove (89) for receiving a securing ring (91) is arranged.
  • the cylinder (31) in this embodiment has a length of 40 millimeters and a diameter of 32 millimeters. It has in the axial direction (11) two mutually offset portions (32, 33), which are connected by means of a bottom (34).
  • the first region (32) of larger diameter has, for example, a length of 20 millimeters and an inner diameter of 25 millimeters.
  • the subsequent, normal to the axial direction (11) oriented bottom (34) has an inner diameter of, for example, 10.1 millimeters.
  • its inner wall (35) has an annular groove (36) in which a (37), eg an O-ring is seated.
  • the region (33) of smaller diameter following in the direction of insertion (12) has an outer diameter of 17 millimeters.
  • the housing Between the bottom (34) and in the insertion direction (12) front housing end (38), the housing has an example cylindrical receiving recess (39) with a depth of, for example, 20 millimeters.
  • the cylinder (31) is made for example of AlMgSiI with the material number 3.2315.
  • a transmission element eg a force storage element (131).
  • this is a compression spring (131). It has a relaxed length of 25 millimeters and an outer diameter of 15 millimeters. The wire thickness is eg one millimeter.
  • the compression spring (131) is supported on the bottom (41) of the receiving recess (39) and at one on the ⁇ rod (81) seated second transmission member (132) from.
  • this second transmission element (132) is, for example, a tubular rod sleeve (132). It has, for example, a length of 13.5 millimeters. Its diameter corresponds to the diameter of the smaller diameter portion (33) of the cylinder (31).
  • the device (10) can also be designed without the force storage element (131) and / or without the rod sleeve (132).
  • the rod (81) carries two, for example, identical sleeve-like receiving elements (141, 146) which receive the annular bellows (110).
  • the first, the cylinder (31) facing bellows sleeve (141) is supported via a shim (135) on the rod sleeve (132).
  • the second bellows sleeve (146) abuts a lock washer (92).
  • This lock washer (92), see. 6, has two, for example, segment-shaped engagement shoulder (97) with which it engages in the receiving groove (86) and the receiving collar (87) of the rod (81) engages behind.
  • the lock washer (92) is thus attached to the rod (81).
  • the disk-shaped sleeve (141) shown in FIG. 4 has, for example, an outer diameter of
  • the annular groove (143) has a semi-oval cross section.
  • the radii centers have a distance of 0.3 millimeters.
  • the radii are 0.8 millimeters.
  • the receiving shoulder (144) has a diameter of 22 millimeters. Its length corresponds e.g. 45% of the length of the bellows sleeve (141).
  • the ring bellows (110) shown in FIGS. 2 and 5 has a length of 16 millimeters and a wall thickness of 3.8 millimeters in the undeformed initial state.
  • the annular bellows (110) is of toroidal design and has, for example, a radius of 13.6 millimeters in the planes in which the central axis (15) lies.
  • Ring bladder (110) is for example a polymeric material, e.g. Polyurethane, nitrile butadiene rubber, etc. This material may also be food grade.
  • the two ends of the annular bellows (110) are each formed as annular beads (111). These annular beads (111) have a semicircular cross-section and in each case pass tangentially into the concavely curved inner wall (112) of the annular bellows (110). above.
  • the cross sections of the annular beads (111) are smaller than the cross sections of the annular grooves (143).
  • the rod (81) has a front-side internal thread (93) into which a threaded pin (94) is screwed.
  • This threaded pin (94) has a continuous longitudinal bore (95), which opens into a hexagon socket (96).
  • the minimum diameter of this longitudinal bore (95) is e.g. 1.5 millimeters.
  • the rod (81) can have a radial bore which connects the longitudinal bore (84) of the rod (81) with the annular space (113) delimited by the rod (81) and the annular bellows (110).
  • a return spring (120) is furthermore arranged in the cylinder (31), which is supported on the piston rear side (64) and on a retaining ring (43) seated in a housing groove (42) via a support disk (53).
  • the rod (81), the housing (31) and the guard (82) can be mutually secured against rotation.
  • this can serve a nose or a flattening of the mutually guided or held parts.
  • the sealing ring (37) is inserted into the housing (31) and the piston sealing ring (63) mounted on the piston (61). If necessary, the threaded pin (94) can already be screwed into the rod (81).
  • the return spring (120) is placed on the piston rear side (64) facing away from the pressure chamber (21), the support disk (53) is placed on it and secured by means of the securing ring (43) inserted in the housing groove (42).
  • the compression spring (131) can be pushed onto the rod (81), so that it sits in the receiving recess (39) and protrudes in the insertion direction (12) from this.
  • the rod sleeve (132) is put on. For example, after installation, the rod sleeve (132) rests against the compression spring (131) only.
  • To the housing end (38) has the rod sleeve (132) game.
  • the two bellows sleeves (141, 146) and the intermediate ring bellows (110) are pushed onto the rod (81).
  • the lock washer (92) is placed on the rod (81) and e.g. secured by twisting.
  • the engagement heels (97) engage behind the receiving collar (87) in a form-fitting manner. They are additionally loaded by the pressure spring (131) and the ring bellows (110) in the direction of insertion (12).
  • the protective hood (82) is pushed onto the rod end (88) projecting out of the housing (31) as far as an abutment edge (98), and is e.g. secured by a securing ring (91).
  • the bellows sleeves (141, 146) After assembly, the bellows sleeves (141, 146) have radial clearance to the rod (81). In the exemplary embodiment, the radial play is 1.8 millimeters, so that the bellows sleeves (141, 146) can be displaced laterally by 0.9 millimeters from the position shown concentrically to the central axis (15).
  • the rod (81) At the maximum radial offset of the bellows sleeves (141, 146) and the annular bellows (110) - denoted in the embodiment of Figure 8 by the reference numeral (14) - touch the bellows sleeves (141, 146), the rod (81).
  • the imaginary central axis of the annular bellows (110) lies parallel to the central axis (15) of the handling tool (10).
  • This maximum radial offset (14) is, for example, greater than 1.5 millimeters.
  • the bellows sleeves (141, 146) can also be displaced, for example, in different radial directions (13).
  • the bellows sleeve (141) shown in Figure 2 below may contact the rod (81) on the left side while the bellows sleeve (146) shown above contacts the rod (81) on the right side.
  • the imaginary central axis of, for example, undeformed annular bellows (110) then encloses, for example, an angle of ten degrees with the central axis (15) of the device (10).
  • the annular bellows (110) with the bellows sleeves (141, 146) is rotatable in the circumferential direction, wherein in the insertion direction (12) the compression spring (131) acts on the bellows sleeves (141, 146) by means of the rod sleeve (132).
  • the thus prepared handling tool (10) is e.g. by means of its rod (81) and / or by means of, for example, formed as an insert guard (82) attached to a tool holder.
  • a pneumatic line controlled by means of a 2/2-way valve is connected to the pneumatic connection (22) of the cylinder-piston unit (20).
  • a second pneumatic line can be connected to the longitudinal bore (84). Both pneumatic lines can also be parallel, e.g. be controlled by the same valve.
  • the device (10) - it is in the starting position shown in Figures 1 and 2 - is now used for example in the insertion direction (12) in a bottle.
  • the central axis (15) of the handling tool (10) coincide with the imaginary center axis of the receiving opening.
  • the central axis (15) can also be offset from the imaginary central axis of the receiving opening in the radial direction (13) or include an angle with the imaginary central axis of the receiving opening.
  • the rod sleeve (132), the bellows sleeves (141, 146) and the annular bellows (110) initially remain in their original position due to their inertia.
  • the compression spring (131) is compressed. Once the housing end (38) abuts the rod sleeve (132), this is displaced in the direction of insertion (12).
  • the pressure spring (131) which relaxes due to the decreasing acceleration now causes an additional axial force on the rod sleeve (132) and on the bellows sleeve (141) directed towards the cylinder (31).
  • the rod sleeve (132) shifts the bellows sleeve (141) in the direction of the rod end (85) in the insertion direction (12).
  • the annular bellows (110) in the axial direction (11) is compressed and expanded in the radial direction (13).
  • the annular bellows (110) bulges outward, cf. FIG. 3.
  • the radially expanded annular bellows (110) abuts against the inner wall of the bottle neck.
  • the annular bellows (110) initially lie with a circumferential line of its surface. che (114) to the inner wall of the bottle neck.
  • the annular bellows (110) is further compressed in the axial direction (11).
  • the annular bellows (110) is now pressed against the inner wall, where it continues to deform.
  • the contact surface of the annular bellows (110) to the inner wall grows.
  • the annular bellows (110) and the inner wall form a frictional connection.
  • the receiving opening of the bottle is located eccentrically relative to the handling tool (10) or if the central axis (15) of the handling tool (10) makes an angle between the center line of the receiving opening, for example. Zero degrees and ten degrees, first touches a point of the surface (114) the inner wall of the bottle neck. Upon further displacement of the cylinder 31, the annular bellows 110 and thus one 141, 146 or both bellows sleeves 141, 146 are displaced in the radial direction 13 relative to the rod 81. The bottle will remain e.g. stand in its holder and is not verzwnaturet.
  • annular bellows (110) As soon as the annular bellows (110) is displaced or inclined so far in the lateral direction with respect to the central axis (15) that its surface (114) touches the inner wall in a peripheral line, a further displacement of the cylinder (31) causes a pressing of the annular bellows (110 ) to the inner wall.
  • the annular bellows (110) is elastically deformed and the contact surface of the annular bellows (110) to the inner wall is increased.
  • the annular bellows (110) and the inner wall are now connected non-positively.
  • the handling tool (10) can clamp the workpiece, e.g. take out the bottle, for example, from a magazine. Even if the handling tool (10) is not inserted concentrically to the receiving opening of the workpiece, there is no risk of forcing or damaging the workpiece.
  • the abutment of the annular bellows (110) to the bottle may also be assisted by air blown radially from the longitudinal bore (84) through a bore in the annulus (113).
  • air may be blown into the bottle through the longitudinal bore (84).
  • This can for example be a preform of a plastic bottle off or inflated.
  • the device (10) can be removed from the bottle.
  • the pressure chamber (21) connected upstream pneumatic directional control valve and the pressure chamber (21) connected to the environment (1).
  • the pressure in the pressure chamber (21) is equal to the ambient pressure.
  • the return spring (120) pushes the cylinder (31) from the front position shown in FIG. 3 into the rear position shown in FIG.
  • the compression spring (131) is relaxed and the elastic recovery of the annular bellows (110) released.
  • the annular bellows (110) contracts in the radial direction (13) and lengthens in the axial direction (11). Due to the floating mounting of the receiving elements (141, 146) a torsion of the annular bellows (110) is prevented.
  • the device (10) has again reached the initial position shown in FIG. 2, it can be removed from the bottle counter to the insertion direction (12).
  • the device (10) shown in FIGS. 1-3 may also be designed without a protective hood (82). It is also conceivable, instead of the rod (81) to fasten the cylinder (31) on the tool holder. In this case, the rod (81) moving relative to the fixed cylinder (31) opposite to the insertion direction (12) causes the axial contraction and radial expansion of the annular bellows (110). With the relief of the pressure chamber (21) pushes the return spring (120) the piston (61) and the rod (81) in the insertion direction (12).
  • a device (10) which can be used for hollow body with a small receiving cross-section.
  • the bellows sleeves (141, 146) have a shoulder diameter of 13 millimeters.
  • the annular bellows (110) has an outer diameter of 21 millimeters in the illustrated starting position. With this device (10) can at radial expanded ring bellows (110), cf. Figure 8, for example, parts are recorded with a receiving diameter of 25 millimeters.
  • This device (10) is designed for example without protective hood (82). It can be fastened either by means of its rod (81) or by means of the cylinder (31) in a tool holder.
  • the rod (81) has a radial bore (105) which connects the longitudinal bore (84) with the bellows interior (113).
  • the remaining components of the device (10) are e.g. identical to the components of the first embodiment.
  • the assembly and the functions are analogous to the first embodiment.
  • Figure 9 shows a device (10) in which the piston (61) is movable relative to the rod (81) and the cylinder (31).
  • the main dimensions of the device (10) are, for example, identical to the dimensions of the device (10) shown in FIGS. 7 and 8.
  • the annular bellows (110), the bellows sleeves (141, 146), the compression spring (131), the rod sleeve (132) and the lock washer (92) correspond in their construction and their dimensions to the components of the above-described example.
  • the tubular cylinder (31), cf. Figure 12 has a length of 31 millimeters and carries on its jacket (44) has two annular grooves (45) in which O-rings (46) sit. In the jacket (44) and the pneumatic connection (22) is arranged.
  • the bottom (34) has an outlet opening (23).
  • the multi-stepped inner wall has a cylinder shoulder (47) and a shoulder (49) and two annular grooves (54, 55).
  • the piston (61) shown in FIG. 11 has a rod-like, push-type sleeve (65) projecting in the direction of insertion (12).
  • This thrust sleeve (65) projecting out of the cylinder (31) has a receiving recess (66) which corresponds to the receiving recess (39) described in the first exemplary embodiment.
  • the pressure spring (131) sits in this recess (66).
  • the piston (61) carries in a circumferential groove (62) a piston sealing ring (63) and in an inner groove (67) a sealing ring (68).
  • a clearance (69) reduces the sliding surface (72) of the piston (61) facing the rod (81).
  • the rod (81), cf. FIG. 10 is largely cylindrical. It has e.g. an outer diameter of 10 millimeters and an inner diameter of 5 millimeters. Their front end (85) in the insertion direction (12) is formed as described in connection with the first embodiment. In its rear area, it has two annular grooves (101, 102), in each of which a retaining ring (103, 104) is seated.
  • the return spring (120) is supported on the cylinder bottom (34) and on the piston front side (71).
  • This return spring (71) has, for example, a length of 10 millimeters, an outer diameter of 20 millimeters and a wire thickness of one millimeter.
  • the stroke of the piston (61) in the cylinder (31) is limited by the cylinder shoulder (47) and a locking ring (48).
  • the pressure chamber (21) is delimited by the piston (61), the cylinder (31), the rod (81) and a cover (150).
  • the axial position of the cover (150) is secured on the rod (81) by means of the retaining rings (103, 104).
  • the cover is rotatable in the circumferential direction.
  • a sealing ring In one of the rod (81) facing inner groove (152) and in a cylinder (31) facing circumferential groove (153) is seated in each case a sealing ring (154, 155).
  • the return spring (120) is inserted into the cylinder (31) and the piston (61) from the open cylinder rear side (52) inserted forth.
  • the locking ring (48) for example, the rod (81) is inserted, on which already the first locking ring (103) is mounted.
  • the retaining rings (51) and (104) can be mounted.
  • the pressure chamber (21) After assembly, the pressure chamber (21) has a residual volume of 2.5 cubic centimeters.
  • the piston stroke is in this embodiment, 3.5 millimeters, so that the pressure chamber with extended piston (61) to 1.6 times the residual volume increased.
  • the volume ratio can also be greater, for example, the volume can increase to five times.
  • the assembled device is mounted with the rod (81) or the cylinder (31) in a tool holder and the pneumatic connections connected.
  • the piston (61) displaces the compression spring (131) and the rod sleeve (132) in the direction of insertion (12).
  • the annular bellows (110) is elastically compressed in the axial direction (11) and elastically expanded in the radial direction (13). The picking up of a hollow body takes place as described in connection with the first exemplary embodiment.
  • the return spring (120) displaces the piston (61) counter to the insertion direction (12).
  • the pressure chamber (21) is reduced in size.
  • the annular bellows (110) pushes the bellows receiver (141) against the shim (135) and the rod sleeve (132) and moves them until the rod sleeve (132) has compressed the compression spring (131) to the installation dimension.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Diaphragms And Bellows (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)

Abstract

L'invention concerne un dispositif (10) de saisie intérieure à force de corps creux comprenant une unité cylindre-piston (20) comportant une chambre de pression (21) limitée au moyen d'un cylindre (31) et d'un piston (61) et une barre (81) s'étendant dans la direction axiale (11) du dispositif (10), élastiquement déformable, portant un soufflet annulaire (110) élastiquement déformable s'appuyant dans deux éléments de saisie (141, 146) mobiles l'un par rapport à l'autre en direction axiale (11), le cylindre (31) et le piston (61) pouvant être déplacés l'un par rapport à l'autre en soumettant la chambre de pression (21) à une pression en mouvant les éléments de saisie (141, 146) l'un vers l'autre en déformant le soufflet annulaire (110) et la chambre de pression (21) pouvant être comprimée au moyen d'un ressort de rappel (120) guidant le cylindre (31) et le piston (61) l'un par rapport à l'autre. À cet effet, la barre (81) traverse le cylindre (31) dans la direction axiale (11). Les éléments de saisie (141, 146) sont montés de manière flottante. En outre, la compression de la chambre de pression (21) libère la déformation de retour du soufflet annulaire (110). Un dispositif qui permet une saisie de pièces présentant des erreurs de position ainsi qu'une libération fiable du soufflet annulaire est développé par la présente invention.
EP10718852.6A 2009-04-16 2010-04-15 Dispositif de saisie intérieure de corps creux Active EP2419338B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200910017683 DE102009017683B3 (de) 2009-04-16 2009-04-16 Vorrichtung zur Innenaufnahme von Hohlkörpern
PCT/DE2010/000422 WO2010118734A1 (fr) 2009-04-16 2010-04-15 Dispositif de saisie intérieure de corps creux

Publications (2)

Publication Number Publication Date
EP2419338A1 true EP2419338A1 (fr) 2012-02-22
EP2419338B1 EP2419338B1 (fr) 2014-05-07

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP10718852.6A Active EP2419338B1 (fr) 2009-04-16 2010-04-15 Dispositif de saisie intérieure de corps creux

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Country Link
EP (1) EP2419338B1 (fr)
DE (1) DE102009017683B3 (fr)
ES (1) ES2480420T3 (fr)
WO (1) WO2010118734A1 (fr)

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DE102015011859A1 (de) 2015-09-10 2017-03-16 Audi Ag Greifgerät
DE202016102267U1 (de) * 2016-04-28 2017-07-31 Andreas Koch Werkzeug und Set zum Festlegen von Einbauteilen in Unterputz- oder Hohlwanddosen
CN108946431B (zh) * 2018-09-05 2023-08-01 广西玉柴机器股份有限公司 一种飞轮及齿圈总成吊具
FR3134532A1 (fr) * 2022-04-13 2023-10-20 Saft Dispositif de préhension d’un module d’éléments électrochimiques

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ES2480420T3 (es) 2014-07-28
DE102009017683B3 (de) 2010-07-08
EP2419338B1 (fr) 2014-05-07
WO2010118734A1 (fr) 2010-10-21

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