SE468418B - Anordning foer automatiskt byte av verktyg i en industrirobot foersedd med en verktygsuppbaerande arm - Google Patents

Anordning foer automatiskt byte av verktyg i en industrirobot foersedd med en verktygsuppbaerande arm

Info

Publication number
SE468418B
SE468418B SE8702666A SE8702666A SE468418B SE 468418 B SE468418 B SE 468418B SE 8702666 A SE8702666 A SE 8702666A SE 8702666 A SE8702666 A SE 8702666A SE 468418 B SE468418 B SE 468418B
Authority
SE
Sweden
Prior art keywords
flange
rails
pair
holding member
holding means
Prior art date
Application number
SE8702666A
Other languages
English (en)
Swedish (sv)
Other versions
SE8702666L (sv
SE8702666D0 (sv
Inventor
G Marinoni
P Araudo
Original Assignee
Comau Spa
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 Comau Spa filed Critical Comau Spa
Publication of SE8702666D0 publication Critical patent/SE8702666D0/xx
Publication of SE8702666L publication Critical patent/SE8702666L/xx
Publication of SE468418B publication Critical patent/SE468418B/sv

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/30—Features relating to electrodes
    • B23K11/31—Electrode holders and actuating devices therefor
    • B23K11/318—Supporting devices for electrode holders
    • 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/0009—Energy-transferring means or control lines for movable machine parts; Control panels or boxes; Control parts
    • 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/0063—Connecting non-slidable parts of machine tools to each other
    • 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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S279/00—Chucks or sockets
    • Y10S279/90—Adapted for automatic tool changer
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S483/00—Tool changing
    • Y10S483/901—Robot end effectors
    • 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
    • Y10T279/00—Chucks or sockets
    • Y10T279/12—Chucks or sockets with fluid-pressure actuator
    • Y10T279/1208—Chucks or sockets with fluid-pressure actuator with measuring, indicating or control means
    • 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
    • Y10T279/00—Chucks or sockets
    • Y10T279/12—Chucks or sockets with fluid-pressure actuator
    • Y10T279/1274—Radially reciprocating jaws
    • Y10T279/1291—Fluid pressure moves jaws via mechanical connection
    • 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
    • Y10T279/00—Chucks or sockets
    • Y10T279/19—Radially reciprocating jaws
    • Y10T279/1961—Lever actuated
    • 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
    • Y10T483/00—Tool changing
    • Y10T483/13—Tool changing with control means energized in response to activator stimulated by condition sensor
    • Y10T483/136—Responsive to tool
    • 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
    • Y10T483/00—Tool changing
    • Y10T483/17—Tool changing including machine tool or component
    • 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
    • Y10T483/00—Tool changing
    • Y10T483/17—Tool changing including machine tool or component
    • Y10T483/1729—Reciprocating tool machine tool [e.g., broaching machine, shaping machine, etc.]
    • 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
    • Y10T483/00—Tool changing
    • Y10T483/19—Miscellaneous

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Resistance Welding (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
SE8702666A 1986-07-16 1987-06-26 Anordning foer automatiskt byte av verktyg i en industrirobot foersedd med en verktygsuppbaerande arm SE468418B (sv)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT67574/86A IT1193450B (it) 1986-07-16 1986-07-16 Dispositivo per il cambio automatico di attrezzi di robot industriali

Publications (3)

Publication Number Publication Date
SE8702666D0 SE8702666D0 (sv) 1987-06-26
SE8702666L SE8702666L (sv) 1988-01-17
SE468418B true SE468418B (sv) 1993-01-18

Family

ID=11303552

Family Applications (1)

Application Number Title Priority Date Filing Date
SE8702666A SE468418B (sv) 1986-07-16 1987-06-26 Anordning foer automatiskt byte av verktyg i en industrirobot foersedd med en verktygsuppbaerande arm

Country Status (12)

Country Link
US (1) US4763401A (de)
JP (1) JPH0794074B2 (de)
AT (1) AT387743B (de)
BE (1) BE1000093A7 (de)
CH (1) CH670595A5 (de)
DE (1) DE3717765C2 (de)
FR (1) FR2601614B1 (de)
GB (1) GB2192608B (de)
IT (1) IT1193450B (de)
NL (1) NL192508C (de)
SE (1) SE468418B (de)
SU (1) SU1572404A3 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999059400A1 (en) * 1998-05-20 1999-11-25 Delaval Holding Ab Docking arrangement

Families Citing this family (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02121778A (ja) * 1988-10-24 1990-05-09 Applied Robotics Inc 自動工具交換装置
JPH02121777A (ja) * 1988-10-24 1990-05-09 Applied Robotics Inc 自動工具交換装置用の結合装置
JPH02121779A (ja) * 1988-10-24 1990-05-09 Applied Robotics Inc 自動工具交換装置
DE3911461A1 (de) * 1989-04-05 1990-10-11 Wilhelm Dinse Vorrichtung zum befestigen und wechseln von werkzeugen
JPH0748384Y2 (ja) * 1990-07-11 1995-11-08 株式会社安川電機 ロボット用工具交換装置
US5065504A (en) * 1990-11-05 1991-11-19 Microelectronics And Computer Technology Corporation Method of forming flexible metal leads on integrated circuits
SE512968C2 (sv) * 1991-10-21 2000-06-12 Rotech Tooling Ab Svivelkoppling
US5210936A (en) * 1992-01-06 1993-05-18 Microelectronics And Computer Technology Corporation Method and apparatus for the excise and lead form of TAB devices
JPH07939U (ja) * 1993-06-03 1995-01-06 宣寿 浜名 ストレージコンベヤ及びドッグ装置
US5454775A (en) * 1994-09-13 1995-10-03 Applied Robotics, Inc. Automated exchangeable parts feeding system
US5779609A (en) * 1996-01-16 1998-07-14 Applied Robotics, Inc. Integrated stud welding robotic tool changing system
US5782571A (en) * 1996-10-17 1998-07-21 Cpi Products, L.C. Tool mount for automatic coupling with robotic equipment
FR2757438B1 (fr) * 1996-12-23 1999-03-05 Gohin Messain Porte-outil de solidarisation amovible d'un outil a un organe de suspension
KR19980072284A (ko) * 1997-03-04 1998-11-05 이종수 로봇의 핸드 툴
USD431040S (en) * 1999-03-31 2000-09-19 Smc Corporation Chuck of an industrial robot
DE19920291A1 (de) * 1999-05-04 2000-11-09 Emil Stark Kupplungssystem für den Anschluß maschinenseitiger Versorgungsleitungen für Medien aller Art inkl. elektrischer Leitungen zwichen Werkzeugmaschinen und daran angekoppeltem Werkstückträger
US6491612B1 (en) 2000-10-23 2002-12-10 Ati Industrial Automation, Inc. Stud welding tool changer
FR2833880B1 (fr) * 2001-12-21 2004-03-19 Abb Body In White Changeur d'outil
DE10317340A1 (de) * 2003-04-15 2004-11-04 Ssa System-Spann Ag Hochdruckkupplung für die Mediendurchführung an Schnellwechselsystemen
CN100436046C (zh) * 2006-02-11 2008-11-26 鸿富锦精密工业（深圳）有限公司 夹具更换装置
KR100857149B1 (ko) * 2006-07-04 2008-09-05 한국원자력연구원 텔레스코픽 서보매니퓰레이터 탈부착장치
DE102006040034A1 (de) * 2006-08-23 2008-03-20 Stäubli Tec-Systems GmbH Kupplungssystem
WO2009015850A2 (de) 2007-08-02 2009-02-05 Kuka Systems Gmbh Drehanschlusskupplung
DE202008003757U1 (de) 2008-03-18 2009-08-13 Kuka Systems Gmbh Drehanschlusskupplung
DE102007042187B3 (de) * 2007-08-28 2009-04-09 IPR-Intelligente Peripherien für Roboter GmbH Werkzeugwechselsystem für einen Industrieroboter
CN101607398B (zh) * 2008-06-18 2012-06-20 鸿富锦精密工业（深圳）有限公司 夹具更换装置
US8992113B2 (en) * 2009-06-08 2015-03-31 Re2, Inc. Robust manual connector for robotic arm end effector
WO2011019742A1 (en) * 2009-08-10 2011-02-17 Re2, Inc. Automated tool change assembly for robotic arm
DE102010004085A1 (de) * 2010-01-06 2011-07-07 DE-STA-CO Europe GmbH, 61440 Werkzeugwechsler
ITTO20130090A1 (it) * 2013-02-04 2014-08-05 Kgr Spa Attuatore a fluido, particolarmente per controllare il movimento relativo dei bracci portaelettrodo di una pinza di saldatura a punti per resistenza.
DE202013105910U1 (de) 2013-12-23 2015-03-24 Kuka Systems Gmbh Roboterwerkzeug
USD763336S1 (en) * 2014-07-31 2016-08-09 Abb Gomtec Gmbh Robotic arm component
JP6454543B2 (ja) * 2014-12-26 2019-01-16 ニッタ株式会社 給電モジュール
JP6604531B2 (ja) * 2015-03-26 2019-11-13 ニッタ株式会社 雄型部材及び工具交換装置
JP6049918B1 (ja) * 2016-01-07 2016-12-21 Dmg森精機株式会社 工具着脱装置および工作機械
ITUB20160939A1 (it) * 2016-02-23 2017-08-23 Gimatic S R L Dispositivo di connessione di utensili pneumatici ad un manipolatore
IT201800006402A1 (it) * 2018-06-18 2019-12-18 Dispositivo di cambio utensile per un braccio robotico
US10814420B2 (en) 2018-09-25 2020-10-27 Deere & Company Automatic tip changer for burnback in an arc welding robot
CN109794950A (zh) * 2019-03-25 2019-05-24 重庆东渝中能实业有限公司 智能制造机器人
CN110757077B (zh) * 2019-12-02 2025-01-24 北京哈德曼自动化设备有限公司 一种定位装置
FR3111579B1 (fr) * 2020-06-17 2022-06-17 Le Creneau Ind Équipement, notamment d’usinage
USD997110S1 (en) * 2021-05-19 2023-08-29 Zhejiang Dongyang Dongci Chengji Electronics Co., Ltd. Circulator

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1106968A (en) * 1965-07-05 1968-03-20 Steeper Hugh Ltd Improvements in or relating to artificial arms
US4026627A (en) * 1976-06-23 1977-05-31 Gte Sylvania Incorporated Electrical contact and connector
IT1129104B (it) * 1980-06-26 1986-06-04 Comau Spa Dispositivo automatico per cambio pinza saldante elettrica azionato dal braccio di un manipolatore programmabile
JPS5915762B2 (ja) * 1980-11-26 1984-04-11 豊和工業株式会社 機力式中空チヤツク
DE3214025A1 (de) * 1982-04-16 1983-10-20 Messerschmitt-Bölkow-Blohm GmbH, 8000 München Zweiteilige einrichtung mit kegelhuelse und kegelschaft
FR2542243B1 (fr) * 1983-03-11 1987-01-23 Syspro Porte-outil pour robot industriel
DE8308437U1 (de) * 1983-03-22 1984-02-23 Helu-Technik Heinrich Luft KG, 6072 Dreieich Vorrichtung zum Zuführen des Stromes zu einer drehbar angeordneten Schweißzange
US4512709A (en) * 1983-07-25 1985-04-23 Cincinnati Milacron Inc. Robot toolchanger system
DE3328291C2 (de) * 1983-08-05 1986-10-02 Günter Horst 7927 Sontheim Röhm Spanneinrichtung an Werkstück- oder Werkzeugspindeln von Drehmaschinen für kraftbetätigte Werkstückhalter, insbes. Spannfutter
DE3347423A1 (de) * 1983-12-29 1985-07-11 Rudi 4018 Langenfeld Kirst Vorrichtung zum automatischen auswechseln und kuppeln von greifern an robotern oder handhabungsgeraeten
EP0150232A1 (de) * 1984-01-26 1985-08-07 Wilhelm Karmann GmbH Verfahren zum Betreiben von Industrierobotern sowie Industrieroboter zur Durchführung dieses Verfahrens
IT1179967B (it) * 1984-02-13 1987-09-23 Bisiach & Carru Meccanismo per il cambio automatico di utensili su robot industriali
EP0154227B1 (de) * 1984-03-09 1989-11-02 Applied Robotics, Inc. Wechselsystem und Methode zur Verbindung und/oder Auswechslung von Fernbedienungselementen an eine zentrale Kontrollquelle
US4664588A (en) * 1984-03-09 1987-05-12 Applied Robotics Inc. Apparatus and method for connecting and exchanging remote manipulable elements to a central control source
DE3421452C2 (de) * 1984-06-08 1986-05-22 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Vorrichtung zum automatischen Erfassen bzw. Lösen eines Werkzeugträgers bei einem Manipulator
DE8423316U1 (de) * 1984-08-04 1986-01-02 Robert Bosch Gmbh, 7000 Stuttgart Greifvorrichtung
JPS6146378A (ja) * 1984-08-10 1986-03-06 Nissan Motor Co Ltd 溶接装置
US4604787A (en) * 1984-08-15 1986-08-12 Transamerica Delaval Inc. Tool changer for manipulator arm
DE3513648A1 (de) * 1985-04-16 1986-10-23 Rudi 4018 Langenfeld Kirst Greifvorrichtung fuer werkstuecke oder sonstige handhabungsteile

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999059400A1 (en) * 1998-05-20 1999-11-25 Delaval Holding Ab Docking arrangement

Also Published As

Publication number Publication date
NL8701411A (nl) 1988-02-16
FR2601614A1 (fr) 1988-01-22
SU1572404A3 (ru) 1990-06-15
ATA152887A (de) 1988-08-15
NL192508C (nl) 1997-09-02
AT387743B (de) 1989-03-10
GB2192608A (en) 1988-01-20
CH670595A5 (de) 1989-06-30
GB8711867D0 (en) 1987-06-24
JPS6330183A (ja) 1988-02-08
BE1000093A7 (fr) 1988-02-23
SE8702666L (sv) 1988-01-17
JPH0794074B2 (ja) 1995-10-11
GB2192608B (en) 1989-12-13
FR2601614B1 (fr) 1992-04-10
DE3717765C2 (de) 1997-05-28
IT1193450B (it) 1988-06-22
DE3717765A1 (de) 1988-01-21
SE8702666D0 (sv) 1987-06-26
NL192508B (nl) 1997-05-01
IT8667574A0 (it) 1986-07-16
US4763401A (en) 1988-08-16

Similar Documents

Publication Publication Date Title
US4763401A (en) Automatic tool-changing device for industrial robots
US4620362A (en) Changeable tooling system for robot end-effector
US4990022A (en) Robot hand coupling assembly
US5069524A (en) Robot hand optical fiber connector coupling assembly
US4365928A (en) Fluid power connector system for manipulator
US4378959A (en) Apparatus for performing work functions
CN111923021A (zh) 一种模块化机器人
JP3236893B2 (ja) 溶接ロボット工具交換システム
US11485010B2 (en) Adapter system for connecting the last element of a kinematic chain to a handling device
US20160052146A1 (en) Robotic tool changer with tool stand decouple power supply
CN110023046B (zh) 具有监控传感器的工业机器人系统
US4955250A (en) Multiple forearm robotic elbow configuration
CN108656146A (zh) 一种连续转动多功能三指机械手爪
CN105856213A (zh) 一种模块化高冗余多自由度柔性机械臂系统
US4550922A (en) Workholder
CN109291041A (zh) 一种水下机械手
US4561506A (en) Pivoting driver with changeable bits
US12202581B2 (en) Gripper tool to perform multiple functions subsea
US4685687A (en) Workholder
CN116787487B (zh) 一种多自由度的软体机器臂
USRE32854E (en) Adapter with modular components for a robot end-of-arm interchangeable tooling system
CN217046455U (zh) 一种用于自动上下料的柔性双工位手爪
US6199928B1 (en) Coupler for connecting workpiece grippers with a manipulating device
CN114347082A (zh) 一种用于自动上下料的柔性双工位手爪
CN116460885B (zh) 一种机械臂与末端执行器的可重构连接结构及其连接方法

Legal Events

Date Code Title Description
NAL Patent in force

Ref document number: 8702666-2

Format of ref document f/p: F

NUG Patent has lapsed

Ref document number: 8702666-2

Format of ref document f/p: F