WO2001008855A1 - Prehenseur modulaire - Google Patents
Prehenseur modulaire Download PDFInfo
- Publication number
- WO2001008855A1 WO2001008855A1 PCT/FR2000/001247 FR0001247W WO0108855A1 WO 2001008855 A1 WO2001008855 A1 WO 2001008855A1 FR 0001247 W FR0001247 W FR 0001247W WO 0108855 A1 WO0108855 A1 WO 0108855A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- ref
- profile
- prs
- modular gripper
- shapes
- Prior art date
Links
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 8
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 8
- 238000005553 drilling Methods 0.000 claims description 6
- 238000002513 implantation Methods 0.000 claims description 6
- 230000002427 irreversible effect Effects 0.000 claims description 3
- 230000007547 defect Effects 0.000 claims description 2
- 230000035939 shock Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 4
- 239000011111 cardboard Substances 0.000 abstract description 3
- 239000011521 glass Substances 0.000 abstract description 3
- 229910052751 metal Inorganic materials 0.000 abstract description 3
- 239000002184 metal Substances 0.000 abstract description 3
- 229910001234 light alloy Inorganic materials 0.000 abstract description 2
- 239000004033 plastic Substances 0.000 abstract 2
- 239000004411 aluminium Substances 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 2
- 101000972349 Phytolacca americana Lectin-A Proteins 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
- E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
- E04B1/38—Connections for building structures in general
- E04B1/388—Separate connecting elements
- E04B2001/389—Brackets
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B7/00—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections
- F16B7/18—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections using screw-thread elements
- F16B7/187—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections using screw-thread elements with sliding nuts or other additional connecting members for joining profiles provided with grooves or channels
Definitions
- Modular gripper The present invention relates to the manufacture of modular grippers provided with vacuum suction cups used to convey materials of the metal, cardboard, glass, wood type, in all types of industries See figure 1.
- grippers The manufacturing of these grippers is generally done in a non-industrial manner, different according to the industrial environment, often in mechanically welded steel tube, each time at the last moment, from a prototype of part to be conveyed, designed by plant maintenance departments.
- the standardization of these grippers is not a priority and is not the subject of research in terms of productivity.
- the modular gripper makes it possible to overcome all these inconveniences, a prototype of the part to be conveyed is no longer necessary since the gripper can be designed from the digitized strip of the part.
- the large number of standard parts allows it to be assembled in a few tens of minutes due to its modularity.
- the adjustment can be made in three dimensions. In this case, gripping of left and complex shaped parts is possible.
- PRS 01 301 Figure 4 being determined by the position of the suction cups which, themselves, depend on the geometry of the part to be conveyed.
- PRS 01 301 figure 4 At the end of the 30 Ref. PRS 01 301 figure 4 are fixed ball joint supports Ref. SPR 01 112 figure 7 - profile plan figure 17 - in which are mounted, depending on the need, simple ball joints Ref. ROT 01 110 figure 8 or spring ball joints Ref. ROR 01 105 figure 9 or combined ball joints Ref. RAL 21 010 to RAL 21 080 figure 27.
- the assembly of all the elements is represented by the assemblies 10, 16 and 21, new assembly with combined extensions Ref. RAL 21010 to RAL 21 080.
- the ball joint supports Ref. SPR 01 112 figure 7 are fixed on the profile of 30 Ref.
- PRS 01 301 figure 4 by plates Ref. PLA 01 2M6 figure 13 which slide inside of it and which thus make it possible to bring an adjustment additional.
- the two different kinds of ball joints Ref. ROT 01 110 figure 8 and Ref. ROR 01 105 figure 9 allow an angular movement of + 22 ° which allows to refine the final adjustment.
- the combined ball joints Ref. RAL 21 010 to RAL 21 080 figure 27 allow an angular movement of + 30 ° and depending on their length serve at the same time as an extension.
- the different kinds of suction cups are chosen according to the space available on the part to be conveyed and its weight. They are fixed to the ends of the ball joints in figures 10, 16 and 21.
- the assembly of all these parts makes it possible to build a modular gripper capable of meeting all needs.
- the particularly studied shapes of the profiles, as well as all of the standard light alloy parts, make it possible to obtain an assembly of great rigidity with a relatively low weight.
- shapes On the three kinds of profile, shapes have been specially studied in order to clip two types of suction pipe which saves time during assembly and avoids fixing them with clamps SEE FIGURE 18. They are all three studied to receive the fixing plate Ref.
- PL A 01 2M6 figure 13 which makes it possible to store only one reference of insert and to obtain a good quality of tightening in the profiles of 30.
- the interior hole of the profiles is designed so as to be directly tapped in steps ISO without the need for machining.
- the modular gripper is fixed on a robot or on a mechanized system using the manual interface specially designed for this purpose Ref.
- the modular gripper characterized in that it consists of a 50 mm square aluminum profile.
- PRS 01 501 Figure 2 whose structural shapes have been specially studied in order to obtain a particularly low weight while retaining a particularly good resistance to torsion and deflection.
- the shapes of the slides allow mounting the fixing plates Ref. PLA 01 2M6 figure 13 which will be common to the profile of 40 Ref. PRS 01 401figure 3 and the profile of 30 Ref. PRS 01 301figure 4, this has the consequence of having to store only a single reference of plate Ref. PLA 01 2M6 figure 13 and to obtain a good tightening torque since we obtain a good implantation of the screw.
- the diameter of the internal hole of the profile is designed to be directly tapped without additional drilling.
- Modular gripper characterized in that it is made of square aluminum profile of 40 Ref. PRS 01 401 Figure 3 whose structural forms have been specially studied in order to obtain a particularly low weight while retaining a particularly good resistance to torsion and deflection.
- Modular gripper characterized in that it consists of square aluminum profile of 30 Ref. PRS 01 301 FIG. 4, the shapes of the structure of which have been specially studied in order to obtain a particularly low weight while retaining a particularly good resistance to torsion and to deflection.
- PRS 01 301 figure 4 to be fixed in any chosen place along the central core constituted either by the profile of 50 Ref. PRS 01 501 figure 2 or the profile of 40 Ref. PRS 01 401 figure 3.
- Modular gripper characterized in that the suction cup is supported by a ball-shaped part Ref. ROT 01 110 figure 8 which once mounted in the ball joint support Ref SPR 01 112 figure 7, gives the assembly an angular clearance of + 22 °, thus allowing to convey parts with left shapes and to refine the settings at the last moment. See general assembly together 10.
- Modular gripper characterized in that the suction cup is supported by a ball-shaped part Ref. RAL 21 010 to RAL 21 080 figure 27 called combined ball joint, which, once mounted in the ball joint support Ref. SPR 01 112 figure 7, gives the whole an angular clearance of + 30 °, its different lengths serve at the same time as extensions, thus allowing to convey pieces with left shapes and to refine the adjustments at the last moment.
- SEE general assembly together 21
- Modular gripper characterized in that the suction cup is supported by a ball-shaped part, the axis of which is mounted with a spring Ref.
- ROR 01 105 figure 9 which, once mounted in the ball joint support Ref. SPR 01 112 figure 7, gives the whole S
- Modular gripper characterized in that it consists of extensions Ref. RAL 01 070 to 292 figure 11 thus allowing the suction cups to go to suck parts whose forms or the differences are important.
- Modular gripper characterized in that it consists of combined ball joints Ref. RAL 21 010 to RAL 21 080 figure 27 thus making it possible to go to vacuum parts whose forms or the differences in level are important.
- Modular gripper characterized in that it consists of sloping wedges Ref. CPE 01 190 and Ref. CPE 01 193 figure 12 allowing to accentuate the angle of 15 ° in one case and 35 ° in the second case.
- Modular gripper characterized in that its attachment to the robot or to the mechanized system is carried out by either a manual interface Ref. 11T 50 100 figure 14 or Ref. 50200 figure 22 for the profile of 50 Ref. PRS 01 501 figure 2, either by a manual interface Ref. ITF 40 300 figure 15 for the profile of 40 Ref. PRS 01 401 figure 3.
- Modular gripper characterized in that its attachment to the robot or to the mechanized system is effected by either an automatic interface Ref. ITF 50 125 figure 23 or Ref. ITF 50225 figure 24 for the profile of 50 Ref. PRS 01 501 figure 2. Or an automatic interface Ref. ITF 40 400 figure 25 for the profile of 40 Ref. PRS 01 401 figure 3.
- Modular gripper characterized in that it can be mounted on a crosspiece Ref. TRV 0 1001 figure 26 which itself is mounted evening on a robot or on a mechanized system.
- This cross Ref. TRV 01 001 figure 26 receives three interfaces Ref. ITF 50 100 to ITT 50 125 determined according to need SEE FIGURE 26.
- This system makes it possible to mount a gripper in the center in the case of small parts to be conveyed or one at each end for large parts.
- the specially designed shapes of the crossmember allow it to be light while keeping good rigidity and limiting vibrations.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Clamps And Clips (AREA)
Abstract
Description
Claims
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU44147/00A AU4414700A (en) | 1999-07-29 | 2000-05-02 | Modular gripper |
EP00925418A EP1200234A1 (fr) | 1999-07-29 | 2000-05-02 | Prehenseur modulaire |
JP2001513561A JP2003505266A (ja) | 1999-07-29 | 2000-05-02 | モジュラーグリッパー |
BR0012855-4A BR0012855A (pt) | 1999-07-29 | 2000-05-02 | Preensor modular |
CA002380054A CA2380054A1 (fr) | 1999-07-29 | 2000-05-02 | Prehenseur modulaire |
MXPA02001024A MXPA02001024A (es) | 1999-07-29 | 2000-05-02 | Sujetador modular. |
KR1020027001206A KR20020059344A (ko) | 1999-07-29 | 2000-05-02 | 모듈러 그립퍼 |
US10/058,075 US6863323B2 (en) | 1999-07-29 | 2002-01-29 | Modular gripper |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9910003A FR2796875B1 (fr) | 1999-07-29 | 1999-07-29 | Prehenseur modulaire |
FR99/10003 | 1999-07-29 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/058,075 Continuation-In-Part US6863323B2 (en) | 1999-07-29 | 2002-01-29 | Modular gripper |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001008855A1 true WO2001008855A1 (fr) | 2001-02-08 |
Family
ID=9548779
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2000/001247 WO2001008855A1 (fr) | 1999-07-29 | 2000-05-02 | Prehenseur modulaire |
Country Status (11)
Country | Link |
---|---|
US (1) | US6863323B2 (fr) |
EP (1) | EP1200234A1 (fr) |
JP (1) | JP2003505266A (fr) |
KR (1) | KR20020059344A (fr) |
CN (1) | CN1182942C (fr) |
AU (1) | AU4414700A (fr) |
BR (1) | BR0012855A (fr) |
CA (1) | CA2380054A1 (fr) |
FR (1) | FR2796875B1 (fr) |
MX (1) | MXPA02001024A (fr) |
WO (1) | WO2001008855A1 (fr) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2831087A1 (fr) * | 2001-10-22 | 2003-04-25 | Bema Ingenierie | Dispositif de prehension d'une piece, et procede pour sa fabrication |
EP1393851A2 (fr) * | 2002-05-17 | 2004-03-03 | COMAU S.p.A. | Dispositif pour fixer des pièces |
EP1393850A2 (fr) * | 2002-05-17 | 2004-03-03 | COMAU S.p.A. | Dispositif pour fixer des pièces |
FR2855089A1 (fr) * | 2003-05-21 | 2004-11-26 | A M G | Organe prehenseur pour la retenue d'une piece a deplacer par un manipulateur, agence en structure etagee comprenant une poutre sur laquelle sont articules des bras porteurs d'une tete de retenue |
WO2004103652A2 (fr) * | 2003-05-21 | 2004-12-02 | Societe Amg | Organe prehenseur pour la retenue d’une piece a deplacer par un manipulateur, agence en structure etagee comprenant une poutre sur laquelle sont articules des bras porteurs d’une tete de retenue |
US7128783B2 (en) | 2002-04-23 | 2006-10-31 | Sharp Laboratories Of America, Inc. | Thin-film crystal-structure-processed mechanical devices, and methods and systems for making |
DE202007007888U1 (de) * | 2007-06-06 | 2008-10-09 | Horst Witte Entwicklungs- Und Vertriebs Kg | Element und System zum Aufbau von Vorrichtungen zum Aufspannen von Werkstücken |
EP2075384A2 (fr) | 2007-11-30 | 2009-07-01 | Horst Witte Gerätebau Barskamp KG | Elément d'entretoise pour le montage de dispositifs destinés à la tension de pièces usinées |
US9168642B2 (en) | 2009-09-01 | 2015-10-27 | Korea Pneumatic System Co., Ltd. | Vacuum cup assembly |
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FR2818180B1 (fr) * | 2000-12-20 | 2003-04-25 | Genus Technologies | Dispositif de prehension destine a etre monte sur un bras de robot |
EP1504393A4 (fr) | 2002-04-23 | 2008-03-19 | Clearing House Service Company | Code d'identification de paiement et systeme de paiement utilisant ce code |
EP1396313A1 (fr) * | 2002-09-03 | 2004-03-10 | Nissan Motor Co., Ltd. | Main tout usage munie de ventouses de préhension pour un manipulateur multiaxe |
CN100399967C (zh) * | 2003-06-07 | 2008-07-09 | 黄友总 | 纸碗(杯)机的纸碗(杯)筒机械手传输机构 |
US7276200B2 (en) * | 2003-12-19 | 2007-10-02 | Toyota Motor Engineering & Manufacturing, North America, Inc. | Apparatus and method for removing a part from mold |
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US7281739B2 (en) * | 2004-09-01 | 2007-10-16 | Delaware Capital Formation, Inc. | Adjustable mount for vacuum cup with offset mounting post and swivel |
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US8418341B1 (en) * | 2009-01-29 | 2013-04-16 | Sas Automation Ltd. | Hybrid robotic gripper |
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US8454067B2 (en) * | 2010-10-28 | 2013-06-04 | Standard Knapp Inc. | Adjustable gripper head assembly |
WO2012089859A1 (fr) * | 2010-12-31 | 2012-07-05 | Fundacion Fatronik | Dispositif de préhension pour la manipulation d'éléments flexibles |
FR2974024B1 (fr) * | 2011-04-18 | 2013-05-24 | Amg Ind | Dispositif de maintien d'un bras de prehenseur. |
US8684418B2 (en) * | 2011-05-04 | 2014-04-01 | GM Global Technology Operations LLC | Flexible dress package for an end-effector employed with a robotic arm |
US9016972B2 (en) * | 2011-10-14 | 2015-04-28 | Blanking Systems, Inc. | Mechanically interlocking frame assemblies |
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US9610675B2 (en) * | 2013-11-06 | 2017-04-04 | Nu-Way Industries, Inc | Clamp system for welding applications |
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US10773902B2 (en) * | 2016-12-22 | 2020-09-15 | General Electric Company | Adaptive apparatus and system for automated handling of components |
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USD868855S1 (en) | 2018-03-13 | 2019-12-03 | Automation Services, Llc | Fixture bar clamp |
FR3085291A1 (fr) * | 2018-08-30 | 2020-03-06 | Compagnie Plastic Omnium | Prehenseur de pieces de carrosserie |
CN108994645A (zh) * | 2018-09-19 | 2018-12-14 | 西京学院 | 一种用于薄壁零件铣削加工的自适应支撑装置 |
IT201900002917A1 (it) * | 2019-02-28 | 2020-08-28 | Raimondi Spa | Dispositivo di presa di elementi lastriformi |
CN110668297B (zh) * | 2019-10-10 | 2021-06-15 | 广东博智林机器人有限公司 | 一种可调节起吊装置 |
DE102019130187A1 (de) * | 2019-11-08 | 2021-05-12 | Fipa Holding Gmbh | Halter für einen aktuator |
CN211792302U (zh) * | 2019-12-11 | 2020-10-27 | 晋城三赢精密电子有限公司 | 按压件以及机台 |
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FR2566310A1 (fr) * | 1984-06-25 | 1985-12-27 | Etude Rech Produits Sepro | Accessoires de prehension pour manipulateurs et robots |
DE4209935A1 (de) * | 1992-03-27 | 1992-11-19 | Herbert Gegenheimer | Universal verstellbare vakuumsauger bzw. greifwerkzeugaufnahme und justiereinheit zum aufnehmen von produktionsteilen im automatisierten fertigungsablauf |
DE29616332U1 (de) * | 1996-09-19 | 1996-11-07 | Schwope Franz | Haltevorrichtung für Greifelemente |
EP0802334A1 (fr) * | 1993-07-07 | 1997-10-22 | Smc Kabushiki Kaisha | Mecanisme de liaison pour elements de structure |
DE29905687U1 (de) * | 1999-03-27 | 1999-07-08 | Sta Co Mettallerzeugnisse Gmbh | Trageinrichtung |
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-
1999
- 1999-07-29 FR FR9910003A patent/FR2796875B1/fr not_active Expired - Fee Related
-
2000
- 2000-05-02 CN CNB008110336A patent/CN1182942C/zh not_active Expired - Fee Related
- 2000-05-02 KR KR1020027001206A patent/KR20020059344A/ko not_active Application Discontinuation
- 2000-05-02 JP JP2001513561A patent/JP2003505266A/ja active Pending
- 2000-05-02 MX MXPA02001024A patent/MXPA02001024A/es active IP Right Grant
- 2000-05-02 BR BR0012855-4A patent/BR0012855A/pt active Search and Examination
- 2000-05-02 WO PCT/FR2000/001247 patent/WO2001008855A1/fr not_active Application Discontinuation
- 2000-05-02 CA CA002380054A patent/CA2380054A1/fr not_active Abandoned
- 2000-05-02 AU AU44147/00A patent/AU4414700A/en not_active Abandoned
- 2000-05-02 EP EP00925418A patent/EP1200234A1/fr not_active Withdrawn
-
2002
- 2002-01-29 US US10/058,075 patent/US6863323B2/en not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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FR2566310A1 (fr) * | 1984-06-25 | 1985-12-27 | Etude Rech Produits Sepro | Accessoires de prehension pour manipulateurs et robots |
DE4209935A1 (de) * | 1992-03-27 | 1992-11-19 | Herbert Gegenheimer | Universal verstellbare vakuumsauger bzw. greifwerkzeugaufnahme und justiereinheit zum aufnehmen von produktionsteilen im automatisierten fertigungsablauf |
EP0802334A1 (fr) * | 1993-07-07 | 1997-10-22 | Smc Kabushiki Kaisha | Mecanisme de liaison pour elements de structure |
DE29616332U1 (de) * | 1996-09-19 | 1996-11-07 | Schwope Franz | Haltevorrichtung für Greifelemente |
DE29905687U1 (de) * | 1999-03-27 | 1999-07-08 | Sta Co Mettallerzeugnisse Gmbh | Trageinrichtung |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2831087A1 (fr) * | 2001-10-22 | 2003-04-25 | Bema Ingenierie | Dispositif de prehension d'une piece, et procede pour sa fabrication |
WO2003035336A1 (fr) * | 2001-10-22 | 2003-05-01 | Bema Ingenierie | Dispositif de prehension d'une piece, et procede pour sa fabrication |
US7128783B2 (en) | 2002-04-23 | 2006-10-31 | Sharp Laboratories Of America, Inc. | Thin-film crystal-structure-processed mechanical devices, and methods and systems for making |
EP1393850A2 (fr) * | 2002-05-17 | 2004-03-03 | COMAU S.p.A. | Dispositif pour fixer des pièces |
EP1393850A3 (fr) * | 2002-05-17 | 2004-12-15 | COMAU S.p.A. | Dispositif pour fixer des pièces |
EP1393851A3 (fr) * | 2002-05-17 | 2005-01-05 | COMAU S.p.A. | Dispositif pour fixer des pièces |
EP1393851A2 (fr) * | 2002-05-17 | 2004-03-03 | COMAU S.p.A. | Dispositif pour fixer des pièces |
FR2855089A1 (fr) * | 2003-05-21 | 2004-11-26 | A M G | Organe prehenseur pour la retenue d'une piece a deplacer par un manipulateur, agence en structure etagee comprenant une poutre sur laquelle sont articules des bras porteurs d'une tete de retenue |
WO2004103652A2 (fr) * | 2003-05-21 | 2004-12-02 | Societe Amg | Organe prehenseur pour la retenue d’une piece a deplacer par un manipulateur, agence en structure etagee comprenant une poutre sur laquelle sont articules des bras porteurs d’une tete de retenue |
WO2004103652A3 (fr) * | 2003-05-21 | 2005-05-06 | Amg Soc | Organe prehenseur pour la retenue d’une piece a deplacer par un manipulateur, agence en structure etagee comprenant une poutre sur laquelle sont articules des bras porteurs d’une tete de retenue |
DE202007007888U1 (de) * | 2007-06-06 | 2008-10-09 | Horst Witte Entwicklungs- Und Vertriebs Kg | Element und System zum Aufbau von Vorrichtungen zum Aufspannen von Werkstücken |
EP2075384A2 (fr) | 2007-11-30 | 2009-07-01 | Horst Witte Gerätebau Barskamp KG | Elément d'entretoise pour le montage de dispositifs destinés à la tension de pièces usinées |
US9168642B2 (en) | 2009-09-01 | 2015-10-27 | Korea Pneumatic System Co., Ltd. | Vacuum cup assembly |
Also Published As
Publication number | Publication date |
---|---|
FR2796875A1 (fr) | 2001-02-02 |
US6863323B2 (en) | 2005-03-08 |
CN1365310A (zh) | 2002-08-21 |
AU4414700A (en) | 2001-02-19 |
FR2796875B1 (fr) | 2001-08-31 |
JP2003505266A (ja) | 2003-02-12 |
CA2380054A1 (fr) | 2001-02-08 |
CN1182942C (zh) | 2005-01-05 |
MXPA02001024A (es) | 2003-09-22 |
BR0012855A (pt) | 2002-04-23 |
KR20020059344A (ko) | 2002-07-12 |
EP1200234A1 (fr) | 2002-05-02 |
US20030015881A1 (en) | 2003-01-23 |
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