WO2011002202A2 - Dispositif de préhension par succion capable de déplacement angulaire - Google Patents

Dispositif de préhension par succion capable de déplacement angulaire Download PDF

Info

Publication number
WO2011002202A2
WO2011002202A2 PCT/KR2010/004208 KR2010004208W WO2011002202A2 WO 2011002202 A2 WO2011002202 A2 WO 2011002202A2 KR 2010004208 W KR2010004208 W KR 2010004208W WO 2011002202 A2 WO2011002202 A2 WO 2011002202A2
Authority
WO
WIPO (PCT)
Prior art keywords
vacuum
vacuum cup
gripper device
ball
ball joint
Prior art date
Application number
PCT/KR2010/004208
Other languages
English (en)
Korean (ko)
Other versions
WO2011002202A3 (fr
Inventor
조호영
Original Assignee
한국뉴매틱 주식회사
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 한국뉴매틱 주식회사 filed Critical 한국뉴매틱 주식회사
Priority to DE112010002799T priority Critical patent/DE112010002799T5/de
Priority to CN2010800297253A priority patent/CN102470997A/zh
Publication of WO2011002202A2 publication Critical patent/WO2011002202A2/fr
Publication of WO2011002202A3 publication Critical patent/WO2011002202A3/fr

Links

Images

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
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • 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
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
    • 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
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/36—Arranging and feeding articles in groups by grippers
    • B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated grippers
    • 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
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers

Definitions

  • the present invention relates to a vacuum gripper device used in a vacuum conveying system, and more particularly, to a gripper device capable of responding at various angles to the surface of an object by allowing the vacuum cup to rotate using a ball joint.
  • the vacuum transfer system refers to a system for generating a negative pressure in a vacuum pad or a vacuum cup by using a vacuum pump acting as compressed air, and using the generated negative pressure to grasp an object and then transfer it to a predetermined place.
  • a vacuum cup here refers to any means that can be in contact with the article surface to form a vacuum / negative pressure for transport, which is not limited to just the 'cup' shape.
  • the gripper device used in the vacuum conveying system is typically composed of a fixed body connected to the suction port of the vacuum pump, and a vacuum cup fixedly coupled to the end of the body. While the compressed air passes through the vacuum pump, the air in the vacuum cup is attracted into the vacuum pump and discharged outward with the compressed air, so that negative pressure is generated in the cup.
  • the vacuum cup is fixedly coupled to the end of the ball joint and the ball portion is inserted into and coupled to the body. Therefore, the body and the vacuum cup are not limited to the vertical relationship, and can form various directions and angles.
  • the vacuum cup freely rotates 360 ° around the body at various angles by means of a ball joint. Therefore, the vacuum cups may be correspondingly bonded to the inclined surface of the object, which is not perpendicular to the longitudinal direction of the body. At this time, the vacuum cup is not linear to the body and is bent at a constant direction and angle.
  • the use of the ball joint makes it possible to freely rotate the vacuum cup, but the vacuum cup is rotated in multiple directions by the load of the object while lifting the object for transport after adhesion, and thus the object is fixed at a predetermined angle.
  • the problem arises that it is impossible to transport accurately and safely.
  • a sudden and excessive rotational force is added to the load of the object, causing the object to fall out of the vacuum cup during transportation.
  • the present invention has been proposed to solve the problems of conventional vacuum-gripper devices constructed using ball joints. It is an object of the present invention to provide a vacuum-gripper device that can be effectively applied to a repetitive transfer operation of an object by allowing the vacuum cup to be rotatable in one direction so that the tilt and rotation of the vacuum cup can be mechanically and repeatedly performed. .
  • Another object of the present invention is to provide a vacuum-gripper device which partially absorbs excessive force caused by the load of the object during the rotation of the vacuum cup, thereby enabling the safe transport of the object. It is still another object of the present invention to provide a vacuum gripper-device capable of arbitrarily adjusting the inclination angle and the rotation angle of the vacuum cup so as to immediately respond to various working environments.
  • the vacuum-gripper device of the present invention is:
  • a fixed body having an upper and lower open passage, an end of the ball joint having a communication hole formed in a longitudinal direction at the lower side of the passage, and fixed at one end thereof connected to one end of a spring extending downward;
  • a vacuum cup including a pad
  • the vacuum gripper device of the present invention includes a horizontal rotation suppression means and a vertical rotation control means provided in the body and the fastening portion.
  • the horizontal rotation suppressing means includes a rectangular outer circumferential surface formed on the lower side of the body, and a rectangular groove formed on an upper surface of the fastening portion and having one side surface in contact with the outer circumferential surface.
  • the vertical rotation control means a lifting unit for lifting or lowering on one side of the body to press or release one side of the vacuum cup.
  • the vacuum cup is coupled to the body by a ball joint, but can be rotated, but as the body and the spring are connected to one side, the rotation direction of the vacuum cup is limited to one direction. Moreover, when the horizontal rotation suppressing means is provided, the rotation direction of the working body is completely limited. In other words, the vacuum cup is only capable of angular displacement by rotation such as a clock. Therefore, the angular displacement by the one-way rotation of the vacuum cup can be made mechanically and repeatedly.
  • the load of the object during the rotation of the vacuum cup is partially canceled by the spring. Therefore, it is possible to prevent the rapid rotation of the working body to enable safe transport of the object.
  • the vertical rotation control means it is possible to arbitrarily adjust the inclination angle and the rotation angle of the body and the vacuum cup, so that it is possible to immediately respond to various working environments.
  • FIG. 1 is a perspective view of a vacuum-gripper device according to the present invention.
  • FIG. 2 is a cross-sectional view of FIG.
  • FIG. 3 and 4 are views for explaining the operation of the vacuum-gripper device of FIG.
  • FIG. 1 is a perspective view of a vacuum-gripper device according to the present invention
  • FIG. 2 is a cross-sectional view of FIG. 1
  • FIGS. 3 and 4 are views for explaining a state of use of the vacuum-gripper device of FIG. 2.
  • the vacuum gripper device comprises a fixed body 10, and a vacuum cup 20 is coupled to the rotation from the body 10, in particular one-way rotation, such as a clockwork. .
  • the body 10 is a hollow body having a passage (11) open up and down in the center.
  • the body 10 can be fixed to, for example, a robot arm or the like.
  • the outer surface of the body 10 is formed with a flange protruding outward to facilitate the installation of other elements.
  • the body 10 includes a ball joint 12 coupled to the lower side of the passage 11.
  • the ball joint 12 has a coupling end portion 12a inserted from the lower side of the passage 11 of the body 10 and a ball portion 12b extending downward when the end portion 12a is fitted into the body 10 and engaged. It includes integrally.
  • the ball joint 12 has a communication hole 13 in the longitudinal direction in communication with the passage (11).
  • the vacuum gripper device is to suppress the horizontal rotation of the vacuum cup 20, but to enable the angular displacement vertical rotation.
  • the ball portion 12b of the ball joint 12 may not necessarily be spherical.
  • One side of the body 10 is connected to one end of the spring 14 extending downward.
  • the length of the spring 14 can be selected, and a tension spring under tension or a compression spring under compression can be selectively applied.
  • the arm member 15 for connecting the spring 14 is separately provided on one side of the body 10, but it can be variously designed.
  • the vacuum cup 20 is fixed to the fastening portion 21 and the fastening portion 21 are rotatably coupled to the ball portion 12b of the ball joint 12 protruding downward of the body 10.
  • the inner space 25 includes a pad 24 that communicates with the lower side of the communication hole 13 of the ball joint 12.
  • the fastening portion 21 includes an upper structure 22 and a lower structure 23.
  • the upper structure 22 has an inner surface 22a in contact with the upper surface of the ball portion 12b
  • the lower structure 23 has an inner surface 23a in contact with the lower surface of the ball portion 12b.
  • Have The upper and lower structures 22 and 23 are assembled by bolts to form the fastening portion 21.
  • the fastening portion 21 formed as described above is coupled to the ball portion 12b, so that the vacuum cup 20 is It becomes rotatable.
  • the fastening part 21 is configured to accommodate the ball part 12b of the ball joint 12 by coupling the upper structure 22 and the lower structure 23. This is judged to be an optimal design for accommodating the ball portion 12b, but the present invention is not limited thereto and may be designed differently.
  • the pad 24 is made of a flexible material having excellent adhesiveness such as rubber and silicone, and the inward circular flange 24a integrally formed on the upper side is sandwiched between the upper and lower structures 22 and 23, thereby providing a pad.
  • the 24 is fixed to the fastening part 21.
  • the inner space 25 is communicated to the lower side of the communication hole 13 of the ball joint (12).
  • Reference numeral 28 denotes a spacing ring, which is disposed between at least one of the upper and lower structures 22 and 23 and contacts the upper or lower surface of the flange 24a of the pad 24, thereby increasing the height of the pad 24. I can regulate it.
  • reference numeral 29 denotes an anti-slip pad, which contacts the surface of the object to prevent slipping during transportation.
  • One side of the vacuum cup 20, in particular the fastening portion 21, is connected to one side of the body 10, one end of the spring 14 extending downward.
  • Reference numeral 26 is an arm member extending from the fastening portion 21 for connection of the spring 14.
  • the vacuum gripper device of the present invention includes a horizontal rotation suppressing means, and in this embodiment, the horizontal rotation suppressing means is formed on the upper surface of the rectangular outer peripheral surface 17 formed on the lower side of the body 10 and the fastening portion 21.
  • a rectangular groove 27 is formed and the long side surface contacts the outer circumferential surface 17. That is, the outer circumferential surface 17 and the groove 27 are in surface contact with each other, so that the vacuum cup 20 cannot rotate horizontally at all.
  • the initial angle ( ⁇ ) of the vacuum cup 20 may vary depending on the type or length of the spring used. However, there will be more cases where partial adjustment is required. This means that a separate means for adjusting the vertical rotation is required.
  • the vacuum-gripper device of the present invention includes a vertical rotation control means, and in this embodiment, the vertical rotation control means is pushed up or down on one side of the body 10 to pressurize or press one side of the vacuum cup 20.
  • Lifting unit 16 to release is included.
  • the vertical rotation control means is composed of a lifting unit 16, the long hole is formed, and the bolt 18 to secure the lifting unit 16 by being coupled to the body 10 through the long hole.
  • the lifting unit 16 when the lifting unit 16 is lowered while the angle ⁇ of the vacuum cup 20 is formed as shown in FIG. 1, the lifting unit 16 presses the vacuum cup 20 to forcibly rotate it.
  • the vacuum cup 20 may be at different angles or equilibrium.
  • the vacuum cup 20 is initially set at a constant angle ⁇ '. This is made possible by a spring 14 provided on one side of the device, which allows for a quick and accurate response to a constant angle ⁇ 'and similar angles, and repeatedly to grip, transport and load the object. Will be.
  • the set constant angle ⁇ ' can be changed by appropriately selecting and applying the kind, length, etc. of the spring 14.
  • the horizontal rotation suppressing means (17, 27) provided between the body 10 and the vacuum cup 20 the horizontal rotation of the vacuum cup 20 is impossible to be suppressed, and one-way rotation to perform only angular displacement may be possible. It is only.
  • the vacuum cup 20 may rotate the angle ⁇ 'to ⁇ "vertically with respect to the ball part 12b. It is not rotated sharply while being partially absorbed by (14).
  • the angles ⁇ 'and ⁇ " are adjusted by manipulating the elevating portion 16 provided as a means for controlling the vertical rotation of the vacuum cup 20. It is possible.
  • the passage 11 of the body 10 and the ball joint 12, the communication hole 13 of the ball joint 12, and the internal space 25 of the vacuum cup 20 form a communication relationship with each other. This communication relationship is maintained regardless of the rotation of the vacuum cup 20.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)

Abstract

La présente invention concerne un dispositif de préhension par succion qui fonctionne avec de l’air comprimé. Cette invention permet à une ventouse de pivoter selon une direction constante et permet également de régler l’angle de rotation de la ventouse, rendant ainsi l'utilisation du dispositif plus sûre et plus pratique. Selon l’invention, le dispositif comprend : un corps principal, dont le centre est accouplé à une articulation sphérique et à un côté à partir duquel une extrémité d’un ressort s’étend de manière descendante pour venir se lier à un autre élément ; et une ventouse qui est accouplée à une partie sphérique de l’articulation sphérique, de manière à pouvoir pivoter, et qui fait saillie de manière descendante depuis le corps principal, l’extrémité étendue du ressort étant reliée à un côté de la ventouse. De préférence, le dispositif de la présente invention comprend des moyens permettant de limiter strictement la rotation horizontale et des moyens permettant de régler l’angle de déplacement d’une rotation verticale.
PCT/KR2010/004208 2009-07-02 2010-06-29 Dispositif de préhension par succion capable de déplacement angulaire WO2011002202A2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE112010002799T DE112010002799T5 (de) 2009-07-02 2010-06-29 Sauggreifvorrichtung mit der Fähigkeit zur Winkelversetzung
CN2010800297253A CN102470997A (zh) 2009-07-02 2010-06-29 可角位移的真空夹具装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020090060286A KR100926534B1 (ko) 2009-07-02 2009-07-02 각변위 가능한 진공-그리퍼 장치
KR10-2009-0060286 2009-07-02

Publications (2)

Publication Number Publication Date
WO2011002202A2 true WO2011002202A2 (fr) 2011-01-06
WO2011002202A3 WO2011002202A3 (fr) 2011-04-21

Family

ID=41561651

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2010/004208 WO2011002202A2 (fr) 2009-07-02 2010-06-29 Dispositif de préhension par succion capable de déplacement angulaire

Country Status (4)

Country Link
KR (1) KR100926534B1 (fr)
CN (1) CN102470997A (fr)
DE (1) DE112010002799T5 (fr)
WO (1) WO2011002202A2 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160176001A1 (en) * 2013-08-06 2016-06-23 C.M.S. S.P.A. Workpiece holding apparatus
CN113653981A (zh) * 2021-08-09 2021-11-16 张昀 一种市政工程施工智能照明设备

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101179752B1 (ko) 2009-12-24 2012-09-04 한양대학교 에리카산학협력단 기기 작동용 조작 레버의 무인 조종 시스템
KR101315696B1 (ko) * 2012-06-05 2013-10-08 주식회사 성우하이텍 흡착패드유닛
US9196521B2 (en) 2012-11-05 2015-11-24 Infineon Technologies Ag Adjustable pick-up head and method for manufacturing a device
US9079318B2 (en) 2012-12-20 2015-07-14 Infineon Technologies Ag Self-aligning pick-up head and method for manufacturing a device with the self-aligning pick-up head
CN103192402B (zh) * 2013-04-14 2014-12-10 苏州科技学院 一种压电超声振动吸附拾取器
CN103332478B (zh) * 2013-05-31 2015-08-05 江苏三环实业股份有限公司 一种铅酸蓄电池生产线上的板栅负压转运机构
CN104222190B (zh) * 2014-08-18 2015-11-25 尚宝泰机械科技（昆山）有限公司 一种爪盘机构
CN104222191B (zh) * 2014-09-03 2015-11-25 尚宝泰机械科技（昆山）有限公司 一种抓面机的爪盘机构
CN104368952B (zh) * 2014-11-19 2016-10-05 苏州博众精工科技有限公司 一种可自动调节角度的吸头装置
KR101620001B1 (ko) * 2015-03-30 2016-05-12 주식회사 동양기공 양주형 석판재 입출력 장치
ES2977459T3 (es) * 2015-05-28 2024-08-23 Bd Kiestra Bv Método y sistema automatizados para obtener y preparar una muestra de microorganismo para ensayos tanto de identificación como de susceptibilidad a antibióticos
US9962834B2 (en) * 2015-06-17 2018-05-08 The Boeing Company Compliant end effectors, robots that include compliant end effectors, and methods of utilizing the same
CN105058400B (zh) * 2015-07-16 2018-02-23 佛山市普拉迪数控科技有限公司 一种角度可调的机械手
CN105905602B (zh) * 2016-05-18 2018-01-12 杭州中亚机械股份有限公司 一种吸盘
CN106826881B (zh) * 2017-02-22 2023-05-30 佛山市艾乐博机器人股份有限公司 一种用于夹持物料的手爪及抓手
JP2019082350A (ja) * 2017-10-30 2019-05-30 セイコーエプソン株式会社 電子部品搬送装置および電子部品検査装置
CN108274452A (zh) * 2018-03-23 2018-07-13 苏州紫金港智能制造装备有限公司 工业机器人轴向自适应柔性法兰
CN108341262A (zh) * 2018-03-23 2018-07-31 杭州景业智能科技有限公司 适用于电池拆垛码垛的抓手
CN108483037B (zh) * 2018-03-28 2019-09-27 南京理工大学 一种基于颗粒物塑形的真空吸盘
EP3578323B1 (fr) * 2018-06-05 2020-08-12 C.R.F. Società Consortile per Azioni Dispositif de préhension de type aspirant
CN110076411B (zh) * 2019-04-26 2021-09-21 武汉心浩智能科技有限公司 一种5g通讯产品的抓取安装机构
CN110482211B (zh) * 2019-08-13 2024-09-10 苏州富强科技有限公司 一种吸嘴转动机构
CN113137425B (zh) * 2020-01-20 2022-07-05 杭州萤石软件有限公司 一种吸盘装置
CN112476458A (zh) * 2020-11-12 2021-03-12 大连理工大学 一种针对航空航天材料的抓取系统
CN112318098B (zh) * 2020-11-19 2024-05-07 珠海格力智能装备有限公司 一种角度补偿工装及空调生产设备
US11856898B2 (en) 2021-08-03 2024-01-02 4Ag Robotics Inc. Automated mushroom harvesting system
US20240118388A1 (en) * 2022-10-06 2024-04-11 Raytheon Company Quick-mount laser warning receiver
CN115535341B (zh) * 2022-11-25 2023-03-24 成都乾坤动物药业股份有限公司 一种药瓶包装转移装置及方法
CN115647180A (zh) * 2022-12-14 2023-01-31 福鼎市鼎程龙机械设备制造有限公司 一种冷泡杯成型模具
WO2024138539A1 (fr) * 2022-12-29 2024-07-04 广东安达智能装备股份有限公司 Tête fonctionnelle à angle réglable et système de plateforme intelligent
CN118559418B (zh) * 2024-07-31 2024-10-15 忻州上衡电子科技有限公司 一种传感器生产用封装设备及封装方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100889638B1 (ko) 2008-03-17 2009-03-20 한국뉴매틱(주) 진공 패드장치

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DD219145A1 (de) * 1983-10-31 1985-02-27 Eberhard Kuehlfluck Greifeinrichtung zum handhaben von vorzugsweise ungeordnet abgelegten werkstuecken
US5352086A (en) * 1990-01-27 1994-10-04 Georg Speiss Gmbh Apparatus for lifting sheets from a stack
JP2589963Y2 (ja) * 1991-07-16 1999-02-03 エスエムシー株式会社 吸着用パッドの接続機構
FR2796875B1 (fr) * 1999-07-29 2001-08-31 A M G Prehenseur modulaire
FR2804892B1 (fr) * 2000-02-11 2002-04-26 Aerospatiale Matra Airbus Organe de prehension orientable pour le transport ou l'usinage d'une piece de forme quelconque
JP2005028489A (ja) 2003-07-10 2005-02-03 Shoda Techtron Corp 吸着パッド装置
US7281739B2 (en) * 2004-09-01 2007-10-16 Delaware Capital Formation, Inc. Adjustable mount for vacuum cup with offset mounting post and swivel
KR20060114876A (ko) * 2005-05-03 2006-11-08 히로타까세이끼가부시끼가이샤 흡착 유지 장치

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100889638B1 (ko) 2008-03-17 2009-03-20 한국뉴매틱(주) 진공 패드장치

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160176001A1 (en) * 2013-08-06 2016-06-23 C.M.S. S.P.A. Workpiece holding apparatus
CN113653981A (zh) * 2021-08-09 2021-11-16 张昀 一种市政工程施工智能照明设备
CN113653981B (zh) * 2021-08-09 2024-04-30 深圳市荣鹏建筑工程有限公司 一种市政工程施工智能照明设备

Also Published As

Publication number Publication date
CN102470997A (zh) 2012-05-23
KR100926534B1 (ko) 2009-11-12
DE112010002799T5 (de) 2012-11-08
WO2011002202A3 (fr) 2011-04-21

Similar Documents

Publication Publication Date Title
WO2011002202A2 (fr) Dispositif de préhension par succion capable de déplacement angulaire
WO2009116761A2 (fr) Dispositif à tampon sous vide
WO2011027968A2 (fr) Ensemble coupelle à vide
WO2014058140A1 (fr) Dispositif de support destiné à protéger un verre à vitres
WO2018099340A1 (fr) Support capable d'effectuer automatiquement un serrage rotatif au moyen d'une liaison articulée
WO2022086208A1 (fr) Dispositif de ventouse
WO2012086949A2 (fr) Ensemble pour coupe à vide ayant une fonction de correction de niveau
WO2020159020A1 (fr) Dispositif de verrouillage de rotation et bras rotatif à deux degrés de liberté (2dof) le comprenant
WO2014051391A2 (fr) Bâti destiné à soutenir une structure de navire
WO2019124704A1 (fr) Dispositif d'enlèvement d'électrolyte, appareil et procédé de fabrication d'une batterie secondaire comprenant celui-ci, et batterie secondaire
WO2020184804A1 (fr) Appareil de maintien de dispositif électronique et appareil d'aspiration pour maintenir un dispositif électronique
CN107250651A (zh) 夹持结构及具有该夹持结构的云台
WO2017047874A1 (fr) Dispositif d'exercice du doigt
WO2018128300A1 (fr) Haltère à poids réglable
WO2016208938A1 (fr) Dispositif à rotation de piston pour jauge de pression à poids mort
WO2014192991A1 (fr) Appareil destiné à ajuster la hauteur et l'angle d'un support de repose-pied pour un équipement de construction
WO2014046413A1 (fr) Tampon pour dispositif d'adsorption sous vide
WO2021201396A1 (fr) Dispositif de prélèvement
WO2022149626A1 (fr) Éjecteur de balle de golf installé dans une coupe de trou
WO2016122073A1 (fr) Tête de découpe destinée à un appareil de découpe de vinyle
WO2020009323A1 (fr) Dispositif de type préhenseur réflexe
WO2019074175A1 (fr) Antenne biaxiale utilisant un moteur unique
WO2013183927A1 (fr) Dispositif de serrage en forme de croissant
WO2014025115A1 (fr) Dispositif d'alimentation de bande de support pour dispositif de montage de puces
WO2017007113A1 (fr) Dispositif pour attacher/détacher un avertisseur libre pour un module actionneur

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 201080029725.3

Country of ref document: CN

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 10794337

Country of ref document: EP

Kind code of ref document: A2

DPE1 Request for preliminary examination filed after expiration of 19th month from priority date (pct application filed from 20040101)
WWE Wipo information: entry into national phase

Ref document number: 2010794337

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 112010002799

Country of ref document: DE

Ref document number: 1120100027994

Country of ref document: DE

122 Ep: pct application non-entry in european phase

Ref document number: 10794337

Country of ref document: EP

Kind code of ref document: A2