WO2011111601A1 - Dispositif de préhension électrique et dispositif d'entraînement de pressage - Google Patents

Dispositif de préhension électrique et dispositif d'entraînement de pressage Download PDF

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Publication number
WO2011111601A1
WO2011111601A1 PCT/JP2011/054905 JP2011054905W WO2011111601A1 WO 2011111601 A1 WO2011111601 A1 WO 2011111601A1 JP 2011054905 W JP2011054905 W JP 2011054905W WO 2011111601 A1 WO2011111601 A1 WO 2011111601A1
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WO
WIPO (PCT)
Prior art keywords
workpiece
electric motor
movable
claw
electric
Prior art date
Application number
PCT/JP2011/054905
Other languages
English (en)
Japanese (ja)
Inventor
吉三郎 富岡
隆宏 望月
雅也 澤田
Original Assignee
Thk株式会社
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 Thk株式会社 filed Critical Thk株式会社
Publication of WO2011111601A1 publication Critical patent/WO2011111601A1/fr

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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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • B25J15/0273—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links comprising linear guide means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/06—Arrangements for positively actuating jaws
    • B25B1/18—Arrangements for positively actuating jaws motor driven, e.g. with fluid drive, with or without provision for manual actuation

Definitions

  • the present invention relates to an electric gripping device that is attached to the tip of a robot arm of an industrial robot that supplies and assembles parts and grips a workpiece as a conveyance object.
  • An industrial robot that transports, transfers, and assembles small parts requires a device that grips the parts to be transported at the tip of the robot arm.
  • this gripping device there is known a device that opens and closes a plurality of parallel movable claws using pressurized air and sandwiches a component to be conveyed between the movable claws.
  • an electric gripping device that opens and closes the movable claw using an electric motor has been widely used in order to save energy and reduce the size of the device.
  • This type of electric gripping device converts the rotation of the electric motor into a translational motion of each movable claw, and exhibits the rotational torque of the electric motor as a pressing force of the movable claw, so that an object to be conveyed between the plurality of movable claws. It is comprised so that a loose workpiece may be hold
  • a mechanism for converting the rotation of the electric motor into the translational motion of the movable claw a cam mechanism, a feed screw mechanism, or a link mechanism is used.
  • the movable claw may be configured as an inner claw that presses the workpiece from the outside to the inside or as an outer claw that presses the workpiece from the inside to the outside.
  • the movable claw when the movable claw is configured as an inner claw, when the electric motor is rotated in one direction, the plurality of movable claws are closed toward the center to sandwich the workpiece from the surroundings. When it is gripped and the electric motor is rotated in the other direction, the plurality of movable claws open radially to release the workpiece. At this time, the movement control of the movable claw is performed by detecting the rotational torque of the electric motor. Since the rotational torque of the electric motor increases when the movable claw grips the workpiece, if the electric motor is energized so that the predetermined rotational torque is exhibited, the gripping force corresponding to the rotational torque exhibited by the electric motor With this, the workpiece is gripped.
  • the electric motor needs to continue to exhibit a predetermined rotational torque. Accordingly, when the movable claw grips the workpiece, it is necessary to continue energizing the electric motor until the workpiece is released, and the longer the gripping time of the workpiece, the more electric energy is consumed.
  • JP 2009-125851 proposes an improvement of an electric gripping device for continuing to hold a work by a movable claw even when energization to an electric motor is stopped.
  • an irreversible feed screw mechanism is adopted as a mechanism for converting the rotation of the electric motor into the translational motion of each movable claw, and the electric motor is energized while the movable claw is pressing the workpiece.
  • the movable claw is configured not to be retracted by a reaction force from the workpiece. That is, when energization of the electric motor is stopped, each movable claw is locked at the position where the workpiece is gripped.
  • each movable claw does not exert any pressing force on the workpiece even if each movable claw is locked at the position where the workpiece is gripped. It is in a state where it is simply in contact with the workpiece. For this reason, the frictional force acting between the movable claw and the workpiece becomes unstable, and the posture of the workpiece is likely to change during the movement of the robot arm. If the workpiece posture changes during the transfer, the robot arm cannot complete the transfer or transfer of the workpiece correctly. In particular, when the contact area between the workpiece and each movable claw is small, a trouble that the workpiece falls out between the plurality of movable claws is also assumed.
  • the present invention has been made in view of such problems, and the object of the present invention is to ensure that a gripping force can be reliably exerted on a workpiece even when energization of the electric motor is stopped. Another object of the present invention is to provide an electric gripping apparatus capable of reliably gripping a workpiece in a predetermined posture while saving energy.
  • the electric gripping device of the present invention displaces each movable claw in conjunction with a drive member that is given translational motion by an electric motor, a plurality of movable claws that open and close to grip a workpiece, and a displacement of the drive member. And a lock mechanism that restricts displacement of the drive member when the motor is de-energized.
  • the link mechanism includes one or more links. At least one of the one or more links is made of an elastic body, and when the movable claw presses the workpiece, the link is deformed by the reaction force to accumulate elastic force.
  • the configuration of the electric gripping device is not limited to gripping the workpiece by the movable claw, but can also be used as a device that continues to exert a predetermined pressing force on the workpiece.
  • the electric gripping device of the present invention configured as described above, for example, when the electric motor is a rotary motor, when the electric motor rotates, a translational motion corresponding to the rotation angle is given to the drive member, and this drive The displacement of the member is transmitted to each movable claw by the link mechanism, and these movable claws open and close according to the rotation angle of the electric motor. Since at least one of the links constituting the link mechanism is an elastic body, when the movable claw grips a workpiece, the link made of the elastic body accumulates and deforms an elastic force corresponding to the rotational torque exerted by the electric motor. become. When the energization of the electric motor is stopped from this state, the locking mechanism restricts the displacement of the driving member. The accumulated state is maintained.
  • the movable claw continues to exert the same pressing force on the workpiece as before the electric power supply to the electric motor is stopped.
  • it is possible to reliably hold the workpiece in a predetermined posture while saving energy.
  • the link mechanism since at least one of the one or more links constituting the link mechanism is an elastic body, and the link is configured to exert an elastic force only when the movable claw is in contact with the workpiece, In a state where the movable claw is separated from the workpiece, no urging force is applied to the movable claw. For this reason, when the electric motor opens and closes the movable claw, it is not necessary to exert an extra force. In this respect as well, the electric gripping device of the present invention can achieve energy saving.
  • FIG. 2 is a front view of the electric gripping device shown in FIG. It is a left view of the electric holding apparatus shown in FIG. It is a right view of the electric holding apparatus shown in FIG.
  • FIG. 3 is a front view showing an example in which the movable member is displaced in the electric gripping device shown in FIG. 2.
  • the electric gripping device 1 is roughly divided into a base plate 2, a pair of movable members 3 provided on the front surface side of the base plate 2, an electric motor 4 attached to the back surface side of the base plate 2, and the electric motor 4 And a transmission mechanism 5 that converts the rotation of the movable member 3 into a translational motion of the movable member 3.
  • a single track rail 6 is disposed on the base plate 2, and two moving blocks 7 are assembled to the track rail 6. These moving blocks 7 are assembled to the track rail 6 via a large number of balls, and can move freely along the track rail 6.
  • a known linear guide can be used as a combination of the track rail 6 and the moving block 7, a known linear guide can be used.
  • the movable member 3 is fixed to each moving block 7 and moves on the base plate 2 along the arrow X direction in FIG. That is, the movement of the movable member 3 is constrained by the track rail 6 and only translational motion along the axial direction of the track rail 6 is allowed.
  • a claw member 8 is fixed to each movable member 3, and a pair of claw members 8 grip a workpiece (not shown) between them according to the translational movement of the movable member 3.
  • the movable claw of the present invention is constituted by the movable member 3 and the claw member 8.
  • the movable member 3 and the claw member 8 may be integrally formed as a movable claw, and the movable claw may be configured to be fixed to the moving block 7, but the shape of the claw member 8 is an object to be grasped. It is preferable to optimize according to the shape of the workpiece. From this viewpoint, the movable member 3 is fixed to the moving block 7 as a mounting plate for the claw member 8.
  • each movable member 3 is provided with a connection arm 9, and each connection arm 9 protrudes through the long hole 10 provided in the base plate 2 to the back surface side of the base plate 2.
  • the connection arm 9 protruding to the back side of the base plate 2 is connected to the transmission mechanism 5.
  • Connection arms 9 extending from each of the pair of movable members 3 are positioned on opposite sides of the track rail 6, and a pair of long holes 10 formed in the base plate 2 are also provided with the track rail 6 interposed therebetween. ing.
  • the electric motor 4 is fixed to the back side of the base plate 2 via a support bracket 11.
  • the support bracket 11 is formed in a rectangular shape having a space inside, and the electric motor 4 is fixed to the support bracket 11 so that its output shaft is inserted into the support bracket 11.
  • a drive pulley 12 is provided inside the sahort bracket 11 coaxially with the output shaft of the electric motor 4, and the rotation of the electric motor 4 is transmitted to the drive pulley 12.
  • the electric motor 4 is a servo motor and has a built-in sensor for detecting the rotation angle of the output shaft, and the rotation angle of the output shaft is feedback-controlled by sending the sensor output to a control unit (not shown).
  • the control unit detects a current value supplied to the electric motor 4 and controls the rotational torque generated by the electric motor 4 based on the detected value.
  • the transmission mechanism 5 disposed on the back side of the base plate 2 is exposed to the outside.
  • the cover is fixed around the base plate 2.
  • the transmission mechanism 5 is protected from the outside.
  • the electric motor is fixed to the support bracket 11 outside the cover.
  • the transmission mechanism 5 converts the rotation of the electric motor 4 into a translational motion that matches the axial direction of the electric motor 4, and the translational motion obtained by the feed screw mechanism 50 in the movable member 3. It is comprised from a pair of link mechanism 51 which converts into the translational motion of this and transmits.
  • the feed screw mechanism 50 includes a screw shaft 13 rotatably supported by the support bracket 11 and a rectangular drive member 14 that performs translational movement in the axial direction of the screw shaft 13 in accordance with the rotation of the screw shaft 13. It consists of and.
  • the screw shaft 13 is disposed in the vicinity of the center of the back side of the base plate 2 in parallel with the output shaft of the electric motor 4, and one end thereof is coupled to the driven pulley 15 inside the support bracket 11.
  • the driven pulley 15 is adjacent to the drive pulley 12 inside the support bracket 11, and a timing belt is stretched between the pulleys 12 and 15.
  • a through hole through which the screw shaft 13 is inserted is formed at the center of the drive member 14, and a nut member screwed into the screw shaft 13 is fixed inside the through hole.
  • a pair of guide shafts 16 are fixed to the support bracket 11 that rotatably supports the screw shaft 13 in parallel with the screw shaft 13, while the drive member 14 has a cylindrical shape through which the guide shaft 16 passes.
  • the ball bush is fixed, and the drive member 14 is guided along the axial direction of the screw shaft 13 by a linear guide constituted by the guide shaft 16 and the ball bush.
  • the rotation of the electric motor 4 is transmitted to the screw shaft 13 using a pair of pulleys 12 and 15 and a timing belt.
  • the electric motor 4 may be arrange
  • the screw shaft 13 and the nut member constitute a slide screw 130, and in this embodiment, the shape of the thread is a trapezoidal screw.
  • the shape of the thread is not limited to a trapezoidal screw, and may be a square screw or a triangular screw.
  • This slide screw 130 functions as a lock mechanism of the present invention. That is, this is the case where a force along the axial direction of the screw shaft 13 is applied to the drive member 14 with the energization of the electric motor 4 stopped and the holding force of the electric motor 4 disappeared.
  • the driving member 14 can be locked at a fixed position on the screw shaft 13 without rotating the screw shaft 13 due to the frictional force acting between the screw shaft 13 and the nut member. ing.
  • the pair of link mechanisms 51 described above are provided between the connecting arm 9 of each movable member 3 protruding through the base plate 2 and projecting to the back side thereof, and the driving member 14, as shown in FIGS. As shown, a pair is provided so as to sandwich the screw shaft 13 from the front and the back.
  • Each link mechanism 51 is rotatably coupled to the first link 17 that is rotatably coupled to the drive member 14 that translates in the Y direction, and to the connection arm 9 that translates in the X direction.
  • the elastic link 19 that couples the first link 17 and the second link 18 to each other.
  • the drive member 14 and the connection arm 9 can be recognized as a slip pair at the end of the link mechanism, and can be regarded as constituting a part of the link mechanism 5.
  • the first link 17 and the second link 18 are plate-like members having rotary bearings at both ends, and are rotatably coupled to the drive member 14, the connection arm 9, or the elastic body link 19 through these rotary bearings. Yes.
  • the elastic body link 19 has two rod-shaped spring members 20 and 21 orthogonal to each other, and is formed in a substantially L shape.
  • a joint portion 22 for connecting the spring members 20 and 21 is formed on the base plate 2.
  • the side plate 23 is fixed to the side plate 23 so as to be rotatable. In other words, the elastic body link 19 rotates about the reference pin 24 provided on the side plate 23.
  • the tip of the spring member 20 is rotatably connected to the first link 17, while the tip of the spring member 21 is rotatably connected to the second link 18.
  • the two spring members do not necessarily intersect at 90 °, and the intersecting angle may be freely changed in consideration of the power transmission path in the link mechanism.
  • the spring members 20 and 21 are rod-shaped members having a circular cross section, and are configured to accumulate elastic force accompanied by bending deformation when a load in a direction perpendicular to the longitudinal direction is applied to the tip thereof.
  • the spring members 20 and 21 function as elastic bodies, and in this embodiment, the spring members 20 and 21 are formed from oil temper wires for valve springs.
  • the spring members 20 and 21 are required to have high strength and toughness, and are excellent. It is necessary to have high fatigue resistance.
  • the spring members 20 and 21 may be formed of a material other than the valve spring oil temper wire as long as the material satisfies such requirements. However, if the amount of deformation when the load is applied is large, the rotation angle of the electric motor increases when the workpiece is gripped or released, so that the spring member can accumulate a large elastic force with a small displacement. Is preferably made of spring steel.
  • the spring members 20 and 21 may have any shape as long as they accumulate elastic force with deformation such as bending or bending when a load in a direction orthogonal to the longitudinal direction is applied to the tip. Yes, it is not limited to a rod-shaped member having a circular cross section, that is, a rod-shaped spring. For example, a leaf spring or a torsion spring may be used.
  • FIG. 5 shows a state where the electric motor 4 is rotated from the state shown in FIG. 2 and the drive member 14 is moved along the screw shaft 13 in the Y direction. More specifically, a state in which the driving member 14 is moved downward in FIG. 2 is shown.
  • the drive member 14 is moved in the Y direction in this way, the first link 17 coupled to the drive member 14 moves in the Y direction together with the drive member 14, and the elasticity coupled to the first link 17. Since the spring member 20 of the body link 19 is swung, the elastic body link 19 rotates around the reference pin 24. Further, when the elastic body link 19 rotates around the reference pin 24, the spring member 21 swings, so that the connecting arm 9 of the movable member 3 is pushed through the second link 18 coupled to the spring member 21. Will be pulled. As a result, the movable member 3 performs translational movement in the X direction.
  • FIG. 6 and 7 illustrate the action of the elastic body link 19 when the claw member 8 grips the workpiece 100.
  • FIG. 6 shows a state at the moment when the claw member 8 contacts the workpiece 100.
  • FIG. 7 shows a state where the electric motor 4 is further rotated from the state shown in FIG. 6 and the claw member 8 exerts a pressing force F on the workpiece 100.
  • the claw member 8 moves in conjunction with the rotation of the electric motor 4 until both of the claw members 8 come into contact with the workpiece 100. Generates only a small rotational torque necessary for the movement of the claw member 8. However, as shown in FIG. 6, when both the claw members 8 come into contact with the workpiece 100, the movement of the claw members 8 is locked by the workpiece 100. The rotational torque exerted will increase.
  • each spring member 20, 21 is bent and deformed, and these spring members themselves accumulate elastic force.
  • the claw member 8 applies a pressing force F corresponding to the rotational torque exerted by the electric motor 4 to the workpiece 100
  • the elastic body link 19 generates an elastic force corresponding to the pressing force F. Accumulated.
  • the elastic body link 19 is accumulated even when the claw member 8 stops energizing the electric motor 4 from the state where the claw member 8 grips the workpiece 100 with the pressing force F. Since the connecting arm 9 is urged by the elastic force, the claw member 8 continues to grip the workpiece 100 with the pressing force F.
  • this electric gripping device 1 even when the energization to the electric motor 4 is interrupted while the claw member 8 grips the work 100, the claw member 8 continues to exert a gripping force on the work 100 reliably. It is possible to reliably hold 100 in a predetermined posture. As a result, it is possible to stop energization of the electric motor 4 while gripping the workpiece 100 and to achieve energy saving.
  • the electric gripping device of the present invention contributes to energy saving.
  • the rotation control of the electric motor 4 in the electric gripping device 1 is not different from that of the conventional electric gripping device, and can be performed by torque control using the rotational torque exhibited by the electric motor 4 as an index. is there.
  • the rotation torque of the electric motor 4 is controlled so that the claw member 8 grips the workpiece 100 with a force of 10 N
  • the elastic force corresponding to this is accumulated in the elastic body link 19, and If the energization of the electric motor 4 is stopped after detecting that the rotational torque of the motor 4 has reached a predetermined value, the claw member 8 continues to grip the workpiece with a force of 10N.
  • the electric gripping device 1 described with reference to the drawings is a so-called inner claw type that grips the workpiece 100 between a pair of claw members 8.
  • a so-called outer claw type that grips a workpiece is applicable.
  • the electric motor 4 exerts a predetermined rotational torque while the claw member is in contact with the workpiece
  • the pair of spring members 20 and 21 of the elastic body link 19 are elastically deformed in a closing direction,
  • the elastic force corresponding to the pressing force F is accumulated.
  • the link mechanism 5 that links the driving member 14 and the movable member 3 is not limited to the example described with reference to the drawings as long as it is composed of one or more links. Further, if at least one link is configured to elastically deform due to the rotational torque of the electric motor 4 to accumulate elastic force as the workpiece is gripped, a specific link that accumulates the elastic force is specified. The shape and arrangement in the link mechanism may be changed as appropriate.
  • connection arm 9 may be formed of the same material as the spring member, and one end of the connection arm 9 may be fixedly supported by the movable member 3 and the other end may be rotationally supported by another link.
  • the two movable members 3 are opened and closed, and the workpiece is gripped by the claw members 8 fixed to these movable members 3.
  • the movable members include three or four movable members. There is no problem. In that case, the movable member is arranged on the base plate 2 so as to open and close radially, and the link mechanism 5 is provided for each movable member.
  • a slide screw that gives translational motion to the drive member 14 is used as a lock mechanism that locks the drive member 14 when energization to the electric motor 4 is stopped.
  • the present invention is not limited to this.
  • a brake device for locking the rotation of the screw shaft 13 due to the stop of energization of the electric motor 4 may be provided separately.
  • the configuration shown in the embodiment is useful in terms of simplification of the configuration.
  • the rotary motor is used as the electric motor.
  • the present invention is not limited to this as long as the drive member can be translated.
  • a linear motor may be used. .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de préhension électrique au moyen duquel une force de préhension continue à être exercée de manière fiable sur une pièce même dans le cas où un moteur électrique est mis hors tension, et la pièce continue à être saisie de manière fiable dans une position prédéterminée, en obtenant une conservation d'énergie. Le dispositif de préhension électrique est muni d'un élément (14) entraîné auquel un mouvement de translation est communiqué par un moteur (4) électrique, d'une pluralité de griffes (3, 8) mobiles qui s'ouvrent et se ferment de manière à saisir la pièce, d'un mécanisme (51) de liaison qui amène les griffes (3, 8) mobiles à subir un déplacement lié au déplacement de l'élément (14) entraîné, et d'un mécanisme (130) de verrouillage qui limite le déplacement de l'élément (14) entraîné lorsque le moteur (4) est mis hors tension. Le mécanisme (51) de liaison comprend une ou plusieurs liaisons. De plus, au moins l'une desdites liaisons consiste en un corps (19) élastique. Ce corps (19) élastique est formé de telle sorte que lorsque les griffes (3, 8) mobiles pressent la pièce, le corps (19) élastique se déforme sous l'effet de la force de réaction résultante, ce qui mène à une accumulation de force élastique.
PCT/JP2011/054905 2010-03-08 2011-03-03 Dispositif de préhension électrique et dispositif d'entraînement de pressage WO2011111601A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2010051118A JP4854793B2 (ja) 2010-03-08 2010-03-08 電動把持装置
JP2010-051118 2010-03-08

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WO2011111601A1 true WO2011111601A1 (fr) 2011-09-15

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014202568A1 (fr) * 2013-06-19 2014-12-24 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Dispositif de préhension ou de serrage permettant de saisir ou de serrer des objets et procédé pour ledit dispositif
TWI640402B (zh) * 2017-10-26 2018-11-11 中日流體傳動股份有限公司 Composite clamp fixture module

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5705365B1 (ja) * 2014-11-10 2015-04-22 株式会社フジクラ 光ファイバ把持装置
US9541710B2 (en) 2015-01-30 2017-01-10 Fujikura Ltd. Optical fiber holding device
JP6682074B2 (ja) * 2015-11-12 2020-04-15 アダマンド並木精密宝石株式会社 把持装置
CN106514683B (zh) * 2017-01-13 2018-12-28 北京一维弦科技有限责任公司 用于机器人的夹持机构
JP7128400B2 (ja) * 2017-11-28 2022-08-31 Ckd株式会社 電動把持装置

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JPS63168649U (fr) * 1987-04-22 1988-11-02
JPH10202559A (ja) * 1997-01-23 1998-08-04 Shin Meiwa Ind Co Ltd ハンド装置
JP2008105116A (ja) * 2006-10-24 2008-05-08 National Institute Of Advanced Industrial & Technology ２指把持型ロボットハンド
JP2009125851A (ja) * 2007-11-22 2009-06-11 Smc Corp 駆動機構及び該駆動機構を備えるグリッパ機構
JP2009262247A (ja) * 2008-04-22 2009-11-12 Harmonic Drive Syst Ind Co Ltd ロボットハンドおよび指機構

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JPS5554194A (en) * 1978-10-14 1980-04-21 Hideaki Wakayama Working structure of grasping finger of grasper

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Publication number Priority date Publication date Assignee Title
JPS63168649U (fr) * 1987-04-22 1988-11-02
JPH10202559A (ja) * 1997-01-23 1998-08-04 Shin Meiwa Ind Co Ltd ハンド装置
JP2008105116A (ja) * 2006-10-24 2008-05-08 National Institute Of Advanced Industrial & Technology ２指把持型ロボットハンド
JP2009125851A (ja) * 2007-11-22 2009-06-11 Smc Corp 駆動機構及び該駆動機構を備えるグリッパ機構
JP2009262247A (ja) * 2008-04-22 2009-11-12 Harmonic Drive Syst Ind Co Ltd ロボットハンドおよび指機構

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014202568A1 (fr) * 2013-06-19 2014-12-24 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Dispositif de préhension ou de serrage permettant de saisir ou de serrer des objets et procédé pour ledit dispositif
CN105408070A (zh) * 2013-06-19 2016-03-16 雄克有限公司 用于夹持或夹紧物体的夹持或夹紧装置及用于其的方法
US9656393B2 (en) 2013-06-19 2017-05-23 Schunk Gmbh & Co. Kg Spann-Und Greiftechnik Gripping or clamping device for gripping or clamping objects and method therefor
TWI640402B (zh) * 2017-10-26 2018-11-11 中日流體傳動股份有限公司 Composite clamp fixture module

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JP4854793B2 (ja) 2012-01-18
JP2011183504A (ja) 2011-09-22

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