US20090060699A1 - Support arm for a clamping and centering element of a gripper frame for holding three-dimensional components in the motor vehicle industry - Google Patents

Support arm for a clamping and centering element of a gripper frame for holding three-dimensional components in the motor vehicle industry Download PDF

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Publication number
US20090060699A1
US20090060699A1 US12/095,238 US9523806A US2009060699A1 US 20090060699 A1 US20090060699 A1 US 20090060699A1 US 9523806 A US9523806 A US 9523806A US 2009060699 A1 US2009060699 A1 US 2009060699A1
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US
United States
Prior art keywords
clamping
support arm
ball
clamping jaws
cylindrical pin
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US12/095,238
Inventor
Roland Arnold
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ThyssenKrupp System Engineering GmbH
Original Assignee
ThyssenKrupp Drauz Nothelfer GmbH
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
Priority claimed from DE200510056811 external-priority patent/DE102005056811A1/en
Application filed by ThyssenKrupp Drauz Nothelfer GmbH filed Critical ThyssenKrupp Drauz Nothelfer GmbH
Assigned to THYSSENKRUPP DRAUZ NOTHELFER GMBH reassignment THYSSENKRUPP DRAUZ NOTHELFER GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ARNOLD, ROLAND
Publication of US20090060699A1 publication Critical patent/US20090060699A1/en
Abandoned legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • 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
    • B25J19/0004—Braking devices
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F16C11/0619—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints the female part comprising a blind socket receiving the male part
    • F16C11/0623—Construction or details of the socket member
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/10—Arrangements for locking
    • F16C11/103—Arrangements for locking frictionally clamped
    • F16C11/106—Arrangements for locking frictionally clamped for ball joints
    • 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
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • 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
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist

Definitions

  • Gripper frames of known art for holding three-dimensional components in the manufacture of motor vehicle bodywork have clamps and centring pins that enable a three-dimensional component to be held in the correct position.
  • Such gripper frames can be moved with handling robots in space, wherein a three-dimensional component held by a gripper frame can be transported to the location, and held here in the correct position, where it is to be attached to a motor vehicle body and/or connected with other bodywork components. Since for the bodywork of a vehicle several three-dimensional components are to be manipulated, it is of known art to adapt the gripper frame with regard to its clamping and centring elements held by support arms to the geometry of the component to be manipulated in each case.
  • an adjustment mechanism is integrated in each support arm, which in a clamping and release unit includes at least one ball and one cylindrical pin, which enable pivoting, sliding and rotation of the clamping and centring elements held by the support arm.
  • the clamping and release unit for both the ball and also the cylindrical pin consists essentially of clamping shells or clamping jaws that can be clamped up using clamping bolts. Accordingly this requires time-consuming manual work to adjust the gripper frame to the geometry of a new component with respect to its clamping and centring elements.
  • the object of the present invention is to create a support arm for a clamping and/or centring element of a gripper frame for holding three-dimensional components of the kind cited in the introduction, which enables the adjustment of a gripper frame in a simple manner to different geometries of three-dimensional components.
  • a mechanical, hydraulic, pneumatic, or electromagnetic force generator applied to at least one of the clamping jaws, in particular a compression spring, is integrated in the support arm, against whose force the clamping jaws can be released by means of an adjusting element of a driven eccentric or cam mechanism.
  • a gripper frame fitted with the support arm according to the invention in the event of an exchange from one three-dimensional component to a three-dimensional component with another geometry the adjustment of clamping and/or centring elements held by support arms can easily be undertaken without time-consuming assembly tasks, such as the release of screw bolts on clamping shells, clamping jaws and similar, in that the clamping jaws of the ball or the cylindrical pin are released by means of the adjusting element of the eccentric and cam mechanism against the clamping force of the force generator exerted on the clamping jaws.
  • the clamping and centring elements can then be moved into the required position, where they are fixed purely by the removal of the release mechanism.
  • clamping jaws enable not only a rotation, but also a pivoting about their centre, while in the case of a cylindrical pin the clamping jaws enable the rotation of the cylindrical pin about its axis, but also its movement in an axial direction.
  • clamping jaws are to be understood not only segments, but also rings and slitted sleeves. Which particular embodiment the clamping jaws can have depends essentially on the “ball” or “pin” component to be clamped.
  • the clamping jaws are configured as shells engaging with mutually opposing halves of the ball or cylindrical pin, whose separation distance can be adjusted by means of adjustment.
  • the clamping jaws are preferably configured in a ring- or calotte-shaped manner.
  • FIG. 1 shows in a schematic representation a side view of a support arm for a clamping element with two ball joints and a longitudinal extension
  • FIG. 2 shows an axial section of a mechanical clamping and release unit of a ball joint
  • FIG. 3 shows an axial section of a mechanical clamping and release unit of an embodiment other than that in FIG. 2 .
  • FIG. 4 shows an axial section of a clamping and release unit for a sliding joint with a hollow cylindrical pin in an embodiment similar to that of FIG. 2 .
  • the support arm 1 represented in FIG. 1 for a clamping element 2 includes two ball joint connections 3 , 4 and a longitudinal extension 5 arranged between them.
  • the clamping element 2 is carried by a pin 3 b formed onto the ball 3 a of the ball joint 3 .
  • a pin 4 b formed onto the ball 4 a of the ball joint 4 carries an attachment flange 6 , with which the support arm 1 can be attached to a bracket, not represented, of a gripper frame.
  • Clamping and release units that have yet to be described in detail, are assigned to the ball joints 3 , 4 and to the longitudinal extension 5 ; these units make it possible, when a clamping and release unit is released, for the clamping element 2 to be moved relative to the attachment flange 6 from one position in space to another position in space and here fixed. In this process the ball joints 3 , 4 enable both rotational and pivoting movements.
  • ring-shaped clamping jaws 7 a , 7 b engage with both halves of the ball 3 a .
  • the clamping jaw 7 a is part of a housing 7 , in which the clamping jaw 7 b is guided.
  • the clamping jaw 7 b is pushed in the direction of the clamping jaw 7 a by means of a compression spring designed as a plate spring 8 ; this spring is supported on an abutment plate 9 of the housing 7 .
  • a tension bolt 10 engages with the clamping jaw 7 b ; by means of an eccentric mechanism 11 this bolt can pull the clamping jaw 7 b away from the ball 3 a against the compression force of the compression spring 8 .
  • the eccentric mechanism 11 is connected via a lever arm 13 with a pneumatic drive 12 in the form of a piston-cylinder unit. In the position represented in FIG. 2 the ball 3 a is locked in position by means of the clamping jaws 7 a , 7 b.
  • the example of embodiment in FIG. 3 differs from that of FIG. 2 only in the drive of the tension bolt 10 .
  • the tension bolt 10 is supported on a torque-proof headplate 14 mounted in ball bearings; a cam mechanism is arranged between the headplate 14 and the support plate 9 ; it consists of a radial curve 15 formed on the rear face of the abutment plate 9 and a drive block 16 , which supports itself on the radial curve 15 with the aid of opposing trunnions 16 a mounted in roller bearings.
  • the drive block 16 is driven by an electric motor 17 and a gearbox 18 .
  • the output from the gearbox 18 is coupled via drive arms 19 with the drive block 16 for the transfer of torque.
  • the drive block 16 can be rotated by means of the electric motor 17 , whereby it exerts an axial adjusting movement onto the headplate 14 , as a result of which the clamping jaw 7 b is released.
  • FIG. 4 differs from that in FIG. 2 only in that it is not a ball, but a cylindrical body, and in particular a circular cylindrical tube 20 , that is locked in position with the clamping and release unit.
  • the clamping jaws 21 a , 21 b are also not designed to be ring-shaped, but shell-shaped, wherein under “shell-shaped” is to be understood not only full shells, but also axial bars acting together in pairs.
  • the tension bolt 10 can be moved not only by means of an eccentric mechanism with a pneumatic drive 12 according to FIG. 2 , but also by means of the drive in FIG. 3 with a cam mechanism and an electric motor.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Jigs For Machine Tools (AREA)
  • Manipulator (AREA)
  • Clamps And Clips (AREA)

Abstract

A support arm for a clamping and/or centering element of a gripper frame for holding three-dimensional components includes an adjustment mechanism, such as a ball that can pivot and/or a cylindrical pin that slide and rotate, held in a clamping and release unit with clamping jaws that can be radially clamped. A mechanical, hydraulic, pneumatic, or electromagnetic force generator applied to at least one of the clamping jaws is integrated in the support arm and generates a clamping force, against whose force the clamping jaws can be released by means of an adjusting element of a driven eccentric or cam mechanism.

Description

  • The invention relates to a support arm for a clamping and/or centring element of a gripper frame for holding three-dimensional components, in particular in the motor vehicle industry, in which an adjustment mechanism is integrated, with at least one ball that can pivot and/or a cylindrical pin that can slide and rotate, in either case held in a clamping and release unit, wherein the clamping and release unit encompasses the ball and/or the cylindrical pin with clamping jaws that can be axially or radially clamped.
  • Gripper frames of known art for holding three-dimensional components in the manufacture of motor vehicle bodywork (U.S. Pat. No. 6,722,842 B1) have clamps and centring pins that enable a three-dimensional component to be held in the correct position. Such gripper frames can be moved with handling robots in space, wherein a three-dimensional component held by a gripper frame can be transported to the location, and held here in the correct position, where it is to be attached to a motor vehicle body and/or connected with other bodywork components. Since for the bodywork of a vehicle several three-dimensional components are to be manipulated, it is of known art to adapt the gripper frame with regard to its clamping and centring elements held by support arms to the geometry of the component to be manipulated in each case. For this purpose an adjustment mechanism is integrated in each support arm, which in a clamping and release unit includes at least one ball and one cylindrical pin, which enable pivoting, sliding and rotation of the clamping and centring elements held by the support arm. The clamping and release unit for both the ball and also the cylindrical pin consists essentially of clamping shells or clamping jaws that can be clamped up using clamping bolts. Accordingly this requires time-consuming manual work to adjust the gripper frame to the geometry of a new component with respect to its clamping and centring elements.
  • The object of the present invention is to create a support arm for a clamping and/or centring element of a gripper frame for holding three-dimensional components of the kind cited in the introduction, which enables the adjustment of a gripper frame in a simple manner to different geometries of three-dimensional components.
  • This object is achieved according to the invention in that for the generation of the clamping force of the clamping jaws a mechanical, hydraulic, pneumatic, or electromagnetic force generator applied to at least one of the clamping jaws, in particular a compression spring, is integrated in the support arm, against whose force the clamping jaws can be released by means of an adjusting element of a driven eccentric or cam mechanism.
  • In a gripper frame fitted with the support arm according to the invention in the event of an exchange from one three-dimensional component to a three-dimensional component with another geometry the adjustment of clamping and/or centring elements held by support arms can easily be undertaken without time-consuming assembly tasks, such as the release of screw bolts on clamping shells, clamping jaws and similar, in that the clamping jaws of the ball or the cylindrical pin are released by means of the adjusting element of the eccentric and cam mechanism against the clamping force of the force generator exerted on the clamping jaws. The clamping and centring elements can then be moved into the required position, where they are fixed purely by the removal of the release mechanism. In the case of a ball, the released clamping jaws enable not only a rotation, but also a pivoting about their centre, while in the case of a cylindrical pin the clamping jaws enable the rotation of the cylindrical pin about its axis, but also its movement in an axial direction. By clamping jaws are to be understood not only segments, but also rings and slitted sleeves. Which particular embodiment the clamping jaws can have depends essentially on the “ball” or “pin” component to be clamped.
  • According to one embodiment of the invention, the clamping jaws are configured as shells engaging with mutually opposing halves of the ball or cylindrical pin, whose separation distance can be adjusted by means of adjustment. In the case of a ball the clamping jaws are preferably configured in a ring- or calotte-shaped manner.
  • In what follows the invention is elucidated in more detail by means of a drawing representing various examples of embodiment. In the individual figures:
  • FIG. 1 shows in a schematic representation a side view of a support arm for a clamping element with two ball joints and a longitudinal extension,
  • FIG. 2 shows an axial section of a mechanical clamping and release unit of a ball joint,
  • FIG. 3 shows an axial section of a mechanical clamping and release unit of an embodiment other than that in FIG. 2, and
  • FIG. 4 shows an axial section of a clamping and release unit for a sliding joint with a hollow cylindrical pin in an embodiment similar to that of FIG. 2.
    •
  • The support arm 1 represented in FIG. 1 for a clamping element 2 includes two ball joint connections 3, 4 and a longitudinal extension 5 arranged between them. The clamping element 2 is carried by a pin 3 b formed onto the ball 3 a of the ball joint 3. A pin 4 b formed onto the ball 4 a of the ball joint 4 carries an attachment flange 6, with which the support arm 1 can be attached to a bracket, not represented, of a gripper frame. Clamping and release units, that have yet to be described in detail, are assigned to the ball joints 3, 4 and to the longitudinal extension 5; these units make it possible, when a clamping and release unit is released, for the clamping element 2 to be moved relative to the attachment flange 6 from one position in space to another position in space and here fixed. In this process the ball joints 3, 4 enable both rotational and pivoting movements.
  • In the ball joint 3 in FIG. 2 ring- shaped clamping jaws 7 a, 7 b engage with both halves of the ball 3 a. The clamping jaw 7 a is part of a housing 7, in which the clamping jaw 7 b is guided. The clamping jaw 7 b is pushed in the direction of the clamping jaw 7 a by means of a compression spring designed as a plate spring 8; this spring is supported on an abutment plate 9 of the housing 7. A tension bolt 10 engages with the clamping jaw 7 b; by means of an eccentric mechanism 11 this bolt can pull the clamping jaw 7 b away from the ball 3 a against the compression force of the compression spring 8. The eccentric mechanism 11 is connected via a lever arm 13 with a pneumatic drive 12 in the form of a piston-cylinder unit. In the position represented in FIG. 2 the ball 3 a is locked in position by means of the clamping jaws 7 a, 7 b.
  • The example of embodiment in FIG. 3 differs from that of FIG. 2 only in the drive of the tension bolt 10. The tension bolt 10 is supported on a torque-proof headplate 14 mounted in ball bearings; a cam mechanism is arranged between the headplate 14 and the support plate 9; it consists of a radial curve 15 formed on the rear face of the abutment plate 9 and a drive block 16, which supports itself on the radial curve 15 with the aid of opposing trunnions 16 a mounted in roller bearings. The drive block 16 is driven by an electric motor 17 and a gearbox 18. The output from the gearbox 18 is coupled via drive arms 19 with the drive block 16 for the transfer of torque. Thus the drive block 16 can be rotated by means of the electric motor 17, whereby it exerts an axial adjusting movement onto the headplate 14, as a result of which the clamping jaw 7 b is released.
  • The example of embodiment in FIG. 4 differs from that in FIG. 2 only in that it is not a ball, but a cylindrical body, and in particular a circular cylindrical tube 20, that is locked in position with the clamping and release unit. Accordingly the clamping jaws 21 a, 21 b are also not designed to be ring-shaped, but shell-shaped, wherein under “shell-shaped” is to be understood not only full shells, but also axial bars acting together in pairs. It is to be understood that the tension bolt 10 can be moved not only by means of an eccentric mechanism with a pneumatic drive 12 according to FIG. 2, but also by means of the drive in FIG. 3 with a cam mechanism and an electric motor.

Claims (4)

1. A support arm for a clamping and/or centering element of a gripper frame for holding three-dimensional components, in which an adjustment mechanism is integrated, with at least one ball that can pivot and/or a cylindrical pin that can slide and rotate, in either case held in a clamping and release unit, wherein the clamping and release unit encompasses the at least one ball and/or the cylindrical pin with clamping jaws that can be axially or radially clamped, wherein a mechanical, hydraulic, pneumatic, or electromagnetic force generator applied to at least one of the clamping jaws and integrated in the support arm generates a clamping force of the clamping jaws, against whose force the clamping jaws can be released by means of an adjusting element of a driven eccentric or cam mechanism.
2. The support arm according to claim 1, wherein the force generator is a compression spring.
3. The support arm according to claim 1, wherein the clamping jaws are configured as shells engaging with mutually opposing halves of the at least one ball or cylindrical pin, whose separation distance can be adjusted by means of the eccentric or cam mechanism.
4. The support arm according to claim 3, wherein the clamping jaws are configured in a ring- or calotte-shaped manner and encompass the at least one ball.
US12/095,238 2005-11-29 2006-11-20 Support arm for a clamping and centering element of a gripper frame for holding three-dimensional components in the motor vehicle industry Abandoned US20090060699A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102005056811.4 2005-11-29
DE200510056811 DE102005056811A1 (en) 2005-11-29 2005-11-29 Support arm for clamping and centering element of gripper frame for holding three-dimensional components in motor vehicle industry, has adjusting mechanism which is integrated in support arm
PCT/EP2006/068678 WO2007063005A1 (en) 2005-11-29 2006-11-20 Support arm for a clamping and centering element of a gripper frame for holding three-dimensional components in the motor vehicle industry

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US20090060699A1 true US20090060699A1 (en) 2009-03-05

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US12/095,238 Abandoned US20090060699A1 (en) 2005-11-29 2006-11-20 Support arm for a clamping and centering element of a gripper frame for holding three-dimensional components in the motor vehicle industry
US12/095,247 Expired - Fee Related US7913584B2 (en) 2005-11-29 2006-11-20 Support arm for a clamping and centering element of a gripper frame for holding three-dimensional components in the motor vehicle industry

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US12/095,247 Expired - Fee Related US7913584B2 (en) 2005-11-29 2006-11-20 Support arm for a clamping and centering element of a gripper frame for holding three-dimensional components in the motor vehicle industry

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US (2) US20090060699A1 (en)
EP (1) EP1954453B1 (en)
AT (2) ATE478753T1 (en)
DE (3) DE102005063357A1 (en)
ES (2) ES2340717T3 (en)
WO (1) WO2007063005A1 (en)

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US20120132016A1 (en) * 2010-11-30 2012-05-31 Hon Hai Precision Industry Co., Ltd. Testing apparatus for extension device
US8894116B2 (en) * 2012-11-14 2014-11-25 Hyundai Motor Company Gripper of robot for assembling vehicle
CN107214693A (en) * 2017-06-20 2017-09-29 芜湖蓝天工程塑胶有限公司 Novel universal manipulator
CN109176568A (en) * 2018-09-28 2019-01-11 北京邮电大学 A kind of rigid soft coupling multi-finger clever hand of tendon rope-electromagnetic force joint driving
US20210129279A1 (en) * 2019-11-01 2021-05-06 Fanuc Corporation Workpiece transferring tool
CN113090639A (en) * 2021-02-22 2021-07-09 中国科学院深圳先进技术研究院 Ball joint device and mechanical electronic equipment
CN113386161A (en) * 2021-07-05 2021-09-14 四川中科彭成机器人技术有限公司 Creep-resistant rope-driven mechanical finger
CN114851177A (en) * 2022-03-28 2022-08-05 赛诺威盛科技(北京)股份有限公司 Mechanical arm with variable degrees of freedom and telescopic robot
CN116749227A (en) * 2023-08-22 2023-09-15 山东省科学院海洋仪器仪表研究所 Mechanical arm suitable for underwater operation and fine adjustment device thereof
CN118024227A (en) * 2024-04-12 2024-05-14 四川航天职业技术学院(四川航天高级技工学校) Industrial robot with good clamping effect

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DE102007029765B4 (en) * 2007-06-21 2019-10-31 Volkswagen Ag Console of a stand for receiving components to be joined, in particular the body of motor vehicles
DE102007039384A1 (en) * 2007-08-17 2009-02-19 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Handling device for a robot for handling different components comprises a support element to which is fixed arms with passive hinges
DE202007014550U1 (en) 2007-10-17 2008-01-17 Weissenberger, Christian Assembled occlusal surface
ES2910379T3 (en) * 2010-12-07 2022-05-12 Conmed Corp medical positioning device
WO2013103210A1 (en) * 2012-01-06 2013-07-11 Lee Chun-Woo Manipulator and robot having same
KR101324988B1 (en) 2012-06-20 2013-11-04 이춘우 Robot and manipulator provided with ball joint
CN103056575B (en) * 2012-12-17 2015-03-18 三一重工股份有限公司 Electromagnetic absorption device
DE102014100477B4 (en) * 2014-01-16 2021-07-01 Hiwin Technologies Corp. Manipulator adjustable in the length of the articulated arm
CN105127989A (en) * 2015-08-03 2015-12-09 宁波莱盟机器人有限公司 Novel manipulator
CN107314028B (en) * 2016-04-27 2021-09-28 严能进 Improved linear hinge structure
CN106363657A (en) * 2016-09-13 2017-02-01 苏州驱指自动化科技有限公司 V-shaped clamp functional connecting piece
CN108253861A (en) * 2017-12-20 2018-07-06 昆山威特亿模具有限公司 Automobile Parts Inspection frock clamp
US11292124B2 (en) * 2019-03-26 2022-04-05 Korea Advanced Institute Of Science And Technology Echinoderm inspired variable stiffness soft actuator connected ossicle structure and robot apparatus comprising the same
CN111911774A (en) * 2020-08-31 2020-11-10 高峥嵘 Tripod for coal mine measurement
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EP1954453B1 (en) 2010-08-25
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ATE478753T1 (en) 2010-09-15
US7913584B2 (en) 2011-03-29
US20090084217A1 (en) 2009-04-02
EP1954453A1 (en) 2008-08-13
DE502006006128D1 (en) 2010-03-25
WO2007063005A1 (en) 2007-06-07
DE102005063357A1 (en) 2007-05-31
ES2340717T3 (en) 2010-06-08

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