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 PDFInfo
- 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
- Authority
- 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
Links
Images
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.
Landscapes
- 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)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200510056811 DE102005056811A1 (de) | 2005-11-29 | 2005-11-29 | Tragarm für ein Spann- und Zentrierelement eines Greifergerüstes zum Halten von Raumformbauteilen in der Kfz.-Industrie |
DE102005056811.4 | 2005-11-29 | ||
PCT/EP2006/068678 WO2007063005A1 (fr) | 2005-11-29 | 2006-11-20 | Bras de support pour un element de serrage et de centrage d'une structure de prehension destinee a retenir des pieces a forme spatiale dans l'industrie automobile |
Publications (1)
Publication Number | Publication Date |
---|---|
US20090060699A1 true US20090060699A1 (en) | 2009-03-05 |
Family
ID=37714657
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
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 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
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 |
Country Status (6)
Country | Link |
---|---|
US (2) | US20090060699A1 (fr) |
EP (1) | EP1954453B1 (fr) |
AT (2) | ATE457214T1 (fr) |
DE (3) | DE102005063357A1 (fr) |
ES (2) | ES2340717T3 (fr) |
WO (1) | WO2007063005A1 (fr) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 (zh) * | 2017-06-20 | 2017-09-29 | 芜湖蓝天工程塑胶有限公司 | 新型万向机械手 |
CN109176568A (zh) * | 2018-09-28 | 2019-01-11 | 北京邮电大学 | 一种腱绳-电磁力联合驱动的刚软耦合多指灵巧手 |
US20210129279A1 (en) * | 2019-11-01 | 2021-05-06 | Fanuc Corporation | Workpiece transferring tool |
CN113090639A (zh) * | 2021-02-22 | 2021-07-09 | 中国科学院深圳先进技术研究院 | 一种球关节装置及机械电子设备 |
CN113386161A (zh) * | 2021-07-05 | 2021-09-14 | 四川中科彭成机器人技术有限公司 | 一种抗蠕变绳驱机械手指 |
CN114851177A (zh) * | 2022-03-28 | 2022-08-05 | 赛诺威盛科技(北京)股份有限公司 | 可变自由度数的机械臂和伸缩机器人 |
CN116749227A (zh) * | 2023-08-22 | 2023-09-15 | 山东省科学院海洋仪器仪表研究所 | 一种适用于水下作业的机械臂及其精细调节装置 |
CN118024227A (zh) * | 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) | 夹持效果好的工业机器人 |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007029765B4 (de) * | 2007-06-21 | 2019-10-31 | Volkswagen Ag | Konsole eines Ständers zur Aufnahme von zu fügenden Bauteilen, insbesondere der Karosserie von Kraftfahrzeugen |
DE102007039384A1 (de) * | 2007-08-17 | 2009-02-19 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Handhabungsvorrichtung und Verfahren zur Änderung der Gelenkstellungen der Handhabungsvorrichtung |
DE202007014550U1 (de) | 2007-10-17 | 2008-01-17 | Weissenberger, Christian | Konfektionierte Kaufläche |
WO2012075571A1 (fr) * | 2010-12-07 | 2012-06-14 | Socpra Sciences Et Génie S.E.C. | Appareil de positionnement pour utilisation biomédicale |
KR101324988B1 (ko) | 2012-06-20 | 2013-11-04 | 이춘우 | 볼 관절을 구비한 매니퓰레이터 및 로봇 |
WO2013103210A1 (fr) * | 2012-01-06 | 2013-07-11 | Lee Chun-Woo | Manipulateur et robot doté de celui-ci |
CN103056575B (zh) * | 2012-12-17 | 2015-03-18 | 三一重工股份有限公司 | 电磁吸附装置 |
DE102014100477B4 (de) * | 2014-01-16 | 2021-07-01 | Hiwin Technologies Corp. | In der Gelenkarmlänge einstellbarer Manipulator |
CN105127989A (zh) * | 2015-08-03 | 2015-12-09 | 宁波莱盟机器人有限公司 | 新型机械手 |
CN107314028B (zh) * | 2016-04-27 | 2021-09-28 | 严能进 | 一种改进的线性铰接结构 |
CN106363657A (zh) * | 2016-09-13 | 2017-02-01 | 苏州驱指自动化科技有限公司 | V型夹功能连接件 |
CN108253861A (zh) * | 2017-12-20 | 2018-07-06 | 昆山威特亿模具有限公司 | 汽车零件检测工装夹具 |
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 (zh) * | 2020-08-31 | 2020-11-10 | 高峥嵘 | 一种用于煤矿测量的三角架 |
CN112407977B (zh) * | 2020-11-26 | 2022-12-06 | 福州市福化环保科技有限公司 | 一种固态废弃物预处理装置的应用 |
Citations (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2815052A (en) * | 1955-02-16 | 1957-12-03 | Lodding Engineering Corp | Hinged work clamp |
US4974802A (en) * | 1989-06-19 | 1990-12-04 | Hava Nice Life, Inc. | Adjustable swivel |
US5125324A (en) * | 1988-02-10 | 1992-06-30 | Daia Industry Co. Ltd. | Portable hydraulically operated device incorporating automatic drain valve |
US5159743A (en) * | 1989-05-08 | 1992-11-03 | Posi Lock Puller, Inc. | Hydraulic puller |
US5302062A (en) * | 1991-08-08 | 1994-04-12 | Toshiba Kikai Kabushiki Kaisha | Spindle clamping device for machine tool |
US5544968A (en) * | 1995-06-02 | 1996-08-13 | Advanced Machine & Engineering Co. | Lockable ball joint apparatus |
US5966790A (en) * | 1996-06-11 | 1999-10-19 | Freistaat Bayern, vertreten durch die Friedrich-Alexander-Universitat Erlangen-Nurnberg, diese vertreten durch den Rektor Prof. Dr. Gotthard Jasper | Separating tool |
US6122810A (en) * | 1999-08-30 | 2000-09-26 | Mcinnes; Robert P. | Valve core grasping apparatus |
US20020000503A1 (en) * | 1999-11-26 | 2002-01-03 | Norman Cameron | Articulated mechanism |
US6415487B1 (en) * | 2001-05-31 | 2002-07-09 | Dana Corporation | Service tool for removal of valve seal assembly |
US6449823B2 (en) * | 2000-03-13 | 2002-09-17 | John K. Krapp | Golf club head removal tool |
US6641323B2 (en) * | 2002-01-22 | 2003-11-04 | Stephen E. Ronsheim | Spherical locking device |
US6722842B1 (en) * | 1998-01-13 | 2004-04-20 | Btm Corporation | End arm manipulator |
US20080000346A1 (en) * | 2004-03-03 | 2008-01-03 | Klaus Hofmann | Safety Device |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3638973A (en) * | 1969-06-04 | 1972-02-01 | Charles Ellis Poletti | Joint means for use in work supporting arm |
DE3841744A1 (de) | 1987-12-18 | 1989-07-06 | Volkswagen Ag | Halterung fuer eine arbeitsplatte |
DE9307482U1 (de) | 1993-05-17 | 1993-09-16 | Maschinenbau Schwarzkopf GmbH, 63839 Kleinwallstadt | Klemmbares Kugelgelenk |
US6379073B1 (en) * | 2000-04-03 | 2002-04-30 | Wafermasters Incorporated | Adjustable joint for a positionable arm |
AU2001249678A1 (en) * | 2000-04-03 | 2001-10-15 | Wafermasters, Inc. | Joint with locking means for a positionable arm |
DE102004028707B4 (de) | 2004-06-14 | 2009-04-30 | Tünkers Maschinenbau Gmbh | Gerüstsystem, zur Verwendung im Karosseriebau der Kfz-Industrie, und Verfahren zum Herstellen von Teilen eines Gerüstsystems |
-
2005
- 2005-11-29 DE DE102005063357A patent/DE102005063357A1/de not_active Ceased
-
2006
- 2006-11-20 ES ES06819629T patent/ES2340717T3/es active Active
- 2006-11-20 AT AT06819629T patent/ATE457214T1/de active
- 2006-11-20 WO PCT/EP2006/068678 patent/WO2007063005A1/fr active Application Filing
- 2006-11-20 AT AT06819628T patent/ATE478753T1/de active
- 2006-11-20 US US12/095,238 patent/US20090060699A1/en not_active Abandoned
- 2006-11-20 ES ES06819628T patent/ES2348886T3/es active Active
- 2006-11-20 DE DE502006007747T patent/DE502006007747D1/de active Active
- 2006-11-20 DE DE502006006128T patent/DE502006006128D1/de active Active
- 2006-11-20 EP EP06819628A patent/EP1954453B1/fr not_active Not-in-force
- 2006-11-20 US US12/095,247 patent/US7913584B2/en not_active Expired - Fee Related
Patent Citations (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2815052A (en) * | 1955-02-16 | 1957-12-03 | Lodding Engineering Corp | Hinged work clamp |
US5125324A (en) * | 1988-02-10 | 1992-06-30 | Daia Industry Co. Ltd. | Portable hydraulically operated device incorporating automatic drain valve |
US5159743A (en) * | 1989-05-08 | 1992-11-03 | Posi Lock Puller, Inc. | Hydraulic puller |
US4974802A (en) * | 1989-06-19 | 1990-12-04 | Hava Nice Life, Inc. | Adjustable swivel |
US5302062A (en) * | 1991-08-08 | 1994-04-12 | Toshiba Kikai Kabushiki Kaisha | Spindle clamping device for machine tool |
US5544968A (en) * | 1995-06-02 | 1996-08-13 | Advanced Machine & Engineering Co. | Lockable ball joint apparatus |
US5966790A (en) * | 1996-06-11 | 1999-10-19 | Freistaat Bayern, vertreten durch die Friedrich-Alexander-Universitat Erlangen-Nurnberg, diese vertreten durch den Rektor Prof. Dr. Gotthard Jasper | Separating tool |
US6722842B1 (en) * | 1998-01-13 | 2004-04-20 | Btm Corporation | End arm manipulator |
US6122810A (en) * | 1999-08-30 | 2000-09-26 | Mcinnes; Robert P. | Valve core grasping apparatus |
US20020000503A1 (en) * | 1999-11-26 | 2002-01-03 | Norman Cameron | Articulated mechanism |
US6449823B2 (en) * | 2000-03-13 | 2002-09-17 | John K. Krapp | Golf club head removal tool |
US6415487B1 (en) * | 2001-05-31 | 2002-07-09 | Dana Corporation | Service tool for removal of valve seal assembly |
US6641323B2 (en) * | 2002-01-22 | 2003-11-04 | Stephen E. Ronsheim | Spherical locking device |
US20080000346A1 (en) * | 2004-03-03 | 2008-01-03 | Klaus Hofmann | Safety Device |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120132016A1 (en) * | 2010-11-30 | 2012-05-31 | Hon Hai Precision Industry Co., Ltd. | Testing apparatus for extension device |
US8561487B2 (en) * | 2010-11-30 | 2013-10-22 | Hong Fu Jin Precision Industry (Shenzhen) 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 (zh) * | 2017-06-20 | 2017-09-29 | 芜湖蓝天工程塑胶有限公司 | 新型万向机械手 |
CN109176568A (zh) * | 2018-09-28 | 2019-01-11 | 北京邮电大学 | 一种腱绳-电磁力联合驱动的刚软耦合多指灵巧手 |
US20210129279A1 (en) * | 2019-11-01 | 2021-05-06 | Fanuc Corporation | Workpiece transferring tool |
CN112777304A (zh) * | 2019-11-01 | 2021-05-11 | 发那科株式会社 | 工件搬运用工具 |
CN113090639A (zh) * | 2021-02-22 | 2021-07-09 | 中国科学院深圳先进技术研究院 | 一种球关节装置及机械电子设备 |
CN113386161A (zh) * | 2021-07-05 | 2021-09-14 | 四川中科彭成机器人技术有限公司 | 一种抗蠕变绳驱机械手指 |
CN114851177A (zh) * | 2022-03-28 | 2022-08-05 | 赛诺威盛科技(北京)股份有限公司 | 可变自由度数的机械臂和伸缩机器人 |
CN116749227A (zh) * | 2023-08-22 | 2023-09-15 | 山东省科学院海洋仪器仪表研究所 | 一种适用于水下作业的机械臂及其精细调节装置 |
CN118024227A (zh) * | 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) | 夹持效果好的工业机器人 |
Also Published As
Publication number | Publication date |
---|---|
ES2348886T3 (es) | 2010-12-16 |
DE502006006128D1 (de) | 2010-03-25 |
WO2007063005A1 (fr) | 2007-06-07 |
US20090084217A1 (en) | 2009-04-02 |
DE502006007747D1 (de) | 2010-10-07 |
ATE478753T1 (de) | 2010-09-15 |
DE102005063357A1 (de) | 2007-05-31 |
EP1954453A1 (fr) | 2008-08-13 |
US7913584B2 (en) | 2011-03-29 |
EP1954453B1 (fr) | 2010-08-25 |
ES2340717T3 (es) | 2010-06-08 |
ATE457214T1 (de) | 2010-02-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20090060699A1 (en) | Support arm for a clamping and centering element of a gripper frame for holding three-dimensional components in the motor vehicle industry | |
US9700974B2 (en) | Tire mounting apparatus | |
CN105773126A (zh) | 四轴同步螺栓精准扭矩紧固设备 | |
CN107214537A (zh) | 一种联动自锁式汽车轮毂固定装置 | |
US9682484B2 (en) | Counterbalance mechanism for end-effector configuration and method of use | |
KR20190074399A (ko) | 행거의 높이 가변장치 | |
CN109420868B (zh) | 一种焊接车桥桥壳组对定位装置 | |
CN211053146U (zh) | 可换型定位机构 | |
JP2000210824A (ja) | タイヤ組み付け装置 | |
CN212384861U (zh) | 一种薄壁件的柔性组焊装置 | |
CN109291983B (zh) | 一种车辆自动驾驶辅助***及车辆 | |
JPH10193030A (ja) | 鍛造プレス機のビレット供給装置 | |
CN110744321A (zh) | 换型定位方法和可换型定位机构 | |
CN116140913A (zh) | 一种汽车部件焊接夹持装置 | |
CN214641401U (zh) | 一种汽车排气***筒体焊接用夹紧装置 | |
EP1400430A2 (fr) | Colonne de direction | |
JPS5810433A (ja) | こき胴組立装置 | |
CN220074490U (zh) | 一种基于视觉检测的工业相机定位设备 | |
KR100591409B1 (ko) | 패널 이송 구동장치의 메인아암과 크로스바의 연결구조 | |
CN219444049U (zh) | 一种汽车零部件焊接用的旋转机构 | |
CN213671211U (zh) | 一种薄板状零件加工用的自带预折弯功能的机器人夹具 | |
CN215966119U (zh) | 锻造操作机夹持驱动组件 | |
CN220806336U (zh) | 一种扭力梁加工专用夹具 | |
CN215966121U (zh) | 锻造操作机夹持回转机构 | |
CN219665506U (zh) | 一种薄型缸死点夹紧单元 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: THYSSENKRUPP DRAUZ NOTHELFER GMBH, GERMANY Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:ARNOLD, ROLAND;REEL/FRAME:021837/0797 Effective date: 20080921 |
|
STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |