DE3413255A1 - Method and apparatus for a modular flexible assembly system - Google Patents
Method and apparatus for a modular flexible assembly systemInfo
- Publication number
- DE3413255A1 DE3413255A1 DE19843413255 DE3413255A DE3413255A1 DE 3413255 A1 DE3413255 A1 DE 3413255A1 DE 19843413255 DE19843413255 DE 19843413255 DE 3413255 A DE3413255 A DE 3413255A DE 3413255 A1 DE3413255 A1 DE 3413255A1
- Authority
- DE
- Germany
- Prior art keywords
- devices
- unit
- carrying
- frame
- central unit
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
- B23Q7/1426—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices
- B23Q7/1442—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices using carts carrying work holders
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
Description
Verfahren und Vorrichtung für ein modulares, flexibles montageMethod and device for a modular, flexible assembly
system Die Erfindung betrifft ein Verfahren und eine Vorrichtung für ein modulares, flexibles Montagesystem.system The invention relates to a method and a device for a modular, flexible assembly system.
In einer wirtschaftlichen Montagefertigung haben heuzutage noboter einen unbestrittenen Platz eingenommen. Diese Roboter, die in der Hegel nenschl iche Arbeit ersetzen, sind freiprograim#ierbar und können sorbit die unterschiedlichsten Montagearbeiten ausführen.In an economical assembly production nowadays noboter occupied an undisputed place. These robots, which nenschl in the Hegel Replace work, are freely programmable and can sorbitol in a wide variety of ways Carry out assembly work.
Der Anschaffungspreis und die Ansteuerung eines Industrieroboters für Montagearbeiten kleinerer Stückzahl serien ist allerdings derart hoch, daß hierbei bisher auf einen Robotereinsatz verzichtet werden mußte, Aufgabe der Erfindung ist es daher, einem Montageroboter mehrere Vorrichtungen u. Montagelemente auf einer ortsunabhängigen Einheit zuzuführen.The purchase price and the control of an industrial robot for assembly work of smaller numbers of series is so high that this up to now the use of robots had to be dispensed with, task of the invention is therefore to provide a mounting robot with a plurality of devices and mounting elements on a location-independent unit.
Die Lösung dieser Aufgabe besteht in den kennzeichnenden Maßnahmen des Anspruches 1.The solution to this problem consists in the characteristic measures of claim 1.
Hierbei werden flexible Vorrichtungen und Montageelemente auf beweglichen ortsunabhängigen Funktionseinheiten angeordnet, die je nach Bedarf einer - mit einem oder mehreren Montagerobot ern ausgerüsteten - Zentraleinheit zugeführt werden.Here, flexible devices and assembly elements are placed on movable ones location-independent functional units arranged, depending on the needs of one - with one or several assembly robots equipped - central unit are supplied.
Die Zentraleinheit überninnnt die Versorgung und die Überwachung der angestellten Funktionseinheiten.The central unit takes over the supply and monitoring of the employed functional units.
Die Adaptierung der Funktionseinheiten erfolgt über einheitliche, systematisierte Kupplungen.The adaptation of the functional units takes place via uniform, systematized couplings.
Zur Herstellung einer Gesamtanlage können auch mehrere Zentraleinheiten aneinander gereiht werden.Several central units can also be used to produce a complete system be strung together.
Kontrollsignale werden sowohl von angereihten Zentraleinheiten als auch von angestellten Funktionseinheiten übernoliii#en.Control signals are provided by the central units as well as also taken over by employed functional units.
Alle Einheiten sind so gestaltet, daß sie ortveränderlich sind.All units are designed in such a way that they can be moved.
Die Erfindung soll anhand des in der Zeichnungen dargestellten Ausführungsbeispieles näher erläutert werden.The invention is based on the embodiment shown in the drawings are explained in more detail.
Es zeigen: Fig.1 die Zentraleinheit und die Funktionseinheit in einer perspektivischen Darstellung Fix ,2 den Einsatz rneh r e r e r Funktionseinheiten und Zentraleinheiten in einer schematischen Darstellung.They show: FIG. 1 the central unit and the functional unit in one perspective representation fix, 2 the use of r e r e r functional units and central units in a schematic representation.
Die Fig. 1 zeigt, daß die Zentraleinheit 10 im wesentlichen aus einem Gestell 11 besteht, auf dem eine Montageplatte 12 fest angeordnet ist.Fig. 1 shows that the central unit 10 consists essentially of one Frame 11 consists on which a mounting plate 12 is fixedly arranged.
Auf dieser Montageplatte 12 sind freiprogranmierbare Montageroboter 17 vorgesehen, die die Versorgung der anstellbaren weiter unten beschriebenen Funktionseinheit 20 übernehmen und die Überwachung der angestellten Funktionseinheiten 20 gewährleisten.On this mounting plate 12 are freely programmable assembly robots 17 is provided, which supplies the adjustable functional unit described below 20 take over and ensure the monitoring of the employed functional units 20.
Das Gestell 11 der Zentraleinheit 10 ist so aufgebaut, daß diverse Funktionseinheiten 20, 20a, 20b - wie auch die Fig.The frame 11 of the central unit 10 is constructed so that various Functional units 20, 20a, 20b - like also Fig.
2 zeigt - anstellbar- bzw. einfahrbar sind.2 shows - are adjustable or retractable.
An der Oberseite des Gestells 11 sind mindestens zwei Zentrierzapfen 14 und mindestens zwei Auf lageflächen 13 vorgesehen.On the top of the frame 11 are at least two centering pins 14 and at least two support surfaces 13 are provided.
Die in der Fig.1 links dargestellte Funktionseinheit 20 weist ein Gestell 21 und eine Montageplatte 22 auf. Auf dieser Montageplatte 22 sind der jeweiligen Aufgabe angepaßte Vorrichtungen 27 und/oder Montageelemente 27a unflexibei und/oder flexibel angeordnet.The functional unit 20 shown on the left in FIG Frame 21 and a mounting plate 22. On this mounting plate 22 are the respective Task adapted devices 27 and / or mounting elements 27a inflexible and / or flexibly arranged.
An der Unterseite der Montageplatte sind kompatibel zur Zentraleinheit mindestens zwei Zentrierbohrungen 24 und mindestens zwei Auflageflächen 23 vorgesehen.On the underside of the mounting plate are compatible with the central unit at least two centering bores 24 and at least two bearing surfaces 23 are provided.
Die Montageplatte 22 ist mittels einer Hubeinrichtung 26 anheb- oder absenkbar.The mounting plate 22 is raised or raised by means of a lifting device 26 lowerable.
Wie die Figur 1 ferner zeigt, sind Zentraleinheit 10 und die Funktionseinheit 20 ortsunabhängig. Hierzu sind an der Unterseite der Gestelle 11 bzw. 21 beispielsweise Verfahreinrichtungen 15 bzw. 25 mit/ohne Bl ocki ereinri chtungen vorgesehen.As FIG. 1 also shows, the central unit 10 and the functional unit are 20 regardless of location. For this purpose, on the underside of the frames 11 and 21, for example Moving devices 15 or 25 with / without blocking devices are provided.
Je nach Bedarf wird die benötigte Funktionseinheit 20 in das Gestell 11 der Zentraleinheit 10 eingefahren (Pfeil), hierbei muß vorher die Montageplatte 22 mittels der Hubeinrichtung 26 angehoben werden.The required functional unit 20 is inserted into the frame as required 11 of the central unit 10 retracted (arrow), the mounting plate must first be 22 are raised by means of the lifting device 26.
Wenn die Funktionseinheit 20 ihren gewünschten Standort erreicht hat, wird die Montageplatte 22 mittels der Hubeinrichtung 26 abgesenkt (pneumatisch, hydraulich, elektrisch).When the functional unit 20 has reached its desired location, the mounting plate 22 is lowered by means of the lifting device 26 (pneumatically, hydraulic, electric).
Hierbei treffen zur Lagefixierung der beiden Einheiten die Zentrierzapfen 14 der Zentraleinheit 10 in die Zentrierbohrungen 24 der Funktionseinheit 20. Nach dem Absenken der Montageplatte 22 der Funktionseinheit 20 setzen die Auflageflächen 13/23 auf und justieren d ie Funktionseinheit zur Zentraleinheit in der Höhe.Here, the centering pins meet to fix the position of the two units 14 of the central unit 10 in the centering bores 24 of the functional unit 20 the lowering of the mounting plate 22 of the functional unit 20 sets the bearing surfaces 13/23 and adjust the height of the functional unit to the central unit.
Nicht dargestellt sind die in der Zentraleinheit angeordneten Steuereinrichtungen für die Montageroboter 17.The control devices arranged in the central unit are not shown for the assembly robots 17.
Die elektrischen pneumatischen Verbindungen zwischen der Steuereinrichtung der Zentraleinheit 10 und der angestellten Funktionseinheit 20 erfolgen über Mehrfachkupplungen 16.The electrical pneumatic connections between the control device the central unit 10 and the employed functional unit 20 take place via multiple couplings 16.
Externe Einheiten wie Elevatoren, Magaziniervorrichtungen, Transportbänder (nicht dargestellt) werden über Adaptiereinrichtungen mit den Funktionseinheiten 20 verbunden.External units such as elevators, magazine devices, conveyor belts (not shown) are connected to the functional units via adapter devices 20 connected.
In vorteilhafter Weise ist daher auch für diese Gruppen eine Kontrolle über die Zentraleinheit 10 möglich.A control is therefore also advantageous for these groups possible via the central unit 10.
Auch diese Unterfunktionseinheiten sind mit Verfahreneinrichtungen ausgerüstet.These sub-functional units are also equipped with process facilities equipped.
Die Fig.2 zeigt in einer schematischen Darstellung, daß mehrere Zentral einheiten 10, l0a, lOb aneinander anreihbar sind; so können komplette Fert igungsst raßen entstehen.2 shows in a schematic representation that several central units 10, l0a, lOb can be lined up next to one another; in this way, complete manuf breeds arise.
Kontrollsignale werden somit sowohl von angereihten Zentraleinheiten als auch von angereihten Funktionseinheiten abgegeben.Control signals are thus both from central units connected in series as well as from lined up functional units.
Bezugszeichenliste l0,10a,10b Zentraleinheit 11 Gestell 12 Montageplatte 13 Auflageflächen 14 Zentrierzapfen 15 Verfahreinrichtungen 16 Mehrfachkupplung 17 Montageroboter 20,20a,20b Funktionseinheit 21 Gestell 22 Montageplatte 23 Auflageflächen 24 Zentrierbohrungen 25 Verfahreinrichtungen 26 Hubeinrichtung 27 Vorrichtungen 27a Montageelemente - Leerseite - LIST OF REFERENCE NUMERALS 10, 10a, 10b, central unit 11, frame 12, mounting plate 13 Support surfaces 14 Centering pins 15 Movement devices 16 Multiple coupling 17 assembly robots 20, 20a, 20b functional unit 21 frame 22 mounting plate 23 support surfaces 24 centering bores 25 traversing devices 26 lifting devices 27 devices 27a mounting elements - blank page -
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19843413255 DE3413255A1 (en) | 1984-04-07 | 1984-04-07 | Method and apparatus for a modular flexible assembly system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19843413255 DE3413255A1 (en) | 1984-04-07 | 1984-04-07 | Method and apparatus for a modular flexible assembly system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DE3413255A1 true DE3413255A1 (en) | 1985-10-17 |
Family
ID=6233021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DE19843413255 Withdrawn DE3413255A1 (en) | 1984-04-07 | 1984-04-07 | Method and apparatus for a modular flexible assembly system |
Country Status (1)
| Country | Link |
|---|---|
| DE (1) | DE3413255A1 (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0210572A1 (en) * | 1985-07-24 | 1987-02-04 | Siegmund Kumeth | Apparatus for the automatic mounting of work pieces or parts of work pieces, and method of controlling such an apparatus |
| DE3630178A1 (en) * | 1986-09-04 | 1988-03-17 | Preh Indausruestung Gmbh | Computer-controlled assembly device |
| DE3706081A1 (en) * | 1987-02-25 | 1988-09-08 | Fraunhofer Ges Forschung | Apparatus for the mounting of parts by means of an industrial robot |
| EP0384035A1 (en) * | 1988-12-30 | 1990-08-29 | Proline Innovation zur Fabrikautomation GmbH | Flexible manufacturing and/or assembling cell using automatic resetting of devices specific for the product |
| WO1991017860A1 (en) * | 1990-05-22 | 1991-11-28 | Vladimir Alexeevich Maximov | Device for assembling of articles |
| US5640756A (en) * | 1995-02-08 | 1997-06-24 | Gencorp Inc. | Manufacturing system |
| WO1998016346A3 (en) * | 1996-10-16 | 1998-06-04 | Junker Erwin Maschf Gmbh | Machine tool loading and unloading device |
| DE29817895U1 (en) * | 1998-10-07 | 2000-02-10 | KUKA Schweissanlagen GmbH, 86165 Augsburg | Workstation for integration into a production line equipped with industrial robots |
| DE19910028A1 (en) * | 1999-03-08 | 2000-11-02 | Hammermeister Sondermaschinene | Automatic finishing machine has one or more work modules connecting onto base unit in defined position through automatic quick-fit coupling so that supply connection is produced and disconnected as work module is connected and removed |
| US6513231B1 (en) * | 2000-04-12 | 2003-02-04 | The Boeing Company | System and method for assembly of large structures using modular traveling workstations |
| EP1435275A1 (en) * | 2002-12-30 | 2004-07-07 | BSH Bosch und Siemens Hausgeräte GmbH | Assembly system |
| DE102005009096A1 (en) * | 2005-02-22 | 2006-08-24 | Maschinenfabrik Spaichingen Gmbh | Device for processing plastic-containing workpieces |
| WO2007140827A1 (en) * | 2006-06-03 | 2007-12-13 | Daimler Ag | Processing system for processing a moving workpiece |
| DE102009040951A1 (en) | 2009-09-11 | 2011-06-09 | Bär, Ralf, Dipl.-Ing. | Handling and stacking device for manufacturing storage system for handling or stacking of pallets, comprises transportation units and controlled moving gripping device for holding pallets at stacking position |
| DE102014008107A1 (en) * | 2014-06-02 | 2015-12-03 | Liebherr-Verzahntechnik Gmbh | robot module |
| DE102015120058B3 (en) * | 2015-11-19 | 2017-03-02 | Kuka Roboter Gmbh | Coupling device and method for coupling a mobile process device |
| WO2017182135A1 (en) * | 2016-04-22 | 2017-10-26 | Sew-Eurodrive Gmbh & Co. Kg Abt. Ecg | Transporting system for transporting a container, and method for operating a production installation having a transporting system |
| US9958851B2 (en) | 2014-06-02 | 2018-05-01 | Liebherr-Verzahntechnik Gmbh | Apparatus for the automated removal of workpieces arranged in a container |
| FR3145505A1 (en) * | 2023-02-06 | 2024-08-09 | B & S Robsim | DOCKING STATION FOR INDUSTRIAL ROBOT |
-
1984
- 1984-04-07 DE DE19843413255 patent/DE3413255A1/en not_active Withdrawn
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0210572A1 (en) * | 1985-07-24 | 1987-02-04 | Siegmund Kumeth | Apparatus for the automatic mounting of work pieces or parts of work pieces, and method of controlling such an apparatus |
| DE3630178A1 (en) * | 1986-09-04 | 1988-03-17 | Preh Indausruestung Gmbh | Computer-controlled assembly device |
| DE3706081A1 (en) * | 1987-02-25 | 1988-09-08 | Fraunhofer Ges Forschung | Apparatus for the mounting of parts by means of an industrial robot |
| EP0384035A1 (en) * | 1988-12-30 | 1990-08-29 | Proline Innovation zur Fabrikautomation GmbH | Flexible manufacturing and/or assembling cell using automatic resetting of devices specific for the product |
| WO1991017860A1 (en) * | 1990-05-22 | 1991-11-28 | Vladimir Alexeevich Maximov | Device for assembling of articles |
| US5640756A (en) * | 1995-02-08 | 1997-06-24 | Gencorp Inc. | Manufacturing system |
| US6089812A (en) * | 1996-10-03 | 2000-07-18 | Erwin Junker Maschninenfabrik Gmbh | Docking system for aligning and attaching a mobile loading/unloading unit to a machine |
| WO1998016346A3 (en) * | 1996-10-16 | 1998-06-04 | Junker Erwin Maschf Gmbh | Machine tool loading and unloading device |
| DE19642763B4 (en) * | 1996-10-16 | 2009-06-10 | Erwin Junker Maschinenfabrik Gmbh | Device for loading and unloading machine tools |
| DE29817895U1 (en) * | 1998-10-07 | 2000-02-10 | KUKA Schweissanlagen GmbH, 86165 Augsburg | Workstation for integration into a production line equipped with industrial robots |
| DE19910028A1 (en) * | 1999-03-08 | 2000-11-02 | Hammermeister Sondermaschinene | Automatic finishing machine has one or more work modules connecting onto base unit in defined position through automatic quick-fit coupling so that supply connection is produced and disconnected as work module is connected and removed |
| DE19910028B4 (en) * | 1999-03-08 | 2006-02-16 | Hammermeister Sondermaschinenentwicklung Gmbh | Automatic processing machine with replaceable working modules and method for operating the same |
| US6513231B1 (en) * | 2000-04-12 | 2003-02-04 | The Boeing Company | System and method for assembly of large structures using modular traveling workstations |
| EP1435275A1 (en) * | 2002-12-30 | 2004-07-07 | BSH Bosch und Siemens Hausgeräte GmbH | Assembly system |
| US7823273B2 (en) | 2005-02-22 | 2010-11-02 | Mschinenfabrik Spaichingen GmbH | Apparatus for processing workpieces containing plastics material |
| DE102005009096A1 (en) * | 2005-02-22 | 2006-08-24 | Maschinenfabrik Spaichingen Gmbh | Device for processing plastic-containing workpieces |
| WO2007140827A1 (en) * | 2006-06-03 | 2007-12-13 | Daimler Ag | Processing system for processing a moving workpiece |
| DE102009040951A1 (en) | 2009-09-11 | 2011-06-09 | Bär, Ralf, Dipl.-Ing. | Handling and stacking device for manufacturing storage system for handling or stacking of pallets, comprises transportation units and controlled moving gripping device for holding pallets at stacking position |
| DE102009040951B4 (en) | 2009-09-11 | 2023-08-10 | Ralf Bär | Handling/stacking device for pallets, containers or the like |
| DE102014008107A1 (en) * | 2014-06-02 | 2015-12-03 | Liebherr-Verzahntechnik Gmbh | robot module |
| US9827676B2 (en) | 2014-06-02 | 2017-11-28 | Liebherr-Verzahntechnik Gmbh | Robot module |
| US9958851B2 (en) | 2014-06-02 | 2018-05-01 | Liebherr-Verzahntechnik Gmbh | Apparatus for the automated removal of workpieces arranged in a container |
| DE102015120058B3 (en) * | 2015-11-19 | 2017-03-02 | Kuka Roboter Gmbh | Coupling device and method for coupling a mobile process device |
| AU2017253764B2 (en) * | 2016-04-22 | 2020-03-05 | Sew-Eurodrive Gmbh & Co. Kg | Transporting system for transporting a container, and method for operating a production installation having a transporting system |
| US10899591B2 (en) | 2016-04-22 | 2021-01-26 | Sew-Eurodrive Gmbh & Co. Kg | Transporting system for transporting a container, and method for operating a production installation having a transporting system |
| WO2017182135A1 (en) * | 2016-04-22 | 2017-10-26 | Sew-Eurodrive Gmbh & Co. Kg Abt. Ecg | Transporting system for transporting a container, and method for operating a production installation having a transporting system |
| US11939198B2 (en) | 2016-04-22 | 2024-03-26 | Sew-Eurodrive Gmbh & Co. Kg | Transporting system for transporting a container, and method for operating a production installation having a transporting system |
| DE102017002965B4 (en) | 2016-04-22 | 2025-02-13 | Sew-Eurodrive Gmbh & Co Kg | Method for operating a production plant with a transport system |
| FR3145505A1 (en) * | 2023-02-06 | 2024-08-09 | B & S Robsim | DOCKING STATION FOR INDUSTRIAL ROBOT |
| EP4414140A1 (en) * | 2023-02-06 | 2024-08-14 | B & S Robsim | Docking station for industrial robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 8139 | Disposal/non-payment of the annual fee |