EP2085349A1 - Electro-aimant - Google Patents

Electro-aimant Download PDF

Info

Publication number: EP2085349A1
Authority: EP; European Patent Office
Prior art keywords: magnetic; housing; gripper according; valve; piston
Prior art date: 2008-02-04
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.): Granted

Application number

EP08002023A

Other languages

German (de)

English (en)

Other versions

EP2085349B1 (fr

Inventor

Walter Thiel

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.)

Trumpf Werkzeugmaschinen SE and Co KG

Original Assignee

Trumpf Werkzeugmaschinen SE and Co KG

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.)

2008-02-04

Filing date

2008-02-04

Publication date

2009-08-05

2008-02-04 Application filed by Trumpf Werkzeugmaschinen SE and Co KG filed Critical Trumpf Werkzeugmaschinen SE and Co KG

2008-02-04 Priority to EP20080002023 priority Critical patent/EP2085349B1/fr

2009-02-04 Priority to JP2009023399A priority patent/JP5463048B2/ja

2009-02-04 Priority to CN 200910009991 priority patent/CN101567244B/zh

2009-08-05 Publication of EP2085349A1 publication Critical patent/EP2085349A1/fr

2014-02-26 Application granted granted Critical

2014-02-26 Publication of EP2085349B1 publication Critical patent/EP2085349B1/fr

Status Not-in-force legal-status Critical Current

2028-02-04 Anticipated expiration legal-status Critical

Images

Classifications

- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/04—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/02—Permanent magnets [PM]
- H01F7/0231—Magnetic circuits with PM for power or force generation
- H01F7/0252—PM holding devices
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/02—Permanent magnets [PM]
- H01F7/04—Means for releasing the attractive force

Definitions

the invention relates to a magnetic gripper for gripping and handling of ferromagnetic workpieces, comprising a housing, on which a housing bottom is provided which has an end face facing the workpiece to be gripped and at least one magnetic piston arranged in the housing, the at least one connection for a working fluid is assigned for moving the magnetic piston, so that the magnetic piston is transferred to a working position at a first working pressure, in which the working piston is positioned at or close to the housing bottom and is transferred with a further working pressure in a rest position, in which the magnetic piston removed to the housing bottom is positioned.
Such a magnetic gripper is from the DE 199 51 703 A1 known.
the magnetic piston is acted upon by a working pressure, so that it bears against the housing bottom. This results in a magnetization of the ferromagnetic workpiece, which is fixed to the end face of the housing by the magnetic holding force.
a pressure pulse acts on the magnetic piston, so that it moves to a remote position to the housing bottom, whereby the magnetic field is weakened and the workpiece can be stored or released.
Such magnetic grippers are preferably used in workpieces which, due to their requirement or already performed machining, have a variety of holes, penetrations, transformations and / or complicated geometric shapes, such as lattice structures. Due to the fact that the movement of the magnetic piston takes place in a closed space and the holding of the workpiece is carried out by the magnetic force, single pressure pulses or pressure surges are sufficient to allow gripping or depositing of the workpiece. As a result, such magnetic grippers can work with low energy.
the disadvantage with such magnetic grippers is that an automatic detection of whether a workpiece was picked up or not taken, or whether it has been lost during transport, can not be detected. As automation progresses, however, it is desirable and necessary to monitor such work situations as well.
the invention is therefore based on the object, a magnetic gripper of the type mentioned in such a way that while maintaining the previous operating principle, an independent state recognition is made possible to determine whether a workpiece on the magnetic gripper exists or not available.
the at least one magnetic device associated with a detection device which is provided in or on the housing to the holding of the workpiece or the absence of the workpiece to capture, has the advantage that an active process monitoring is possible with such magnetic grippers. This can improve process reliability.
This at least one detection device in or on the magnetic gripper thus makes it possible to detect whether a magnetizable workpiece has been gripped and held by the magnetic gripper and whether such a workpiece has been lost during transport or handling movement.
a magnetic gripper is provided which allows a state recognition with respect to the workpiece to be handled.
the at least one detection device determines a working pressure of the working fluid as a function of its own active or inactive working position. Due to the design of the detection device, which determines a respective working pressure or change in the working pressure of the working fluid when changing their active or inactive working position, the previous operation and the previous structure of the magnetic gripper can be maintained.
the applied and constantly maintained working pressure which is preferably given in the detection device in an active working position or the changing working pressure, which is preferably given in the detection device in a non-active working position, is evaluated for detecting and monitoring the prevailing conditions. As a result, the previously created arrangement and the structure of a handling device with one or more magnetic grippers can be maintained.
a working pressure in particular a negative pressure or a vacuum
the detection device maintains the applied working pressure when gripping or handling the workpiece.
a negative pressure or vacuum is applied as working pressure and the working pressure degrades in the absence, release or placement of the workpiece.
a further state detection or change of the state detection can in turn be detected via the working pressure of the working fluid for controlling the magnetic piston. The same applies if an overpressure is provided as working pressure.
the detection device is arranged in the housing of the magnetic gripper and associated with a closed space formed between the magnetic piston and the housing.
a preferred further embodiment of the invention provides that the at least one detection device is integrated in the movable magnetic piston.
the detection device is always used only when the magnetic piston is actually transferred to a working position to perform a handling.
the detection device is designed as a magnetically controllable valve arrangement, which controls a passage in the magnetic piston between a piston space which can be acted upon by the working fluid with a working pressure and an opposite movement space which can be acted upon by a further working pressure.
the advantageously designed as a magnetically controllable valve assembly detection device comprises a valve carrier with a valve seat and a slidably disposed therein control valve having a valve seat surface.
the valve seat surface In an active working position of the valve assembly, the valve seat surface abuts the valve seat and closes the passage between the movement space and the piston chamber in the housing of the magnetic gripper.
the control valve has at least one permanent magnet at an end facing the housing bottom.
the control valve of the detection device is held by a force storage element in an inactive working position and lifted relative to the valve seat.
This inactive working position enables a vacuum or negative pressure can not be maintained, unless in the region of the detection device no workpiece is assigned to the end face of the housing.
the energy storage element which is preferably designed as a spiral or compression springs, has a spring force which is smaller than a resulting on the at least one permanent magnet on the control valve Magnethaltekraft as soon as a workpiece is assigned to the end face of the housing.
At least one guide section is provided between the control valve and the valve carrier. This can be given an immediate guidance of the control valve in the valve carrier. Thus, a structurally simple and tilt-free recording is given in the valve carrier.
a guide section is preferably provided between the valve seat and the permanent magnet on the control valve, which has at least one channel-shaped recess and forms a portion of the passage between the movement space and the piston chamber.
the control valve when transferring the magnetic piston into a working position and when magnetizing the workpiece for positioning the workpiece on the end face of the housing bottom, the control valve can be converted by the magnetic force of its permanent magnet in an active working position.
the control valve in particular the valve seat surface provided on the control valve, lies at the valve seat and closes the passage between the piston and the movement space.
ambient air can not flow via the preferably associated with the environment movement space in the housing or affect the voltage applied in the movement space working in those of the piston chamber, and the applied working pressure in the piston chamber for transferring the magnetic piston in its working position is maintained.
the condition is recognized that a workpiece is present on the front side of the housing bottom.
a cover is provided for limiting and setting an opening stroke of the control valve, which is fastened to the valve carrier and preferably comprises a throttle point.
the valve arrangement which comprises a valve carrier, a control valve and a force storage element arranged therebetween and a lid, can be inserted as a preassembled module into the housing or into the magnetic piston.
a modular design of the magnetic gripper is possible, so that depending on the respective applications, individual modules may be provided, which may comprise a control valve with different strong permanent magnets and / or a lid with a different sized throttle.
a connecting line is formed between the detection device and the associated port of the housing for supplying and discharging the working fluid.
the maintenance of the working pressure or the change of the working pressure can be detected by at least one sensor.
This at least one sensor is preferably provided on a valve strip remote from the individual magnetic grippers.
the valve bar is connected to a large number of pressure lines which lead to the pneumatic connection of the magnetic grippers and to signal lines of a control and evaluation device. Each pressure line is interrogated and monitored by the sensor at the prevailing working pressure.
sensors which are designed in particular as pressure sensors, allow a quick and easy evaluation of this additional information.
a plurality of detection devices are provided on or in a housing, which allow a sectional detection of the end face of the housing.
a sectional detection of the end face of the housing can be monitored and other areas can not be monitored.
This sectional monitoring can provide additional information about the position of the workpiece to the respective magnetic gripper.
FIG. 1 shows a schematic side view of a magnetic gripper 11, which has a pin 12 with a fastening device 14, for example, to attach this to a robot arm or a handling device.
a housing bottom 17 is provided on a preferably cup-shaped housing 16, which is bolted to the housing 16, for example.
This housing bottom 17 has an end face 18 on which a workpiece 19 to be gripped, which is represented for example as a ferromagnetic plate, rests.
FIG. 2 is a sectional view taken along the line II in FIG FIG. 1 of the magnetic gripper 11 shown.
the magnetic piston 21 comprises a guide ring 22, in which a seal 23 is arranged, which separates a present above the magnetic piston 21 movement space 24 and a present between the magnetic piston 21 and the housing bottom 17 piston chamber 26.
the size of the two spaces 24, 26 determined in inverse proportion to the position of the magnetic piston 21 in the housing 16.
the movement space 24 communicates via a through hole 27 with the environment.
a screen 28 may be provided to protect against contamination of the movement space 24 in the through hole 27.
the piston chamber 26 communicates with a connection 31, in particular a pneumatic connection Connection to which a pressure line 32 is connected, which leads to a valve bar 33 with a plurality of control valves 30. Via the valve strip 33, the individual pressure lines 32 are acted upon by actuation of the control valves 30 with a working pressure.
Each pressure line 32 is preferably associated with a sensor 35 which monitors the working pressure in the pressure line 32. The signals detected by the sensor 35 are forwarded to an evaluation unit for evaluation and also for controlling the magnetic grippers 11.
FIG. 3 shows a schematic sectional view of the magnetic gripper 11 along the line II-II in FIG. 1 ,
the magnetic piston 21 receives at least one permanent magnet 34 on a front side facing the housing bottom 17.
a plurality of individual segments existing as permanent magnets 34 are associated with each other.
a working pressure in particular a negative pressure or a vacuum
the piston chamber 26 is sealed via the seal 23 to the housing 16, so that the piston chamber 26, which is preferably in communication with the pressure line 32, forms a closed space.
the permanent magnet 34 is preferably held with a small, but defined distance by a spacer element 35, in particular a spacer ring.
the at least one permanent magnet 34 may rest on the housing bottom 17.
a magnetic holding force acts between the at least one permanent magnet 31 and the ferromagnetic workpiece 19, and the workpiece 19 is held exclusively by this magnetic holding force and positioned to the housing bottom 17.
a further working pressure in particular the ambient pressure to.
the negative pressure or the vacuum is reduced or pressure pulses are introduced into the piston chamber 26, whereby the magnetic piston 19 is pressed into a raised position relative to the housing bottom 17, ie in a rest position 37 (dashed line shown schematically).
the movement of the magnetic piston 21 thus takes place in a closed piston chamber 26, that is, no large volume flows of compressed air and vacuum must be made available.
the magnetic gripper 11 has according to the embodiment in FIG. 2 a detection device 41, which is integrated as an example in the magnetic piston 21.
a simple embodiment of a magnetic gripper 11 provides the arrangement of a detection device 41.
a plurality of detection devices 41 may be provided, wherein the housing 16 advantageously according to the number of detection devices 41 has the partitions, so that in each case a magnetic piston is arranged with at least one detection device 41 in a closed space.
This in FIG. 2 shown detection device 41 is in the FIGS. 4a and b shown schematically enlarged in different working positions and is based on this FIGS. 4a and b explained in more detail.
the detection device 41 according to FIG. 4a which is opposite to the workpiece 19, is in an active working position 42.
the detection device 41 according to FIG. 4b is shown in an inactive working position 43.
the detection device 41 comprises a magnetically controllable valve arrangement. This is composed of a valve carrier 45, an axially displaceably arranged control valve 46, a force acting between the valve carrier 45 and the control valve 46 power storage element 47 and a lid 48 together.
the energy storage element 47 is supported on a shoulder 49 of the valve carrier 45 and causes the control valve 46 is basically held in an inactive working position 43, in which an end face 51 of the control valve 46 rests against the lid 48.
a valve seat surface 52 of the control valve 46 is lifted relative to a valve seat 53 of the valve carrier 45. As a result, the valve assembly is open.
a present in the movement space 24 working fluid can via a throttle point 56 in the lid 48 and a longitudinal channel 57 and from there from flowing over a transverse to the valve seat surface 52 transverse channel 58 and at least one channel-shaped recess 59 in the guide portion 61 with the piston chamber 24.
the guide section 61 is designed, for example, as an annular collar 62 and acts on a lateral surface 63 of the valve carrier 45.
a further guide portion 61 between the cover 48 and the valve seat 53 is provided to allow a tilt-free mounting of the control valve 46.
the force storage element 47 may be supported, which is preferably designed as a spiral spring, compression spring or rubber-elastic element to arrange the control valve 46 in the inactive working position 43.
a permanent magnet 66 is provided on an end of the control valve 46 facing the housing bottom 17. Between a housing bottom facing end face 67 of the permanent magnet 66 and the housing bottom 17, a distance is provided which is equal to or smaller than the stroke movement of the control valve 46 for transferring into an active working position 42.
the piston chamber 26 is connected via a schematically illustrated connecting line 69 with the terminal 31 in connection.
This connecting line 69 can be formed, for example, by a gap or clearance between two adjacent permanent magnets 34, as shown schematically by the line 71 in FIG FIG. 3 is shown, as well as through a channel portion 70 which leads to the terminal 31.
the detection device 41 is transferred from the active working position 42 by the force storage element 47 in a non-active working position 43 , and the sensor 35 recognizes again that the working pressure of the working fluid in the piston chamber 26 is not maintained, but changed. This means that the workpiece 19 has been lost.
this detection device 41 allows state detection by monitoring the working pressure of the working fluid, whether a workpiece 19 is picked up and transported or was not picked up or lost during transport.

Landscapes

Engineering & Computer Science (AREA)
Physics & Mathematics (AREA)
Electromagnetism (AREA)
Power Engineering (AREA)
Mechanical Engineering (AREA)
Load-Engaging Elements For Cranes (AREA)
Jigs For Machine Tools (AREA)
Actuator (AREA)
Manipulator (AREA)

EP20080002023 2008-02-04 2008-02-04 Electro-aimant Not-in-force EP2085349B1 (fr)

Priority Applications (3)

Application Number	Priority Date	Filing Date	Title
EP20080002023 EP2085349B1 (fr)	2008-02-04	2008-02-04	Electro-aimant
JP2009023399A JP5463048B2 (ja)	2008-02-04	2009-02-04	磁力グラブ
CN 200910009991 CN101567244B (zh)	2008-02-04	2009-02-04	磁抓斗

Applications Claiming Priority (1)

Application Number	Priority Date	Filing Date	Title
EP20080002023 EP2085349B1 (fr)	2008-02-04	2008-02-04	Electro-aimant

Publications (2)

Publication Number	Publication Date
EP2085349A1 true EP2085349A1 (fr)	2009-08-05
EP2085349B1 EP2085349B1 (fr)	2014-02-26

Family

ID=39365707

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
EP20080002023 Not-in-force EP2085349B1 (fr)	2008-02-04	2008-02-04	Electro-aimant

Country Status (3)

Country	Link
EP (1)	EP2085349B1 (fr)
JP (1)	JP5463048B2 (fr)
CN (1)	CN101567244B (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
EP2465806A1 (fr)	2010-12-17	2012-06-20	TRUMPF Werkzeugmaschinen GmbH & Co. KG	Electro-aimant
WO2015114202A1 (fr) *	2014-01-30	2015-08-06	Ixtur Oy	Aimant
US9761396B2 (en)	2014-01-30	2017-09-12	Ixtur Oy	Magnet and actuator
EP3780030A4 (fr) *	2018-04-05	2022-01-19	SMC Corporation	Mandrin magnétique
EP3780031A4 (fr) *	2018-04-05	2022-01-19	SMC Corporation	Mandrin à aimant
CN114658206A (zh) *	2022-03-03	2022-06-24	曹忠进	一种大数据分析式建筑施工调节系统

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
US9905346B2 (en) *	2014-12-26	2018-02-27	Smc Corporation	Magnet chuck
JP6590188B2 (ja) *	2014-12-26	2019-10-16	Smc株式会社	マグネットチャック
JP6575842B2 (ja) *	2014-12-26	2019-09-18	Smc株式会社	マグネットチャック
FR3134025A1 (fr) *	2022-03-29	2023-10-06	Ecm Technologies	Dispositif de liaison et préhenseur magnétique comprenant un tel dispositif de liaison

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* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
GB2000870A (en)	1977-07-11	1979-01-17	British Steel Corp	Safety device for lifting magnets
WO1997003911A1 (fr) *	1995-07-24	1997-02-06	Railfix N.V.	L'invention concerne un dispositif permettant de man×uvrer une charge magnetique, notamment ferromagnetique
DE19951703A1 (de)	1999-10-27	2001-05-10	Andreas Bellmann	Schaltbarer-Permanentmagnet in Form eines Pneumatikzylinders

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
BE868892A (fr) *	1977-07-11	1978-11-03	British Steel Corp	Perfectionnements aux aimants de levage
CN1036331C (zh) *	1995-04-17	1997-11-05	朴明伟	重力开关式永磁吸盘
JP2002144271A (ja) *	2000-11-14	2002-05-21	Mai Systems Kk	ワーク切り出し具

2008
- 2008-02-04 EP EP20080002023 patent/EP2085349B1/fr not_active Not-in-force
2009
- 2009-02-04 JP JP2009023399A patent/JP5463048B2/ja not_active Expired - Fee Related
- 2009-02-04 CN CN 200910009991 patent/CN101567244B/zh not_active Expired - Fee Related

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
GB2000870A (en)	1977-07-11	1979-01-17	British Steel Corp	Safety device for lifting magnets
WO1997003911A1 (fr) *	1995-07-24	1997-02-06	Railfix N.V.	L'invention concerne un dispositif permettant de man×uvrer une charge magnetique, notamment ferromagnetique
DE19951703A1 (de)	1999-10-27	2001-05-10	Andreas Bellmann	Schaltbarer-Permanentmagnet in Form eines Pneumatikzylinders

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
EP2465806A1 (fr)	2010-12-17	2012-06-20	TRUMPF Werkzeugmaschinen GmbH & Co. KG	Electro-aimant
US8573662B2 (en)	2010-12-17	2013-11-05	Trumpf Werkzeugmaschinen Gmbh + Co. Kg	Magnetic workpiece handling devices
WO2015114202A1 (fr) *	2014-01-30	2015-08-06	Ixtur Oy	Aimant
WO2015114203A1 (fr) *	2014-01-30	2015-08-06	Ixtur Oy	Aimant et procédé de manipulation de tôles métalliques
US9613738B2 (en)	2014-01-30	2017-04-04	Ixtur Oy	Magnet
US9761396B2 (en)	2014-01-30	2017-09-12	Ixtur Oy	Magnet and actuator
US9761362B2 (en)	2014-01-30	2017-09-12	Ixtur Oy	Magnet and method for handling metal sheets
EP3780030A4 (fr) *	2018-04-05	2022-01-19	SMC Corporation	Mandrin magnétique
EP3780031A4 (fr) *	2018-04-05	2022-01-19	SMC Corporation	Mandrin à aimant
CN114658206A (zh) *	2022-03-03	2022-06-24	曹忠进	一种大数据分析式建筑施工调节系统
CN114658206B (zh) *	2022-03-03	2024-06-11	中建设计研究院(雄安)有限公司	一种大数据分析式建筑施工调节系统

Also Published As

Publication number	Publication date
CN101567244B (zh)	2012-12-05
JP2009184106A (ja)	2009-08-20
CN101567244A (zh)	2009-10-28
JP5463048B2 (ja)	2014-04-09
EP2085349B1 (fr)	2014-02-26

Publication	Publication Date	Title
EP2085349B1 (fr)	2014-02-26	Electro-aimant
EP2465806B1 (fr)	2013-11-27	Electro-aimant
EP1350606B1 (fr)	2004-06-02	Organe de préhension actionné par fluide
EP2052808B1 (fr)	2010-03-10	Dispositif de serrage doté d'un mandrin destiné à la fixation amovible d'un support de pièces à usiner
DE69400564T2 (de)	1997-04-10	Servozylindervorrichtung
DE3810989A1 (de)	1989-08-10	Vorrichtung zur handhabung und insbesondere zum transport von gegenstaenden
EP1477439B1 (fr)	2006-12-20	Dispositif pour transférer des objets
EP2218541B1 (fr)	2011-12-21	Cylindre de serrage rapide doté d'un contrôle de présence du raccord d'insertion
DE102007058114A1 (de)	2009-06-10	Vakuumerzeugervorrichtung und Verfahren zu ihrem Betreiben
DE102017109291B4 (de)	2019-12-24	Greifmodul
CH668023A5 (de)	1988-11-30	Vorrichtung zur aufnahme und zum transport von bauteilen.
DE19939792A1 (de)	2001-02-22	Hub-Saug-Zylinder
DE68904168T2 (de)	1993-06-03	Pneumatischer greifer.
EP3957432A1 (fr)	2022-02-23	Mandrin
DE102021103114A1 (de)	2022-08-11	Spanneinrichtung
DE102016111007B4 (de)	2024-05-16	Anschlagmodul zum positionsgenauen Anhalten eines Gegenstands
DE19600310C2 (de)	2000-06-29	Zylindervorrichtung
DE102005023828A1 (de)	2006-12-07	Vorrichtung zum automatisierten Transport einer luftdurchlässigen und nicht magnetischen Filtermatte und/oder Zwischenlage für Dieselrußfilter und Verfahren hierfür
EP3429799B1 (fr)	2020-04-22	Dispositif et procédé d'insertion d'une ébauche annulaire dans une bague extérieure d'une ronde
EP3562768B1 (fr)	2022-11-09	Élément d'arrêt électromagnétique pour une installation de transport de marchandises
AT517436B1 (de)	2017-04-15	Vorrichtung und Verfahren zum automatisierten Montieren von Gewindeeinsätzen in Bauteilen
EP4461675A1 (fr)	2024-11-13	Courroie de transport sous vide à efficacité énergétique
EP2228576B1 (fr)	2010-12-08	Dispositif de soupape
DE102007001722B4 (de)	2009-03-12	Vorrichtung zum Aufnehmen, Transportieren und Sortieren von elektronischen Bauelementen
DE102016111908B4 (de)	2018-01-11	Greifvorrichtung zum Greifen von ferromagnetischen Gegenständen

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