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WO2014161656A1 - Ensemble manipulateur - Google Patents

Ensemble manipulateur Download PDF

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Publication number
WO2014161656A1
WO2014161656A1 PCT/EP2014/000872 EP2014000872W WO2014161656A1 WO 2014161656 A1 WO2014161656 A1 WO 2014161656A1 EP 2014000872 W EP2014000872 W EP 2014000872W WO 2014161656 A1 WO2014161656 A1 WO 2014161656A1
Authority
WO
WIPO (PCT)
Prior art keywords
end effector
manipulator
holding unit
manipulator device
positioning
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.)
Ceased
Application number
PCT/EP2014/000872
Other languages
German (de)
English (en)
Inventor
Lars KÜHN
Oliver De Haas
Martin Beier
Uwe Neuhoff
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.)
Festo SE and Co KG
Original Assignee
Festo 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.)
Filing date
Publication date
Application filed by Festo SE and Co KG filed Critical Festo SE and Co KG
Publication of WO2014161656A1 publication Critical patent/WO2014161656A1/fr
Anticipated expiration legal-status Critical
Ceased 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
    • 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
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0045—Contactless power transmission, e.g. by magnetic induction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B25J15/0441—Connections means having vacuum or magnetic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J21/00—Chambers provided with manipulation devices

Definitions

  • the invention relates to a manipulator device having a manipulator head arranged or attachable to a positioning device, which has a first component in the form of a holding unit serving for the mechanical connection with the positioning device and a second component in the form of an end effector held by the holding unit.
  • a manipulator device of this type known from EP 0 438 030 A1 is designed as a gripping device and contains a manipulator head designed as a gripper, which is arranged on a robot functioning as a positioning device, so that it can be moved in a multi-dimensional manner by means of the robot.
  • the manipulator head has a holding unit mechanically fixedly arranged on the robot, which carries an end effector designed as a gripper, wherein the end effector is mechanically fixed to the holding unit.
  • a drive is present, which is enveloped by a housing to shield it from the environment and to favor use in so-called clean rooms.
  • the housing is provided with slots through which the mechanical coupling of the drive takes place with movable gripping members of the gripper.
  • a manipulator device known from EP 2 335 884 B1 has a key-shaped positioning device, which can be equipped on the face side with an end effector in the form of a tool holder, a workpiece carrier or a tool.
  • the invention has for its object to take measures that favor a labor input of a manipulator device of the type mentioned in the context of clean room applications.
  • the invention provides that one of the two components, ie either the holding unit or the end effector, a superconducting superconducting coupling unit having an associated, cooling to at least the transition temperature of the superconducting material enabling cooling and the other of the two Components has a permanent magnetic coupling unit, wherein the end effector by interaction of the two coupling units under Belas- tion of a defined air gap is held without contact by the holding unit.
  • either the holding unit or the end effector associated coupling unit is constructed of superconducting material, while the other component has a permanent magnetic coupling unit, so that the end effector by the above-described interaction of the two copulation units while maintaining a predetermined air gap held without contact by the holding unit is.
  • the end effector thus makes synchronous with the positioning movement of the holding unit caused by a positioning device, wherein there is no need for mechanical stabilizing or connecting means and no such means are provided to keep the relative position in space between the holding unit and the end effector constant regardless of the positioning movement.
  • the existing between the holding unit and the end effector air gap makes it possible advantageously with the end effector in a lying behind a partition wall and designed as a clean room workspace work without the holding unit or other components of the manipulator device in this work area to have to place.
  • the partition wall which is expediently non-magnetic, can extend through the air gap so that it spatially separates the two contactlessly coupled components - the holding unit and the end effector - without removing their force-related coupling.
  • Manipulator device are kept completely away from the partitioned off by a partition workspace.
  • any superconducting material of the second kind is suitable.
  • a high-temperature superconductor is used, the transition temperature of which may already be above 90 Kelvin.
  • This is in particular a ceramic material, for example so-called yttrium-barium-copper oxide.
  • the superconducting coupling unit of the holding unit is assigned to assign the superconducting coupling unit of the holding unit and equip the end effector with the permanent magnetic coupling unit.
  • the end effector and the holding unit are spatially separated when using the manipulator device by means of a partition passing through the air gap, it is advantageous if the superconducting coupling unit and the cooling device are conveniently accessible in front of the partition to measures possibly required for the operation easy to make.
  • the superconducting material remains outside of any work area in which the end effector is active.
  • the permanent-magnetic coupling unit also directly forms an end effector acting as a magnetic gripper.
  • Magnetic gripper can be at least partially taken ferromagnetic objects based on magnetic force and positioned by appropriate positioning of the manipulator head in turn as desired. Since the permanent magnetic coupling unit here performs a dual function, on the one hand for force-moderate coupling with the superconducting holding unit and on the other hand directly as a magnetic gripper, this design of a manipulator device is extremely inexpensive.
  • the end effector is equipped with the superconducting coupling unit or with the permanent magnetic coupling unit, it can be advantageously designed as a gripper or as a tool.
  • a gripper In a configuration as a gripper, it can be used to temporarily hold workpieces or other objects in order to change their position.
  • Such a gripper can be performed purely manually operable - for example, for actuation by means of a screwing - or for operation by means of external energy.
  • the manipulator device is equipped with transmission means for wireless electrical energy transmission to the end effector. In this way, a spatially separated from the holding unit arranged end effector can be operated with original electrical energy.
  • An end effector designed as a tool is, for example, a machining tool or a measuring tool.
  • an end effector for example, workpieces can be processed and / or measured.
  • transmission means for wireless electrical energy transmission from a remote energy source to the end effector are especially advantageous if the end effector is operated by a partition separate from the holding unit.
  • Manipulator device with transmission means for wireless electrical signal transmission equip to transmit electrical signals to the end effector or the end effector.
  • sensor signals or measurement signals from the end effector to an external electronic control device can be transmitted and / or it is possible to send actuating signals from such an electronic control device to the end effector, with the help of certain actions of the end effector are caused, for example, a measuring operation.
  • the end effector is freely rotatable relative to the holding unit. This can be realized very easily by means of a corresponding symmetrical structure of the permanent magnetic coupling unit. The end effector is then rotatable about an axis, without changing its spatial position with respect to the holding unit. This effect can be used, for example, in order to position workpieces gripped by an end effector in a rotational angle or to keep them permanently in rotation during processing. Since no friction occurs between the end effector and the holding unit, a rotational movement of the end be ensured over a very long period of time.
  • Manipulator device is provided a partition through which a work area for the end effector from a further area in which the holding unit is arranged, is separated.
  • the correspondingly thin-walled dividing wall can extend through the air gap existing between the holding unit and the end effector, so that the end effector and the holding unit are located on mutually opposite sides of the dividing wall, wherein the positioning device expediently also belonging to the manipulator device is arranged in the same spatial area is, in which the holding unit is located. In this way it is possible to work with the end effector in a working area which is separated from the other components of the manipulator device and, in particular, sealed off.
  • the working area is formed by a working space which is expediently hermetically sealed from the surroundings and which has only at least one releasably sealable access opening, through which the end effector and optionally an object fixed thereto into and out of the working space Working space are moved out.
  • the partition is placed so that it enters the air gap without contact when the end effector is moved into the working space.
  • the preferably non-magnetic partition wall is expediently designed to be transparent so that from the side of the holding unit through the dividing wall an insight into the working area or working space is possible in order to follow the action of the end effector taking place there or also to be able to control.
  • the partition consists of a transparent plastic material.
  • At least one tool can be independent of the manipulator-head may be arranged that is used to treat an object, which is carried by a gripper designed as endef ⁇ maschineor, in the work area to update ode.
  • a tool may be, for example, a paint application tool.
  • the manipulator device can already be used before geous, if their positioning only allows a uniaxial movement of the manipulator head, it is considered advantageous if the positioning is designed to induce a multi-axis movement of the manipulator head.
  • the positioning may be formed as a multi-axis robot. It is advantageous in any case when the positioning device can cause at least a two-dimensional translational movement of the manipulator head, where in the positionable as markable plane of movement pa rallel to the cleavage plane of the formed between the holding unit and the end effector air gap.
  • the cooling device used to cool the superconducting material to or below the transition temperature is constructed according to the principle of a compressor refrigerant and has an electrically operable refrigerant compressor, a comfortable electrical operation is possible, and it is unnecessary to refill a coolant from time to time.
  • the invention is also advantageous in cash, if the cooling device is designed for passive cooling by means of a suitable cooling medium, being used as a cooling medium, in particular liquid nitrogen.
  • the Coolant is expediently accommodated in at least one cooling container, a so-called cryostat, which is designed as a component of the holding unit. Due to a corresponding isolation, the coolant can maintain the desired operating temperature without aftercooling for a very long period of time, which promotes energy-saving operation of the manipulator device.
  • FIG. 1 shows a side view of a schematic structure of a preferred embodiment of the manipulator device according to the invention, wherein the wall of a working space is shown in section,
  • Figure 2 shows the manipulator device of Figure 1 in one
  • FIG. 3 shows a section of the manipulator device in the region of the manipulator head, wherein an alternatively constructed end effector is shown, and
  • Manipulator device wherein a further advantageous construction of a manipulator head is illustrated.
  • Manipulator device expediently contains a positioning device 2 and a manipulator head 3, which is preferably detachably attached to the positioning device 2.
  • the manipulator head 3 can be equipped with a positioning device 2. be positioned and positioned as desired, the corresponding movement is to be referred to as positioning movement 4 and is illustrated in the drawing by a double arrow.
  • the positioning movement 4 in the embodiment is a one-dimensional linear movement in the axial direction of an imaginary main axis 5, which is oriented horizontally in the embodiment, but in principle can have any spatial orientation.
  • the manipulator device 1 has expediently designed, for example, as a frame or as a plate
  • Base 6 on which the positioning device 2 is fixed.
  • the latter is formed in the embodiment of an electrically actuated linear actuator 7, which has a driven part 8, which is a linear
  • Output movement 12 is driven.
  • the output member 8 is formed for example as a slide and is preferably guided linearly displaceable on a linear guide device 13 which is formed in the embodiment of a housing 14 of the linear drive 7 or attached to this housing 14.
  • the linear drive 7 includes drive means 15 which are in drive connection with the output part 8 and can cause the output movement 12 when actuated.
  • the drive means 15 comprise an electric motor which can drive a threaded spindle extending in the housing 14 in a rotary manner, which is in threaded engagement with the driven part 8 and, during its rotation, is linear
  • the linear drive 7 may also be of the fluid-actuable type or also designed as a hybrid drive.
  • the linear drive 7 is for example supported by two columns 16 and spans a positioning region 17 in which the positioning movement 4 of the manipulator head 3 takes place.
  • the manipulator head 3 contains two components, of which the first component is a holding unit 18 which is drivingly connected mechanically to the positioning device 2, while the second component is an end effector 19 that is motion-coupled to the holding unit 18 in a contactless manner.
  • the end effector 19 is held by the holding unit 18, so that the holding unit 18 and the end effector 19 are always only uniformly translationally movable. This uniform movement is the already mentioned positioning movement 4, to which the manipulator head 3 can be driven by force introduction into the holding unit 18.
  • the manipulator head 3 is fixed with its holding unit 18 in the embodiment of the driven part 8, he makes the output movement 12 of the driven part 8 with.
  • the positioning device 2 can also be designed such that it can cause a multi-axis translational movement of the manipulator head 3.
  • a second position which is perpendicular thereto is provided.
  • tionierterrorism 4a is feasible, with the two positioning movements 4, 4a can also superimpose arbitrarily, so that the manipulator head 3 two-dimensionally in a
  • Positioning plane 22 is displaced.
  • the positioning device 2 can also offer further possibilities of movement for the manipulator head 3, so in particular a schematically indicated by a double arrow third positioning movement 4 b, which is oriented at right angles to the positioning plane 22. In this way, a spatially three-axis displacement of the manipulator head 3 is possible, wherein the directions of movement can arbitrarily overlap.
  • the manipulator device 1 is equipped with particularly advantageous measures for force-related coupling between the holding unit 18 and the end effector 19.
  • the holding unit 18 contains a superconducting material consisting of a superconducting coupling unit 23 and the end effector 19 has a permanent magnetic coupling unit 24.
  • the interaction of these two coupling units 23, 24, the holding unit 18 and the end effector 19 while leaving a defined air gap 25 without contact so vigorously coupled to each other, that their relative position in space is constant.
  • the end effector 19 is held in all three spatial directions with respect to the holding unit 18. To the outside, therefore, the holding unit and the end effector 19 act as one only uniformly
  • the superconducting coupling unit 23 is assigned adeeinrich ⁇ tung 26, which is suitably a part of the holding unit 18 and join in the movement thereof.
  • the cooling device 26 is configured and arranged to so-called transition temperature, the material-specific and also can cool below the superconducting material of the superconducting coupling ⁇ unit 23 on at least preferably.
  • the transition temperature is the temperature at which the superconducting material passes into the superconducting state when it is reached or fallen below, which is characterized in that the electrical resistance drops to zero.
  • the cooling device 26 is of an electrically actuatable type and works in particular on the principle of a compressor refrigeration system. Accordingly, it is equipped in the embodiment with a schematically indicated, electrically actuated cooling compressor 27.
  • the holding unit 18 includes a cooling vessel in which, isolated to the environment, a cooling medium ensuring the desired cooling is accommodated, in particular liquid nitrogen. In this case, however, an exchange of the cooling medium is required from time to time to ensure the desired operating temperature of the superconducting material.
  • the end effector 19 and the holding unit 18 are arranged adjacent to one another in such a way that the dotted lines indicate the magnetic fields 28 of the permanent magnetic coupling unit 24, the superconducting coupling unit 23 prevail, whereupon the superconducting material is cooled by means of the cooling device 26 to or below the critical temperature.
  • the magnetic fields 28 are quasi "stored” or “frozen", so that an air gap 25 with at least largely constant width results from the previously set distance between the holding unit 18 and the end effector 19.
  • the gap width of the air gap 25 is for example 5 to 7 mm, measured in the axial direction of a main axis of rotation 32, which is indicated by dash-dotted lines in FIG.
  • the width of the air gap 25 may be subject to slight changes depending on the load acting on the end effector 10.
  • the magnetic fields 28 holding together the holding unit 18 and the end effector 19 expediently bring about a certain "elasticity" of the coupling or connection between the two components 18, 19.
  • the permanent magnetic coupling unit 24 has a planar expansion and the main axis of rotation 32 extends at right angles thereto.
  • a ceramic high-temperature superconductor is used as superconducting material.
  • the transition temperature can already be above 90 Kelvin.
  • the cooling device 26 supplies a constant cooling temperature. temperature of 73 Kelvin (-200 ° Celsius), so that even with possible temperature fluctuations a reliable power coupling between the two coupling units 23, 24 and thus between the holding unit and the end effector 19 is ensured ⁇ tet.
  • the holding unit 18 has the permanent magnetic coupling unit 24 and the end effector 19 is equipped with the superconducting coupling unit 23 and the cooling device 26.
  • the air gap 25 has an extension plane which can be labeled as a cleavage plane 33 and which is preferably oriented at right angles to the main axis of action 32.
  • the cleavage plane 33 runs parallel to the positioning plane 22.
  • FIG. 1 and 2 forms the per ⁇ manentmagnetician coupling unit 24 directly the end effector 19, which is designed here as a magnetic gripper 19a.
  • This magnetic gripper 19a is in a position as illustrated at least partially a ferromagnetic object 34 by magneti ⁇ specific force effect to be recorded.
  • This object 34 can therefore be positioned as desired by moving the manipulator head 3.
  • three of many possible positions of the manipulator head 3 can be seen, two of which are indicated only by dash-dotted lines.
  • Figures 3 and 4 show alternative embodiments of manipulator heads 3, which differ in the design of the end effector 19 from each other and from the embodiment of Figures 1 and 2.
  • the end effector 19 is a particular mechanical gripper 19b which, without application of magnetic force, is capable of holding an object 34 for positioning.
  • Shown is an embodiment as a jaw gripper with a plurality of movable gripping jaws 36, which can be clamped with the object 34 to be held.
  • the gripper 19b for example, manually operated and has an actuating means 42 to which a tool can be applied to actuate the gripping jaws 36.
  • the gripper 19b is preferably alternatively or additionally operable with external energy, wherein an electrically operable variant is shown.
  • the electrical actuation energy required for this purpose is expediently transmitted wirelessly from an external energy source 49 by suitable transmission means 43.
  • the gripper 19b is a working with vacuum suction pads.
  • the end effector 19 is a tool 19c, with which an independent of
  • the tool 19c may be a treatment tool, a machining tool or a measuring tool. Shown is an embodiment as a measuring tool with a probe 44 which can be brought to a workpiece for conditioning, to measure this.
  • Manipulator device 1 may be equipped with transmission means 45 which a wireless electrical signal transmission allow for transmission to and / or from the end effector 19.
  • the transmission means 45 can detected by the tool 19c or generated data wirelessly to a remote therefrom arranged electronic control device 46 übertra ⁇ gene and / or there is a transfer of control signals from the controller 46 to the end effector 19th
  • an infrared transmission or a radio transmission is suitable for wireless transmission.
  • One and the same manipulator device 1 can be designed so that it contains both transmission means 43 for wireless electrical energy transmission and transmission means 45 for wireless electrical signal transmission.
  • the wireless transmission of energy and / or signals to the end effector 19 and / or the end effector 19 has the advantage that at the end effector 19 no hoses, cables or other transmission devices must be attached and the end effector 19 actually has no mechanical connection to external components.
  • Manipulator device 1 has a partition wall 47, which separates a working area 35 from an outer area 37, preferably in a media-tight manner.
  • a dividing wall 47 present in the exemplary embodiment preferably has a planar extension with a main expansion plane designated as a wall plane 48.
  • the partition wall 47 is located in the positioning region 17 and is aligned so that between it and the manipulator head 3 relative positions are possible in which the wall plane 48 coincides with the cleavage plane 33. In the embodiment, this is always the case.
  • the positioning device 2 is designed so that the
  • Positioning plane 22 parallel to the wall plane 48 extends.
  • the inventive design of the manipulator head 3 makes it possible to position the end effector 19 behind the partition wall 47 in the working area 35 and at the same time to leave the holding unit 18 in the outer area 37. This is done simply by manipulating the manipulator head 3 by means of the positioning device 2 in such a way that the dividing wall 47 extends without contact through the air gap 25. It is understood that the thickness of the partition wall 47 is less than the gap width of the air gap 25, so that the partition wall 47 can actually engage without contact in the air gap 25.
  • the tool 52 located in the working area 35 is, for example, a paint application tool or a mechanical machining tool.
  • the construction of the manipulator head 3 is particularly advantageous when the working area 35 is formed by a work space 35a which is closed all around by a boundary wall 53, as is the case in the exemplary embodiment.
  • This working space 35a is preferably a so-called clean room.
  • the mentioned dividing wall 47 is a part of the boundary wall 53 and extends into the region of one of the grenzungswand 53 defined access opening 54 which is selectively releasable or closable by means of a dashed line indicated closure means 55.
  • This closure means 55 is, for example, a door or a curtain. It is expedient for the closure means 55 to be designed such that the working space 35a is hermetically sealed with respect to the outside area 37 when the access opening 54 is closed.
  • the manipulator head 3 When the access opening 54 is released, the manipulator head 3 according to FIG. 1 can be moved from a starting position 56, shown completely in the outer region 37, into a working position 57 shown in solid lines, in which the holding unit 18 still lies in the outer region 37, but the end effector 19 including an object 34 possibly arranged thereon is located in the working space 35a.
  • the manipulator head 3 is shown in phantom in a transitional position 58 in which it is about to move along the dividing wall 47 so that the dividing wall 47, with its edge portion 47a delimiting the access opening 54, is about to plunge into the air gap 25 ,
  • the end effector 19 positioned in the working space 35a floats therein without any mechanical support and solely by the magnetic coupling forces resulting from the interaction between the two coupling units 23,24.
  • the partition wall 47 and in particular the entire boundary wall 53 expediently consist of a plastic material or of glass. It is an advantage if it is a transparent material. Of course, a mate- chosen, which does not affect the magnetic coupling between the holding unit 18 and the end effector 19.
  • the two coupling units 23, 24 are formed so that the end effector 13 is rotatable about the main axis of rotation 32 relative to the holding unit 18. This favors an all-round processing of an object 34 fixed to the end effector 19, since the end effector 19 can be set into a friction-free rotational movement.

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

Abstract

L'invention concerne un ensemble manipulateur (1) qui comprend une tête de manipulateur (3) disposée sur un dispositif de positionnement (2), ladite tête de manipulateur comprenant une unité de retenue (18) et un organe terminal (19) fixé sur l'unité de retenue (18). L'unité de retenue (18) est pourvue d'une unité de couplage supraconductrice (23) qui coopère avec une unité de couplage à aimantation permanente (24) de l'organe terminal (19), de manière que les deux composants sont reliés l'un à l'autre par les forces de couplage, en formant un entrefer (25) défini, et sans intervention d'une liaison mécanique.
PCT/EP2014/000872 2013-04-02 2014-04-02 Ensemble manipulateur Ceased WO2014161656A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202013003510.2 2013-04-02
DE202013003510U DE202013003510U1 (de) 2013-04-02 2013-04-02 Manipulatorvorrichtung

Publications (1)

Publication Number Publication Date
WO2014161656A1 true WO2014161656A1 (fr) 2014-10-09

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PCT/EP2014/000872 Ceased WO2014161656A1 (fr) 2013-04-02 2014-04-02 Ensemble manipulateur

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DE (1) DE202013003510U1 (fr)
WO (1) WO2014161656A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016078679A1 (fr) * 2014-11-21 2016-05-26 Festo Ag & Co. Kg Dispositif de manipulation et utilisation d'un dispositif de manipulation
WO2016184514A1 (fr) * 2015-05-20 2016-11-24 Festo Ag & Co. Kg Dispositif d'accouplement
US20240066709A1 (en) * 2022-08-23 2024-02-29 The Boeing Company Normalizing Nosepiece Assembly for an End Effector
EP4582529A1 (fr) 2024-01-08 2025-07-09 BdelloRob GmbH Incubateur

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Publication number Priority date Publication date Assignee Title
DE102014009503B3 (de) * 2014-06-26 2015-10-29 Festo Ag & Co. Kg Positioniereinrichtung und Bearbeitungssystem mit einer Positioniereinrichtung
CN107405757B (zh) * 2015-03-04 2019-09-03 费斯托股份有限两合公司 夹紧设备和夹紧设备的应用
DE102015221797B3 (de) * 2015-11-06 2017-03-02 Festo Ag & Co. Kg Greifeinrichtung mit einem ersten und zweiten magnetischen Greifer sowie dritter Magneteinrichtung zur Ausübung von Tragkräften und Greifkräften
DE102015221800B4 (de) 2015-11-06 2018-08-09 Festo Ag & Co. Kg Greifeinrichtung mit zwei Magneteinrichtungen und Magnetstellmittel zur Einleitunq einer Schwenkbewequnq
DE102015221798B4 (de) * 2015-11-06 2024-04-25 Festo Se & Co. Kg Halteeinrichtung mit Supraleiter und zwei Vorzugspositionen
DE102016205612B4 (de) * 2016-04-05 2022-09-29 Festo Se & Co. Kg Halteeinrichtung
CN107363863A (zh) * 2017-08-11 2017-11-21 重庆微浪生物科技有限公司 用于生物实验器具连接的公母头连接装置
DE102017218009B4 (de) 2017-10-10 2019-11-07 Festo Ag & Co. Kg Aufbewahrungseinrichtung
DE102017222456B4 (de) * 2017-12-12 2023-06-01 Festo Se & Co. Kg Arbeitsraum und Reinraumsystem
DE102018213857B4 (de) * 2018-08-17 2020-07-16 Festo Se & Co. Kg Positioniersystem
NL2028423B1 (nl) * 2021-06-10 2022-12-20 Simeco Holland B V Robot voor het manipuleren van een of meer voedingsproducten

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JPH05122807A (ja) * 1991-10-16 1993-05-18 Ebara Corp 搬送装置
JPH0663877A (ja) * 1992-08-18 1994-03-08 Ntn Corp 超電導ハンドリング装置
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Publication number Priority date Publication date Assignee Title
JPH04260534A (ja) * 1991-02-18 1992-09-16 Ebara Corp 超電導式つり上げ装置
JPH05122807A (ja) * 1991-10-16 1993-05-18 Ebara Corp 搬送装置
JPH0663877A (ja) * 1992-08-18 1994-03-08 Ntn Corp 超電導ハンドリング装置
WO2005059666A1 (fr) * 2003-12-17 2005-06-30 Abb Research Ltd Dispositif peripherique utilise avec un robot industriel
WO2008131128A1 (fr) * 2007-04-18 2008-10-30 The Brigham And Women's Hospital, Inc. Manipulation et rétraction magnétiques destinées à des procédures chirurgicales

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Publication number Priority date Publication date Assignee Title
WO2016078679A1 (fr) * 2014-11-21 2016-05-26 Festo Ag & Co. Kg Dispositif de manipulation et utilisation d'un dispositif de manipulation
WO2016184514A1 (fr) * 2015-05-20 2016-11-24 Festo Ag & Co. Kg Dispositif d'accouplement
US20240066709A1 (en) * 2022-08-23 2024-02-29 The Boeing Company Normalizing Nosepiece Assembly for an End Effector
EP4582529A1 (fr) 2024-01-08 2025-07-09 BdelloRob GmbH Incubateur

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