• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a gripping device comprising a gripper (1) which comprises at least two elastically deformable gripping arms (2) intended to grip articles or objects and which can be moved between a clamping position and a loosening position. An actuating device (3) is provided for the relative movement of the clamp (1) relative to a rigid clamp housing (4) which is in interaction with the gripping arms (2).
    公开号:FR3025129A1
    申请号:FR1558028
    申请日:2015-08-28
    公开日:2016-03-04
    发明作者:Eduard Schweigert
    申请人:Evonik Roehm GmbH；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a gripping device comprising a gripper which comprises at least two elastically deformable gripping arms, intended to grip articles or objects, and which can be moved between a clamping position and a loosening position. . A gripping device of this type is for example known from DE 44 32 253 A1. Here, the clamp, which is made in one piece, can be elastically deformed by a corresponding structure. When applying a force to a crosshead, the gripping arms are open or closed. This system has proved its worth for miniaturized applications, that is to say in particular in the field of miniature parts. However, it has the disadvantage that this gripping device can not grasp sufficiently firmly or can not grasp in the precise position of large format parts. From the state of the art, the present invention aims to provide a gripping device of the type mentioned at the beginning, which allows to clamp in the exact position also articles or objects of particularly large formats. For a gripping device of the type mentioned at the beginning, this object is achieved by the fact that an actuating device is provided for the relative movement of the clamp with respect to a rigid clamp housing which is in interaction with the arms. grasping. The gripping housing can then slide over the gripper and close or spread it, in accordance with another embodiment in which the housing is positioned between the gripping arms. Thanks to the use of a rigid gripper housing, the gripping device has the advantage of offering in addition a centering function, that is to say of positioning in the center, of the part, during the gripping operation. Thus, when the coins are seized, this centering has the effect that they are always clamped in the same place or in the same position (exact position). This facilitates the automated machining of parts. The actual clamp therefore passes into the clamp housing. This guidance of the clamp itself in or through the clamp housing represents a saving of time when gripping articles or objects, compared to grippers known in the state of the art. On the other hand, the positioning in the center or the centering allows to obtain a high fidelity of reproduction, that is to say a tightening of articles or objects in the exact position.
    [0002] The clamping position is then the position in which the gripping arms are arranged so that a workpiece is clamped; it is either a remote position, if the part is mounted on its inner part, or a position at least partially closed gripping arms, if the part is mounted on its outer part.
    [0003] In the unclamped position, the gripping arms are in a position that frees the workpiece. It has been judicious that, for the movement of the clamp housing relative to the clamp, the actuating device comprises a pull rod and / or push rod. This pulling and / or pushing rod allows either pulling or pushing the clamp housing towards the clamp, or, conversely, pushing or pulling the clamp into the housing. It is merely essential for the invention that there is relative displacement between the two components. According to a preferred embodiment, the pulling and / or pushing rod is formed as an armature, and an electromagnet is provided for moving the clamp housing relative to the clamp. The traction magnet thus formed, with its traction armature, offers a simple and frequently used possibility, particularly in the field of robotics, for the relative movement of two objects. When clamping workpieces or articles or objects made of a magnetic material, the electromagnet can also first carry out a prior magnetic immobilization of the workpiece, before being activated with a stronger power. and causing, by means of the armature, the movement of the clamp housing relative to the clamp itself. Another embodiment provides a linear motor, that is to say an electric motor, for moving the pull rod and / or push. According to another particularly advantageous embodiment of the invention, a piston system is provided for the displacement of the pulling and / or pushing rod which is arranged in a cylindrical housing and can be actuated by means of a fluid under pressure. Preferably, the piston system or the cylindrical housing has at least one connection for the pressurized fluid. The pressurized fluid may be either a gas, and in this case the actuator is of pneumatic type, ie a liquid, and in this case the actuating device is of the hydraulic type. In order to realize the gripping device in a particularly compact form, the gripper housing comprises a chamber 15 for receiving the actuating device, the actuating device being coupled at one end, at least indirectly, to the one or the other of the gripper housing and the gripper, and the actuator being coupled at its other end, at least indirectly, to the other one of the gripper housing and the gripper. In other words, it is therefore not important which end of the actuating device is connected to the clamp housing or the clamp, since a simple relative movement of the two components gives the desired result, namely first the centering of the the piece when gripping, then its tightening.
    [0004] It has been judicious that the clamp has at least one recess which increases the resiliency of at least one of the gripping arms. A corresponding recess makes it possible to move the point of rotation or pivoting around which the gripping arm rotates. Depending on the type of workpiece to be gripped or gripped, i.e., the shape and stability of the workpiece, the recess in the gripper or in the gripper arm may have a larger cross-section when higher, or smaller, elasticity is desired when lower elasticity is desired. In this respect, it is also advantageous that the clamp is made in one piece and further comprises a fixing platform. In order to further stiffen the gripper housing which actuates the gripper arm, it is provided in accordance with another advantageous embodiment that the gripper housing has a stiffener which increases rigidity. In order to act on the pivotal movement of the clamp itself, another advantageous embodiment provides that a control element is arranged on at least one of the gripping arms, on its side facing the clamp housing, and that a housing arm, facing the gripper arm with the control element, has a control surface. The control element of the clamp itself can slide on the control surface of the clamp housing, knowing that the control element follows the contour of the control surface. This contour can be adapted to the shape of the part to be grasped. To obtain a movement of the clamp with as few jolts as possible, that is to say as fluid as possible, it has proved advantageous that the clamp on its clamp surface turned towards the housing 20 of clamp, and / or the clamp housing, on its housing surface facing the clamp, has at least partly a structure reducing friction. In accordance with another embodiment, this friction reducing structure is embodied as a friction reducing coating which is applied at least in part to the surface of the clamp and / or the surface of the housing. For this purpose, slip varnishes are known. On the other hand, it has been found to be advantageous for the friction reducing structure to be formed as sliding elements associated with the clamp housing and / or the clamp. These elements can be fixed in a conventional manner to the surface of the clamp and / or to the surface of the housing, in particular by gluing, riveting or screwing. However, according to another preferred embodiment, it is provided that at least one of the gripping arms and / or the gripper housing has at least one sliding element housing for receiving the sliding elements. This makes it possible to arrange the sliding elements in the sliding element housings, without it being necessary to fix them additionally by screwing or in another manner. The sliding elements can be press-fitted into the sliding element housings. For this purpose, the housings are made with dimensions slightly smaller than the sliding elements. In the context of the invention, it has been found to be particularly advantageous for the sliding elements to be in the form of sliding pins which are press-fitted into the sliding element housings 10 made in a flexible manner. Given the cylindrical shape of the sliding pins, it is possible to make a linear contact located between the clamp and the clamp housing. Compared with a flat support, the linear contact has the advantage of creating a low friction of adhesion and sliding between the clamp housing 15 and the clamp itself. According to a particularly advantageous embodiment, the sliding elements are made of steel, that is to say in the form of steel pins. In order for the gripping device to be very light, and in particular to be able to grasp the part to be clamped, while preserving its surface, it has proved preferable that the gripper housing and / or the gripper be made of plastics material. For this purpose, the clamp housing and / or the clamp can be manufactured in a generative manufacturing process (for example by sintering, 3D printing, etc.) but also by a method associated with a mold (for example by injection molding). On the other hand, it is also possible to realize the clamp housing and / or the clamp with a chip removal manufacturing method. It has been advisable to use PA6 as a plastic material. In order to be able to mount the gripping device in a fixed manner, according to another embodiment, there is provided a fixing bracket to which the gripper and a first end of the actuating device are connected, a second end of the device. actuator being coupled to the clamp housing. In order to be able to grip or tighten a workpiece particularly fast, another advantageous embodiment provides for the attachment bracket to have a workpiece carrier and / or a workpiece guide. These elements may be formed of a magnetic material, which has the effect of ensuring a prior immobilization of objects also magnetizable, to be tightened by the bracket. However, the invention also encompasses embodiments in which the gripping device itself comprises a fixing device, that is to say that it is not mandatory to use a fixing bracket.
    [0005] The invention will be better understood from the following detailed description of an exemplary embodiment illustrated by the appended drawing, in which: FIG. 1 represents a side view of the gripping device according to FIG. 2 shows the sectional view II-II of FIG. 1, FIG. 3 represents a view from above of the gripping device according to the invention, and FIG. 4 represents the sectional view IV. FIG. 3. The figures show a gripping device comprising a gripper 1 which can be moved between a clamping position and a loosening position. The illustrations show the gripping device in its loosening position. The gripping device is provided with an actuating device 3 which makes it possible to move the gripper 1 relative to a rigid gripper casing 4 which is in interaction with the gripping arms 2 of the gripper 1. As shown in particular in Figure 2, the actuating device 3 has a pull rod and / or push 5 and further comprises two connections 20 for pressurized fluid. Of these, the grip 33 is for gripping, and the loosening connector 34 serves to release the gripper. To move the pull rod and / or push rod 5, there is provided a piston system 21 which is arranged in a cylindrical housing 6. The cylindrical housing 6 is housed in a chamber 7 of the clamp housing 4. In this example In one embodiment, the pulling and / or pushing rod 7 is made of several parts and comprises a fastening means 22 (fixing screw) which is connected to a pulling element 23 of the pull rod and / or The traction element 23 is connected to the piston 35 of the piston system 21. Thus, the piston system 21 is connected to the clamp housing 4. According to an alternative embodiment, it is possible to provide a single connection 20 for pressurized fluid, by which a pressurized fluid can be brought and evacuated, knowing that during the evacuation of the fluid, it exerts a suction on the piston system and thus pulls the piston 35. It is also possible to plan more their piston systems 21, and in this case there will preferably be more than two fittings 20 for pressurized fluid. The clamp housing 4 has housing arms 11 which interact with the gripper arms 2, the housing arms 11 being arranged preferably at an angle of between 20 ° and 50 °, particularly preferably at an angle between 30 ° and 40 ° and, according to a particularly advantageous embodiment, an angle α of 35 ° with respect to the longitudinal axis 24 of the housing. In the exemplary embodiment shown, the longitudinal axes of the gripping arms 2, 20 when they are not mounted and are loosened, form with the longitudinal axis 24 an angle which is greater than the angle α formed by the longitudinal axes 25 of the housing arms with the longitudinal axis 24. As a result, in the mounted state, the gripping arms 2 are reliably applied against the housing arms 11.
    [0006] The gripper 1 is made in one piece and comprises a fastening platform 26. This fastening platform 26 has a plurality of holes in the form of holes, which serve for fixing the gripper 1. On the other hand, each of the arms 2 comprises recesses 8 which tapers towards the free end of the respective gripping arm 2. This increases the elasticity of the gripping arms 2. The recesses 8 form on the gripping arms 2 respectively a hinge 36 pivotable about a pivot axis. This hinge 36 consists of a wall portion which is disposed on the side of the recess 8 which is remote from the clamp housing 4. The opposing wall portion which is on the side of the recess 8 is the clamp housing 4 forms a biasing member 37. This biasing member 37 has a spring effect and thereby exerts a restoring force on the respective gripping arm 2 as it is pivoted about the gripper arm 2. articulation 36 or with the aid thereof. On the other hand, a bulge 27, intended to grip the object, is formed at the free end of the gripping arms 2. As can be seen from FIGS. 1 and 3, housings of sliding elements 16 are made in the arms 2 and in the casing arms 11. In these housings 16 are fitted by means of cylindrical sliding pins 17 which form a point or linear support between the gripping arm 2 and the respective casing arm 11 associated. Since the sliding elements 15 of the housing arms 11 are in the form of cylindrical pins, the result is a rectilinear contour, along which the cylindrical pin of the gripping arms 2 slides. The cylindrical pin of the gripping arms 2 forms therefore a control element, and the cylindrical pins of the housing arms 11 therefore form a control surface. A modification of the control surface makes it possible to generate a modification of the pivoting movement of the gripping arms 2. At the entrance of the sliding element housing 16, a lamellar structure 28 is formed comprising lamellae which extend radially towards the interior, that is to say in the direction of the longitudinal axis of the sliding element housings 16, and which provide additional support for the sliding elements 15 or cylindrical pins. To reinforce the clamp housing 4, there is provided a stiffener 9, in the form of a reinforcing crossbar, which increases the rigidity. The reinforcing cross member connects the housing arms 11 to each other and thus reinforces the clamp housing 4.
    [0007] In particular, it can be seen from FIGS. 2 and 3 that the gripping device according to the exemplary embodiment shown comprises an attachment bracket 18 to which the clamp 1 and the cylindrical casing 6 of the actuating device 3 are fixed. The passages of FIG. clip 1 comprises two plate passes 29, and the bracket 3025129 9 18 comprises, on a console plate 30, two corresponding console passages and oriented so as to be axially aligned. For the coupling of the clamp 1 or its attachment platform 26 to the bracket 18, there are provided fastening means which pass through the plate passages 29 and the console passages, for example respectively in the form of a screw connection. With these screw connections, the clamp 1 is coupled to the bracket 18. On the other hand, the cylindrical housing 6 is connected to the bracket 18, in particular to the bracket plate 30. Again, the plate For this purpose, the console 30 has plate passages which are connected to corresponding cylindrical housing passages 31 by fastening means, for example in the form of screw connections. On its side remote from the clamp 1 or the bracket plate 30, the cylindrical housing 6 is coupled to the clamp housing 4 via the pull and / or push rod 5. The clamp 1 and the housing Both clamps 4 are substantially V-shaped, the attachment platform 26 providing a bearing surface 32 for an object due to the length of the gripper (Fig. 3). The clamp housing 4 is disposed with respect to the clamp 1 such that a workpiece can protrude forwardly, i.e. towards the pressurized fluid connections 20, and the rear, that is to say towards the bracket 18. This allows to grasp and / or tighten also particularly long parts and / or large area. The bracket 18 further has a workpiece holder 19 for receiving or supporting a large format object to be gripped. The following description explains how the gripping or centering of an article or an object is carried out by means of the gripping device shown, in accordance with the invention.
    [0008] First, the piece is positioned facing a magnet not shown in detail in the figures (for example by a robot or by a linear unit), or is placed thereon. This magnet is connected to the bracket 18, in particular to the workpiece holder 19 thereof; for this purpose, the fixing bracket 18 has an axial recess (FIG 2).
    [0009] The magnet immobilizes the workpiece which consists at least in part of a magnetizable material. In an alternative embodiment, the part can also be simply deposited on the attachment platform 26 or be positioned by a robot. Subsequently, a pressurized fluid is introduced into the cylindrical casing 6, via the gripping connection 33, which has the effect of actuating the piston system 35. This piston system 35 is connected to the pull rod and / or push 5 which is in turn coupled to the clamp housing 4. In the exemplary embodiment shown, this causes a pulling movement of the clamp housing 4 towards the cylindrical housing 6 of the actuating device 3. As shown in FIG. it appears in particular from Figure 4, the housing arms 11 are in interaction with the gripping arms 2, during a movement of the clamp housing 4 in the direction of the clamp 1. The sliding elements 15 slide relative to the other, along a line - in the example shown along several lines - or along another predetermined contour by the control element 10 and the control surface 12. The gripping arms 2 are then pushed to the center, respectively in the direction of the longitudinal axis 24, which has the effect of centering a workpiece (clamping position or centering position). However, the actual clamping of the piece is effected by the magnet mounted on the bracket 18. Alternatively, the clamp 1 can also itself clamp the piece, in the case where the object consisted of a non-magnetic material. Thus, it is possible not only to grasp the part but above all to center it or to orient it towards the center, by means of the gripping device. In order to be able to withdraw the part, the gripper 1 is then moved again with respect to the gripper housing 4, so that the gripping arms 2 pivot again radially outwards. The workpiece can then be removed from the clamp 1 (release position).
    [0010] Another embodiment of the invention provides for the use of a system of a plurality of gripping devices for centering and / or squeezing particularly long objects.
    [0011] 3025129 11 List of references 1 Gripper 5 2 Gripper 3 Actuator 4 Collet housing 5 Traction and / or push rod 6 Cylinder housing 10 7 Chamber 8 Hole 9 Stiffener 10 Control element 11 Housing arm 15 12 Operating surface 13 Gripper surface 14 Housing surface 15 Sliding elements 16 Sliding element housing 20 17 Sliding pins 18 Mounting bracket 19 Workpiece holders 20 Pressurized fluid connection 21 Piston system 25 22 Fastener 23 Actuator element tension 24 Longitudinal axis 25 Longitudinal axis of housing arm 26 Fixing plate 30 27 Swelling 28 Lamellar structure 29 Plate passes 30 Support plate 31 Cylindrical housing passages 3025129 12 32 Support surface 33 Gripping connection 34 Piston release connection 5 36 Articulation 37 Reminder
    权利要求:
    Claims (16)
    [0001]
    REVENDICATIONS1. Gripping device comprising a gripper (1) which comprises at least two elastically deformable gripping arms (2) for grasping articles or objects and which can be moved between a clamping position and a loosening position, characterized in an actuating device (3) is provided for the relative movement of the clamp (1) with respect to a rigid clamp housing (4) which is in interaction with the gripping arms (2).
    [0002]
    Gripper according to Claim 1, characterized in that for the relative movement of the gripper housing (4) relative to the gripper (1), the actuating device (3) comprises a pulling rod and / or thrust (5).
    [0003]
    3. Gripping device according to claim 2, characterized in that the pulling rod and / or push rod (5) is formed as an armature, and in that an electromagnet is provided for the relative movement of the housing of clamp (4) with respect to the clamp (1).
    [0004]
    Gripping device according to Claim 2, characterized in that for the movement of the pulling and / or push rod (5) there is provided a piston system which is arranged in a cylindrical housing (6) and can be operated by means of a fluid under pressure.
    [0005]
    Gripping device according to one of Claims 1 to 4, characterized in that a chamber (7) is provided in the clamp housing (4) for receiving the actuating device (3). that the actuating device (3) is end-coupled, at least indirectly, to one or other of the gripper housing (4) and the gripper (1), and that the actuating device (3) is coupled at its other end, at least indirectly, to the other of the gripper housing (4) and the gripper (1). 3025129 14
    [0006]
    6. Gripping device according to one of claims 1 to 5, characterized in that the clamp (1) has at least one recess (8) which increases the elasticity of at least one of the gripping arms (2).
    [0007]
    7 Gripping device according to one of claims 1 to 5 6, characterized in that the clamp housing (4) has a stiffener (9) which increases the rigidity.
    [0008]
    8. Gripping device according to one of claims 1 to 7, characterized in that a control element (10) is arranged on at least one of the gripping arms (2), on its side facing the housing 10 of clamp (4), and in that a housing arm (11) facing the gripper arm (2) with the control element (10) has a control surface (12).
    [0009]
    Gripper according to one of Claims 1 to 8, characterized in that the gripper (1) on its gripper surface (13) facing the gripper housing (4) and / or the housing clamp (4), on its housing surface (14) facing the clamp (1), has at least partly a structure reducing friction.
    [0010]
    A gripping device according to claim 9, characterized in that the friction reducing structure is formed as sliding elements (15) associated with the gripper housing (4) and / or the gripper (1).
    [0011]
    11. A gripping device according to claim 10, characterized in that at least one of the gripping arms (2) and / or the gripper housing (4) has at least one sliding element housing (16) for receiving the sliding elements (15).
    [0012]
    Gripper according to Claim 11, characterized in that the sliding elements (15) are in the form of cylindrical sliding pins (17) and are force-fitted in the sliding element housings (16) made flexible.
    [0013]
    13. Gripping device according to one of claims 10 to 12, characterized in that the sliding elements (15) are made in the form of steel pins. 3025129 15
    [0014]
    14. Gripping device according to one of claims 1 to 13, characterized in that the clamp housing (4) and / or the clamp (1) consist of a plastic material.
    [0015]
    Gripping device according to one of Claims 1 to 5, characterized in that a fixing bracket (18) is provided to which the clamp (1) and a first end of the actuating device ( 3), and that a second end of the actuating device (3) is coupled to the clamp housing (4).
    [0016]
    16. Gripping device according to claim 14 or 15, characterized in that the fixing bracket (18) has a workpiece carrier (19) and / or a workpiece guide.
    类似技术:
    公开号 | 公开日 | 专利标题
    EP0500405B1|1994-06-15|Cramping and grasping device
    FR2827420A1|2003-01-17|Fastening device for detectors such as cylindrical or parallelepipedic proximity sensors functioning without contact
    EP1327808B1|2007-02-21|Improvements in electrovalves
    FR3025129A1|2016-03-04|GRIPPING DEVICE
    FR2742690A1|1997-06-27|APPARATUS FOR POSITIONING A BEARING CAP IN RELATION TO A UNIVERSAL JOINT HAVING A FORK
    EP1022080A1|2000-07-26|Chuck
    EP0768469A1|1997-04-16|Quick acting fastening device, on a threaded driving shaft
    EP0805278B1|2000-08-02|Pneumatic actuating device
    FR2913469A1|2008-09-12|DEVICE FOR ASSEMBLING TWO PLATES
    FR3012093A1|2015-04-24|CARRIER DEVICE FOR BICYCLE CARRIER ATTACHED TO VEHICLE
    FR3008156A1|2015-01-09|TENSIONER DEVICE OF A TRACTION MEMBER, MOTOR EQUIPPED WITH SUCH TENDERING DEVICE AND METHOD OF IMPLEMENTING THE SAME
    FR2634858A1|1990-02-02|Connection end-fitting for pipes and appliance for inserting the end-fitting into a pipe
    FR2972662A1|2012-09-21|Tool for tightening and/or loosening nut on threaded shank of electric connector mounted on electronic computer case, has adapter sleeve, and immobilization casing for immobilizing screw by friction upon tightening of nut against support
    FR2869829A1|2005-11-11|DEVICE FOR PERFORMING A PLATE CHANGE ON A PLATE CARRIER OF A PRINTING MACHINE
    FR2678538A1|1993-01-08|Screwing tool
    EP0109405B1|1988-01-27|Device for gripping articles for robot-type manipulator
    EP2862676B1|2016-06-01|Tool for installing an element to be crimped
    FR2767730A1|1999-03-05|Machine tool table vertical work piece clamp
    EP1500318B1|2006-06-14|Autonomous device for the magnetic handling of an electronic component
    EP2208895A2|2010-07-21|Mortise and tenon joint with pin
    EP2439037B1|2017-12-13|Mould provided with a mobile block
    FR2972131A1|2012-09-07|Hand tool i.e. multigrip pliers, has treated steel ball placed within housing to produce radial deformation of axle against inner wall of bore of connecting unit such that axle and part of tool are connected with each other
    EP2335879A1|2011-06-22|Pliers for disassembing a windscreen wiper arm and associated disassembling method
    FR3011812A1|2015-04-17|DEVICE FOR FASTENING A CYCLE DETACHABLE ELEMENT ON A CYCLE, AND USE OF SUCH A DEVICE
    WO2003053640A1|2003-07-03|Tool changer
    同族专利:
    公开号 | 公开日
    CN105382848A|2016-03-09|
    DE102014112337A1|2016-03-03|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US437647A|1890-09-30|Rhodolph h |
    SE323340B|1968-08-30|1970-04-27|Gustavsbergs Fabriker Ab|
    US3788692A|1971-08-23|1974-01-29|Raychem Corp|Universally jointed chilling tool|
    DE3011837A1|1980-03-27|1981-10-01|Sommer, Friedhelm, 7530 Pforzheim|Tool grip for industrial robots - has rigidly mounted leaf spring grip arms, with pressure elements|
    DD218304A1|1983-05-05|1985-02-06|Wismar Ing Hochschule|SELF-CONTAINING GRIPPING DEVICE|
    US4671553A|1986-05-15|1987-06-09|Millo Bertini|Gripper device|
    DE4432253A1|1994-09-10|1996-03-14|Gerhard Prof Dr Ing Boegelsack|Motion and power transmission mechanism esp. for miniaturisation|
    JP2006150517A|2004-11-30|2006-06-15|Toyo Glass Kikai Kk|Gripping device of container|CN106426942A|2016-11-18|2017-02-22|梁钗萍|3D printing machine working table capable of facilitating workpiece clamping|
    DE102017005191A1|2017-05-31|2018-12-06|Audi Ag|Gripping robot and method for operating a gripper robot|
    CN107553524A|2017-10-18|2018-01-09|甄旭蕾|A kind of clamp system for following workpiece position error|
    法律状态:
    2016-08-25| PLFP| Fee payment|Year of fee payment: 2 |
    2017-11-17| PLSC| Search report ready|Effective date: 20171117 |
    2018-05-25| ST| Notification of lapse|Effective date: 20180430 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102014112337.9A|DE102014112337A1|2014-08-28|2014-08-28|gripping device|
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