WO 2018/124876
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`PCT/NL2017/000020
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`Gripper epeeretue
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`it)
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`15
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`in many ereee, there is e heeti ter e grieeer eeeeretee, fer eiekihg, thriving
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`end eieeing en ehjeet. ih generei, e gripper epeeretue eemhrieee e grieeer beak
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`having at ieaet twe gripeer jewe eeepereting tegether. "i'he grieper jaws can he
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`preeeee tegether ter exerting a eiemeihg teree en en ehieet. With the ehieet eiemeee
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`in the grieeer heeir, the eeeeretue ear: he eieeiaeed and hence eieeiaeee the ehiect
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`tewertie e cieeiinetieh ieeetieh, where the ehjeet ie pieced hy reieeeing the stamping
`teree.
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`he an exameie, eueh gripeer aeearatee ie ueetei es en impiemeht attached te
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`e rehet erm, er he re tirehe, iri eehveying enefer stacking eyeteme. Ae e pertieeier area
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`of intereetg a heiietieer fer eteekihg hexee en a peiiet ie meetiehee here.
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`BASKQRQUNE Qt: THE ENVENTEQN
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`Gripper eeearetueee et the eheve tyee exist Tyeieeiiy, the gripper iewe ere
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`eetueteti by eieetrie aheier eheumatie endier hydreuiie eeteetiert eyetemei these
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`systems ihveive erehieme.
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`Fer instance, in the eaee et a rehet erm, the transfer et eewer fresh e
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`etetiehery pert te the warming erm eehetitetee e prehiem: in the eeee at a erehey
`hydreeiiee er eheemetiee wiii net he preetieei; 1fer the eieetrie gripper, hetteriee wiii he
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`heederi which tyeieaiiy are heavy.
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`Further, safety is; an issue. it the pewer eueeiy teiie, it is; net eeeeetehie it this
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`weuie eeuee the ehieei te teii irerri the gripper beak, Thie meehe that maintaining the
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`grieeing teree eheuiti he ehie to he mainteineci with iew er zere energy eeneumetieh.
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`Further, eer‘tieuieriy fer the eeee at a drehe, the weight ei the gripper
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`eeperetue eheuict he as iew ee eeeeihie te he ahie te hehrtie e eeyieee with ierge
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`weight.
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`33
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`SiJh'ih‘ishR‘i’ 9F THE SfiVENTiQN
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`The inventien eirne te evercerne er et ieeet reeeee these erehierrie.
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`Partieeieriy, the hreeeht ihvehtien eirne te erevitie a gripeer eeearetee eeeehie et
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`eeeratihg witheut eieetrie, pneumatic; er hydreuiie power source.
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`WO 2018/124876
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`PCT/N L2017/000020
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`2
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`Te this end, the greseht inventieh previrzies e grigeer egeeretiie hevihg e ieteh
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`meehehiem es seeeitieri it'tCiaii‘i‘i “i.
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`“J?
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`it}
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`15
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`25
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`353
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`These and ether aspects, teeteree arid edvehteges (if the present ihvehtieh
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`wiii he further exhieihed by the teiiewirig tieeerigtieh et ehe er there ereierreri
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`emeeeir‘hehte with reference te the drawings, in which eeme reference hemereie
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`indicate eerrie er eirriiier eerie, ehri in which:
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`Figure “i is e eeherrietic gerseeetive trehseererit View et’ eh emhedimeht tr? e grigeer
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`apparatus eeeertiihg to the hreeeht ihvehtieh.
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`Figures 2AM ere schematic side views iiiustretihg verieus stages et the eeeretieh et
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`the grigeer eggeretee.
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`QEi’AiLEQ QE$CRWYEQN Qt: YHE iNVENTiQN
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`Figure ‘i sehemetieeiiy shewe e gripper egeeretee ‘it‘iti iii the hermei
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`eriehtetieh wheh in tree. The grihger epheretus ititi eerhgriees e gripper heme ‘i’iii
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`erect e gripper heeh “EEG. The gripper heeir 126 in this erhheeiimerit eemerisee twe
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`grigeerjewe 121, 122 whieh cert tie eresseti tegether fer exerting e eiemhihg ieree era
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`are ehjeet that ehewri). in this emheciimerit, a first ehe i2’i et seiti gripeeriews is e
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`stetierrery iew, fixed with respect it) the griheer frame 116, white at eeeehti see 122 et
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`seiti grigeeriews is e mevehie jew, mevehie with respect te the griheer treme its}. in
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`ether embedimehtsg twe er rhere grieeerjews they he mevehie.
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`As wiii he exeieiheti in there deteiig this errihetiirheht e‘i grieeer eeeerettie iiit)
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`ie eeitehie fer being suspended tree: at there: er rehet errh ehrzi fer gripping eh ehieet
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`item ehevex fer which reeseh the gripger jaws tZi, ”i22 ere meuhteci under the
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`grieeer treme ’itti. This emheriiiheht ei gripper eeeeretes 196 ie ihtehtieti ter
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`iiitihgfrhevihgigieeihg eehewshepeci hexee. The gripper frame iii) eerrterises e
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`herizehtei reetihg piete ’i’ii that ih tree wiii reet err the eeeer stir-terse hi the hex te he
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`iittetiigieeeti: The first gripperiew 121 hes a Estate—shaped eehtigeretieh, and extends
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`vertieeiiy eewrt at right engiee with reeeee‘t tr: the resting piete “iii, eiiewir‘rg te hieee
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`e hex very eieee te its heighheure err e eeiiet. Likewise, the seeehti grieheriew i22
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`35
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`hes e gieteeheperi eerrtiguretieh: the hieteuehegetzi centigeretieh hi the twe grieger
`iewe 121, i22 eiiewe te distribute e reietiveiy ierge grigeihg teree ever e reietiveiy
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`Serge he): eree te reduce griepihg pressure ehri hehee eveiti er reduce determetieri at
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`the ehieet te he grieeeti.
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`The grieeer eeeere‘tue ’ititi further eerhgrieee e meehehieei iew eeteetieh
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`meehehiem 133 fer eetuetihg the mevehie iewe, in this eeee the eeeeriti jaw 122. The
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`WO 2018/124876
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`PCT/N L2017/000020
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`3
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`mevehie jew(e) eheeid rrieve in herizentei direetien, er in any ease in e direetien with
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`e herizentei eernhenent. ih erder te eeen er eieee the grieeer heek ”i2tt. “the mevehie
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`eeeertd jew 122 hee twe extreme peeitiene, te. err ripen heettieh in whieh the
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`dietenee te the fixed tiret jew 121 ie reietiveiy ierge end e eieeed heeitieh in which the
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`dietehee te the fixed tiret jew ”iit‘t
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`ie reietivety emeti. The herizentei dietehee hetween
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`theee twe extreme peeitiehe wiii be indicated as jew etreite. it ie deeirehie that the jew
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`etreke ie as ierge ee eeeeihie, in erder te he ehie te grip hexee et’ varying eizee ih e
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`size renee ee ierge ee heeeihie.
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`The gripper eeperetue mt} further eemhrieee e ieteh mechanism that) fer
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`heiding the jew eetuetien meeheniem 133 end hence the mevehie eeeend jew 122 in
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`its eeen eeeitieh, ee wiit he exhieined in mere deteii ieter.
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`U!
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`10
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`in the exemptery emherzitrneht ehewn, the jew eeteetien meehentem 13G
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`eernerieee e iever 131 hinged ice the grieper heme fit). The mevehie eeeend jew 122
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`is eenneetee te ene ehd et the iever 131; et en eeeeeite end et the iever 13?, e
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`edhpert hteeh 1:32 is eenneeted. The hinge heint et the iever with respect te the
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`gripper frame 11% ie ieeeted eeereximeteiy midway et the tested: 0‘? the iever. ih the
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`embedirheht ehrmrhs the iever “£31 it; e deuhie—erm iever thet hee e pereiieiegrem
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`eerrtiguretien in erder te eiweye heid the eeeend jew 1:22 is vertieei erientetien, which
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`29
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`is preferred but het eeeentiei.
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`The jew eetuetien meeheniern t3t) further edmhrieee e etempine three
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`generater 133 hieeed te exert e eiemping teree en the mevehie eeeehd jew ”i212
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`urging the mevehie eeeehd jew "i2? tewerde ite eieeed eeeitien. in the exemeiery
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`ernhedihtent ehewn, the eierneirig teree generater 133 eemhrieee e heiix spring
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`eeheertthg et ehe end (the righthend end in figure 1) against the grieeer treme 11%
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`end eueeerting at the eepeeite end (the ieithend end in figure t) egeinet the euehert
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`hieeh 132:. When the eeeend jew 122 ie eeehed, the shrine t33 ie eemereeeed. it
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`reieeeed, the spring 133 heehee the eepeert hieek €32 away, and vie the Eever 131
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`the reevehie eeeehd jew “i222 is pushed tewerde the first jew ‘ifi‘in it e hex (er ether
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`ehjeet} ie pieced in the gripper heeh ӣ29, the mevehie eeeend jew 1122 engegee the
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`hex, it neeeeeery dieeieeing the hex untii it eupherte against the fixed tiretjew 121, at
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`which heiht the eeeend jaw “€22 een meve he further hut keeee eeehtng ageihet the
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`hex, caused by the eerihg ”ids which is trying te expand
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`it wiii he eieer that instead et er in edditieh te e “eeehihg” eerine it is eiee
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`heeeihie to uee e euitehiy meented “petting" spring,
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`, Further, it wiii he eieer that ether irnpiementetiene fer the eiemeihe three
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`generater 133 are heeeihie, ter thetehee eh eieetieeiiy determehie “eeiid” hedy such
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`as e hieeh et rehher, er fer inetehee e geevtiiied eyiihderfpieten eemhinetieh. it ie even
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`WO 2018/124876
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`PCT/N L2017/000020
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`4
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`peeeihie te nee eiectriceiiy activated mechenierne, hut the nenmeiectric exampiee
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`mentiened, indicated as "peeeive" pr “eieetic” ectnetere, previde the impedent
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`advantage thet they can operate virttraiiy indefiniteiy witheut requiring eny pewer
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`enppiy such are a hettery end witheut the rieit ct getting put cf eperetien due te
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`U’I
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`exheuetien pf euch pewer euppiy.
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`it?
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`15
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`20
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`3t)
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`35
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`The gripper apperetue it‘d} further cemprieee e earner penpiing device Mt} fer
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`peepiing with a carrier device. he rnentiened, eneh carrier device they fer inetenee
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`inveive e rehet arrn er a drpne, Taking the drpne ee en exempie, the eerrier peepiing
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`devipe trig wiii be attached in the underside ef the drene, fer inetenpe directiy tn the
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`drone hedy er te e heieting mechaniem of the drene. it is preferred that the carrier
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`peepiing device 14% he etteehed to the drpne hedy directiy, ee that the gripper
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`apperatne tilt} hecentee pert pf the drene, yet it ie 1further preferred it) ineiede e heii
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`ceupiing er e nnivereei Epint ccepiing te eiicw the gripper epperetee iiiti to eiweye
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`rneintain e vertieei erientetien irrespective et‘ the precise erientetien ef the drene.
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`it ie a pertipuier eepect (if the preeent inventien that, with reepect tie the gripper
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`frerne tit), the carrier ceppiing device tee is vertieeiiy diepiaceahie between twe
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`extreme peeitiene. in the ernhedirnent ehewn, the eerrier neupiing device we
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`cernprieee et ieeet ene (the exempiery emhpdin‘ient hes twp) cerrier red “iat’i
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`extending verticeiiy dewnward, and the gripper frame tit} eenrprieee a guide hiecit
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`112 fer eeeh perrier red hit. The guide hieek ii2 has at verticei threugh heie threugh
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`which the carrier red isi’i extende. Beiew the guide hiecit 'i‘i2. preferehiy at its ipwer
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`free end, the carrier red irtt hee a etcp pcrtien 142 having e wider transverse eize ee
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`cempered tn the carrier red ’iri’i, end wider then the vertieei thrpugh hpie pt the guide
`hipck 1 "iii:
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`When the eerrier device iitte the gripper epperetue hit}, tiret the carrier
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`cenpiing device iriti wiii he titted with respect te the gripper frame titi, nntii the step
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`pertien i453; centepte e ipwer eerfece ef the guide pinch tt2. This definee an upper
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`extreme peeitien et the carrier peepiing deviee hit), which wiii he indicated as the
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`"Sitting peeitien", When titted further, the eerrier epnpiing deviee “hit? wiii iift the gripper
`frame 1 ‘i 8.
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`When the center device pieces the gripper epperetee 19% en e enppertive
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`eurt’eee end reieeeee the iitting feree, the carrier epnpiing device ‘iriii wiii he ipwered
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`with reepeet te the gripper frerne tit}, entii the cerrier peepiing device trtti centacte a
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`eecend step that definee e iewer extreme peeitipn ef the eerrier eeepiing device tee,
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`which wiii he indicated ea the “rest peeitien“. Said eeeend etep may he penetitnted hy
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`the reeting piete ’i‘it, which is eentected hy the ipweet extreme end ef the carrier red
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`Mi. Said eeepnd step may eiee he censtituted by en upper surface at the guide
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`hieeit “HQ, er by a treme pertien iepeted et e higher ievei that the upper eerfeee of the
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`WO 2018/124876
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`5;
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`PCT/NL2017/000020
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`guide hieck 112, which it; centectee hy enether wider eertien ef the cerrier retzi “iii‘i er
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`hy enether hart et’ the eerrier ceepiine device tee. in the exemptery emheeiment
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`ehewn, the eerrier ceupiing device MS has at herizentei pieteeheped tehie pcrtien
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`143 ettecheti te eh upper end et the eerrier reci ”hit, which tehie pertien tea may
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`centeet err upper edge 113 et at vertieeiiy extending frame piete ’3 “int.
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`The vertieei citetence hetween the fitting peeitien ene the rest peeitien wiii he
`ineiceteci ee "eerrier streite".
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`it ie e perticeier eepeet ef the present invehtien that the carrier etreke ie usect
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`fer ectuetihg the ieteh meehehism the. The ietch mechanism 166 hee twe eperetive
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`etetee, indicated as ieeit etete end reieeee stete reepectiveiy. in the reieeee etete pt
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`the ietch, the iever 131 entt hence the eecenti jew “522 cert rheve treeiy, anti wiii
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`hehce he tercee tewerde the cieeeti peeitieh tinder influence et the ciempihg terse
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`exerted by the eiempihg teree gehereter 133. Thie wiii he the ceneitien fer iiiting
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`ehiecte. in the ceee et e erene, this wiii he the ceneitieh when the ereee is flying. in
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`the tech etete et the tetch, the iever tit‘i ehe hence the eecehe jew 122 are in the
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`epeh peeitien end are prevehtee irern mevine teweree the cieeeti peeitien; thie wiii he
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`the eentiitien fer eppiying the gripper it: the ehject te he titted, ehe fer reieesing the
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`ehjeet trcm the gripper.
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`U?
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`10
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`15
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`in erihcipieg it ie peeeihie te have en emhcctirnerit where the eperetive etete
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`{reieeeeiieck} et the ietch meehehiern tee is eireetiy rteriveti irern the peeitien
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`{highiiew} hi the eerrier ceupiing device 14% with reepeet te the gripper heme ’i‘itir
`Hewever, when the eerrier (fer irretence erene) iitts the eerrier ceupiing device “iziti te
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`iitt the gripper epeeretue hit), this can either he fer griepihp enrt iittirtg the ehieet er
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`fer reieeeihg ehe ieeving the ehiect hehihe.
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`Thereiere, in e preferred emheeirnent, the ietch mechehiern 180 ie pi e type
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`receiving eneutiireetienei puehuecteetien, eiee theieeteci here ee eiternete puehupueh
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`ietch eyetere er pueh—te-eeen ieteh. When receiving puehweetuetieh ter e tiret time,
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`3%
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`the ietch mechanism 163% meitee e treneitien item the reieeee state te the tech state;
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`when receiving eeehuecteetien ter e eeeenct time; the ietch mechanierh tee rnehee e
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`trensitien trern the iccit etete te the reieeee etete‘ Anti ee en.
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`it ie hetee thet pueh—eetuetien ie eeuiveieht te puiineetuetien‘
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`Letch meehenieme et this type ere knewn per ee, ter inetenee in heiipeihte er
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`in pueh—tewepen cehihet tieere er dreweret An eeriy exempie ie eieeieeee in
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`US2§3635¢$ “eiterhete pueh reciting ietch system”, eeieeeeee eieeieees e "eiieht
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`pueh~eueh ieteh“, Other exempiee ei‘ such systems ere eieeieeee in heeeeeeee,
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`US)” 52892, US?3?4281, iiSYYSSiiehg USSEEQGSBQS WQQGtfiiG?34t§Q. The present
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`inventien they he impiemehtett with em; et' theee, er ether, types ei ieteh
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`WO 2018/124876
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`PCT/N L2017/000020
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`6
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`meehanieme. Theretere at more detaiietzt dieeueeien et' design ehe eperetien et the
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`iateh mechanism wiii he emitted here.
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`White the eiemeihg three generater t33, with the iateh meeheniern ttitit in its
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`reieeee etete, Witt eutemetieaiiy eieee the grihher heait 12$ end keep en ehieet
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`stamped in the grieper heek, it ie heeeeeery te eeeiy a eeunterteree eepeeite te anti
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`et higher strength than the eiemeihg teree ih ereer te eeeh the grieeer heait 123%. it is
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`a further hertieuier eeeeet et the present ihvehtieh that the earrier etreite ie eeee ter
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`epenihg the gripper heat: t2ti,
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`i0
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`Fer this hurheee, the grieeer aeeeretue “EGG further eemerieee e trehemieeieh
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`meehehiem Wt} eperetee hy the carrier eeueiihg devise hit) and engegihg the jaw
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`eetuatieh mechahiem 13$. ih the exempiery emhetiiment ehewrt, the trenemieeieh
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`mechahiem Wt) eemprieee a tranemieeien red Wt having ene ehrt attachee te the
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`Sheree-rt hieeh ’iSE. Cenvehtehtiy the trahemieeieh red ”Wt extends eeaxiaiiy threugh
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`the heiix spring 133. At ite epheeite enti, the trehernieeien ree ‘i?”i
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`ie attachee it) e
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`tiret gear reek ”WE.
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`The trehernieeieh red Wt with the first geer raeit WE extentie herizenteiiy, anti
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`hee treetierh et mevemeht (reeihreeetieh) in its iehgitueinei directieh. it has eireet‘iy
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`heeh mentiehee‘ that the carrier recite) “341 have their freedem et mevemeht
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`28
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`{reeiereeetiehi in their iehgitueihai direetieh, Le, ih vertieei direetieh. her meeting the
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`vertieei mever‘hent «at the eerrier meeting tieviee Mt) te the herizehtei mevemeht at
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`the euheert hieeh ”i323 in the exemeiary erhhetiirhent ehewn, the trehemieeieh
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`mechanism Wt) further eemprieee twe eeexiei gear wheeie W3, tint, either attached
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`te eeeh ether er termed as a eihgie piece, rheurrtett ter retatieh eheut eh herizehtai
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`exte with reeeeet has the gripper frame HE). A tiret ene “i"?it et theee geer wheeie
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`engages the tiret gear reek W2. A eeeehti {me we et theee gear wheeie engages a
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`eeeentt gear rack W5. The eeeend gear reek W5 has its iehgitedihei extent tiireeted
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`vertieeiiy, end is rneented vertieeiiy diehieceehie with reeheet te the grieeer trerne
`1 1%.
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`it wiii be seen that thie trehemieeieh meehehiem Wt} treheiatee vertieai
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`dishiaeemeht at the eeeentt gear reek t ?’5 te herizehtei ciiehiaeemeht et the first gear
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`reek ’iYE. The errangemeet 3e eueh that a dewewerti mevement at the eeeehtt gear
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`reek ’i 2’5 eerreeeehtie te e herieentai mevement et the first geer raeit WE in a
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`directien egeinet the damping three et the eerihg ”K33. hreterahiy, ae ehewrt, the tiret
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`35
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`geer wheei WE has emeiier diameter than the eeeenti gear wheei “We; ee thet e
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`ierger diepiaeemeht Of the eeeehtt gear raeh “it‘h ie traheietet‘t te a emeiier
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`eieeieeemeht et the first gear reek NE and eeneeqeehtiy any dewnteree exerted by
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`the eeeerre geer reek “WE en the eeeehe gear wheei we treneiatee te higher three
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`WO 2018/124876
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`PCT/N L2017/000020
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`7
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`exerted by the first gear wheet t?3 en the first gear reek 1272, henee reducing the
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`eewnteree reguirert fer evereei‘ning the high eiarnhing teree ef the eering 133,
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`it wiii he seen that the eeeenrfi gear reek 1‘35, the eeeenci gear wheat W4, the
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`that gear Wheei W3, the first gear raeit W2, the trenemieeien red ”this the eueeert
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`hieeit 13:2, the iever “i3’i anti the eeeend grieeeriew 12:2 ere eii eeaeieti tegether
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`eerniurtgiriiy, ie they aii metre tegether. Meving any ene ht theee een‘tgenente wiit
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`metre aii et theee eerneenente, white hieeking any ene ef theee eerneenente wiii
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`arrest eii et these eempenehte. Ceneegeentiy, the iateh mechanism the may engage
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`any ene et theee eempenente. in the exemeiary emheeiment ehewn, the iateh
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`it}
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`mechanism tat) engegee the seeena gear tacit 176,
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`At; wiii he undereteett tram the teitewing exetanatien, the main tenetien et the
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`eeeend gear raeit W5 is a vertieeiiy dieeiaeeahie tettewer fer teiiewing the venieei
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`dieeiaeement et the carrier eeueiihg eeviee 14th Other impiementatiens et the
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`teiiewer wiii he eeeeihie, and ether irneier‘nentatiene fer transiating vertieai
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`tiieeieeernent eat the teiiewer te herizentei eiegiaeement at the suppert hieeh ’iSZ wiii
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`he geeeihie. it ie net necessary te have geared wheeie Wit, 17:74, and hence it is net
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`neeeeeery te have gear recite. it ie fer inetenee pessihie te tree a drive red
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`mechanism it ie fer inetanee eeeeihie te use an artieuiatea arm design ter direct
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`meeting between t’eiiewer we and tranemieeien red ‘i'i’t.
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`20
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`h.) U2
`
`30
`
`Aiee referring te figures 2A~H, eeeratien ie as feiiewe. Aeenrne the eeeenrzi
`
`gear reek WE (tetiewer) ie in a iew peeitien, the gripper beak 125:) is in the eeen
`
`heeitien, and the ieteh mechanism 183 ie tacked. The carrier eeueiing device tee is
`
`iittett try a carrier (erg. drene), te iitt the entire gripeer aeearatee ‘ittti {figure 2A}. The
`
`teiiewer sen net teiiew the earner eeueiing device 14%.
`
`The gripper eeearetee “ittit ie iewereri ente a hex {figure EB}.
`
`The carrier device (egg arena) wiii new reduce Sitting terse. The weight et the
`
`carrier {eg drene) wit: then eueh e‘ewn the carrier sheeting device tat), whieh in turn
`
`eeehes eewn the eeeentt gear reek we {figure 26}, The Carrier meeting eeviee ”irtt}
`
`has an engagement aeriien ter engaging the eeeene gear reek ire, which
`
`engagement pertien in the exemgiery erriheeirnent ie eehetituted hey the tehie pertien
`143.
`
`35
`
`8y hashing eewn the eeeena gear reek W5, the iateh mechanism 185) has
`
`been hreeght te ite reieaee etete.
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`The eerrier device tee. tirenei wiii new ihereeee iittihg three. The eerrier
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`eeeeiihg device Mt} wiii riee, end the eeeehd geer reek we wiii riee eheer ihtieeriee
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`ei the three exerteti hy the shrine 133: the teiiewer teiiewe the eerrier meeting deviee
`
`hit)” he the spring 133 exeerzde, the gripper heek 1:26 is eieeeti {figure 2B}.
`
`The ieteh rrieeheniem tee hee new reieeeeci the eeeehti gear reek ‘i?’5, which
`
`wiii eerttiriue te meve upwards teiiewing the eewertie rnevernent ei" the eerrier
`
`eeupiing tieviee Mt). Simuiteheeueiy, the grieeer heeit ‘iZt‘i wiii he pushed eieee by
`
`the spring 1333 firmiy grieeihg the heat to he titted. The gripper heek 12G engages the
`
`it}
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`hex te he iitteti ehti eeri net eieee further, hehee the eeeehe gees" reek ire ear; net
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`rise further. This heeeene hetere the eerrier eeeeiihg tieviee ’i-riti reaches its iii’ting
`
`peeitieh, eheering that the grieeihg terse hi the shrine 133 ie teiiy deeieyedn
`
`The eerrier eeeeiihg device hit) is ii‘tteci further te reeeh ite iittirig peeitieh, anti,
`
`whee iitteci further, the entire gripeer eeeeretue ititi tegether with the eierneeci hex ie
`
`15
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`iitteti {figure 2E}.
`
`The carrier device {eg drene) hrihge the gripper eeeeretue itit} tegether with
`
`the eierripeti hex hi the hex‘e tieetihetieh,
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`t—ievihg arrived at the deetihetiehy the eerrier (eg. drone) wiii pieee the hex.
`
`2t)
`
`Fer discharging the hex, the carrier (egg. erehe) wiii egeiri redeee ite iiitihg terse ee
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`thet its weight peehee dewn the eerrier meeting device 14%. The carrier eeueiihg
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`devise MS has eerrie tree Ciewnetreke heiere engaging the eeeehci gear reek W5»
`
`{figure 2?}.
`
`The eerrier device euehee tiewri further, ee thet the carrier eeueiing tieviee
`
`”MG eeehee deem the eeeehd geer reek we the teiiewer egein teiiewe the eerrier
`
`eeeeiihg device Mil As e reeuit, the grieeer heeit ‘izti eeerie {figure 2G3.
`
`Fiheiiyg at the errei et ite dewnetreite, the ieteh meehehiem 16G eegegee the
`
`trenernieeien meehehierh it’fi er the jew eetuetieh rheehehiem “hit? in ite ieeit state,
`
`The eerrier tee. erehe) rieee, iihing the carrier eeueiihg tieviee ‘ititi. The eeeene geer
`
`reek 17’5 eat: eat riee, heeeuee the ieteh meehehiern the is ieeiteri, thee the gripeer
`
`heeit ’iEiIi eteye eeen, end the gripper eheeretee “ititi ie iitteti White the hex remeihe
`
`hehihti {figure 2H3.
`
`3t}
`
`35
`
`The carrier (ex; tirehe} with the gripper eheeretue “the is immediateiy reetiy
`
`fer picking up e next hex“ Each time the carrier (e9. drehe) eeehee (town, the grieeer
`
`eeeeretue the eiterhetee here the teen eeheitieh te the eieeeri eenriitien er viee
`
`verse” hie eeeerete eewer eueeiy ie neeeet‘i fer grieeihg er reieeeing eh ehieet, eeert
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`frdtn the pewer eeeeeieted with the eerrier‘e weight. Further, as ieng es the hex
`
`maintains its integrity, end as ieng es the feree generater 133 deee net break, the
`
`carrier eeh het inedveitehtiy ieee the hex, heeedee the hex den ehiy he reieeeed
`
`when pteeed en e seeped.
`
`it is neted that, in steed ef er in edditien te the heiix spring dieedeeed, ether
`
`tyhee ef terse generatere eeh eiee he used. Fer ineteheeg a pietenieyiihder
`
`eemhinetien wiit huitd up eteeeure when cemereeeed and set: henee exert e
`
`it}
`
`ereeeurewheeed feree en the gripper jewte}. it ie etee peeeihie thet the terse genereter
`
`ts ieeeted at ehdther eeettien, end that the terse generater engages ehy ene at the
`
`eerheehente ftdrh eeeend geer reek 1‘35 te eeeehd gripeer iew “£22 in view {if the
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`ehevemehtiehed eemtrigid meeting between these eemeehehte. Fer instehee, it is
`
`heeeihie thet the fame generetm cemprieee e eeirei staring ieeeted tr: ene er mere ef
`
`the gear wheeie ti’S; W4.
`
`it ehedid he steer te e pereeh eidiied th the art thet the hreeent thvehtteh is net
`
`iii‘nited te the exempiery emhedimente dieeeeeed eheve, but that severei varietiehe
`
`2%
`
`end medificetiehe ere peeeihie within the ereteetive eeeee ef the inventieh as defined
`
`in the eeeending eieime. Fer instance, twe or mere tuhettehe may he eerierrhed hy
`
`ehe eihgie ehtity. Even if certain features ere recited in different dependent eieirne,
`
`the present inventieh eiee reietee its an embediment eemprieing these features. in
`
`edmmeh. Even it certain features have heeh deeerihed ih eemhthetidh with eeeh
`
`ether, the ereeent inventieh eiee reietee td en enthedirnent in whieh ene er mere (3‘?
`
`these features ere emitted. Feettitee whieh have het been exeiieitty described ee
`
`hethg eeeenttei may eiee he emitted, Arty reference eighe in e eieim eheeid het he
`
`eenetrded ee timiting the eeeee ef thet eietrn.
`
`