(19)
(11)EP 3 725 520 B1

(12)EUROPEAN PATENT SPECIFICATION

(45)Mention of the grant of the patent:
03.08.2022 Bulletin 2022/31

(21)Application number: 18887685.8

(22)Date of filing:  22.11.2018
(51)International Patent Classification (IPC): 
B41F 9/18(2006.01)
B41C 1/00(2006.01)
B25J 15/08(2006.01)
B41C 1/18(2006.01)
(52)Cooperative Patent Classification (CPC):
B41F 9/18; B25J 15/0293; B25J 15/0033
(86)International application number:
PCT/JP2018/043193
(87)International publication number:
WO 2019/116854 (20.06.2019 Gazette  2019/25)

(54)

GRIP PART STRUCTURE FOR GRAVURE PLATEMAKING ROBOT

GRIFFTEILSTRUKTUR FÜR EINEN ROBOTER ZUR TIEFDRUCKPLATTENHERSTELLUNG

STRUCTURE DE PARTIE DE PRÉHENSION POUR ROBOT DE FABRICATION DE CLICHÉS DE GRAVURE


(84)Designated Contracting States:
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

(30)Priority: 11.12.2017 JP 2017237060

(43)Date of publication of application:
21.10.2020 Bulletin 2020/43

(73)Proprietor: Think Laboratory Co., Ltd.
Kashiwa-shi Chiba 277-8525 (JP)

(72)Inventors:
  • SHIGETA, Tatsuo
    Kashiwa-shi, Chiba 2778525 (JP)
  • SHIGETA, Kaku
    Kashiwa-shi, Chiba 2778525 (JP)

(74)Representative: Mincone, Antimo 
Viale Europa 101
50126 Firenze
50126 Firenze (IT)


(56)References cited: : 
EP-A1- 2 769 844
JP-A- H04 283 089
JP-A- 2015 112 662
KR-B1- 101 493 072
US-A1- 2014 265 401
JP-A- H0 852 851
JP-A- 2009 039 820
JP-U- H0 516 180
US-A- 4 878 705
  
      
    Note: Within nine months from the publication of the mention of the grant of the European patent, any person may give notice to the European Patent Office of opposition to the European patent granted. Notice of opposition shall be filed in a written reasoned statement. It shall not be deemed to have been filed until the opposition fee has been paid. (Art. 99(1) European Patent Convention).


    Description

    Technical Field



    [0001] The present invention relates to a gripping portion structure of a gravure plate-making robot to be used in a fully automatic gravure plate-making processing system for manufacturing a gravure plate-making roll by gripping and transferring an unprocessed plate-making roll being a hollow cylinder roll to each processing device.

    Background Art



    [0002] In a general gravure plate-making roll, plate making (making of a plate surface) is completed through the processes of: providing a copper-plating layer (plate material) for forming a plate surface to a surface of a plate base material that is a hollow cylinder roll made of a metal, for example, aluminum or iron or a hollow cylinder roll made of plastics, for example, carbon fiber reinforced plastics (CFRP); forming a large number of minute recesses (gravure cells) in the copper-plating layer in accordance with plate making information by etching or an electronic engraving method; and then forming a hard layer through use of a chromium-plating layer, a diamondlike carbon (DLC) layer, or the like for increasing plate durability of the gravure plate-making roll to provide a surface reinforcing coating layer.

    [0003] In manufacturing of the gravure plate-making roll, the applicant of the present application has provided a fully automatic gravure plate-making processing system with which a gravure plate-making roll can be manufactured rapidly as compared to the related art, space can be saved, unmanned operation can be performed even at night, a manufacturing line can be flexibly customized, and various demands from customers can be satisfied, and the fully automatic gravure plate-making processing system has attracted good reviews. As an example of the fully automatic gravure plate-making processing system, there is given a fully automatic gravure plate-making processing system disclosed in Patent Document 1. In Patent Document 1, there is disclosed a remote administration method for a plate-making consumable material in the fully automatic gravure plate-making processing system.

    [0004] In the fully automatic gravure plate-making processing system disclosed in Patent Document 1, as illustrated in FIG. 1 of Patent Document 1, two gravure plate-making robots including a first industrial robot and a second industrial robot are used. Gripping portions configured to grip an unprocessed plate-making roll are mounted on distal ends of respective robot arms. As illustrated in FIG. 2 and FIG. 3 of Patent Document 1, by widening or narrowing the space of the gripping portions, the unprocessed plate-making roll is gripped and transferred to each processing device.

    [0005]  Meanwhile, in recent years, the hollow cylinder roll being a plate base material has various weights of from about 7 kg to about 140 kg, and the weight of the hollow cylinder roll constitutes a weight of the unprocessed plate-making roll. The hollow cylinder roll has also various lengths of from about 400 mm to about 1,400 mm, and the length of the hollow cylinder roll constitutes a length of the unprocessed plate-making roll. In addition, it is required that the unprocessed plate-making roll being a hollow cylinder roll be rotated under the condition of being mounted on each processing device, and hence the unprocessed plate-making roll cannot be successfully rotated without a core of a chuck cone being matched with a core of the unprocessed plate-making roll. To cope with this, it is required that the unprocessed plate-making roll be accurately set in the processing device, with the result that the positioning accuracy, and the like are important.

    [0006] Consequently, in order to cause the gravure plate-making robot to grip the unprocessed plate-making roll, a high gripping force is required. In recent years, there has been required that the gravure plate-making robot is adaptable to various kinds of unprocessed plate-making rolls. Further, the manufacturing line of the fully automatic gravure plate-making processing system has also been varied, and hence it was also required that the gravure plate-making robot be adaptable to the various manufacturing lines.

    Prior Art Document


    Patent Document



    [0007]  Patent Document 1: WO 2013/058151 A1. JPH0852851 discloses a gripping structure (the parts of figure 2 referenced with 70, 80, 90, 100 and 120) which is suitable for a gravure plate-making robot to be used in a fully automatic gravure plate-making processing system for manufacturing a gravure plate-making roll by gripping and transferring an unprocessed plate-making roll being a hollow cylinder roll (R) to each processing device.

    Disclosure of the Invention


    Problems to be solved by the Invention



    [0008] The present invention has been made in view of the above-mentioned related-art problems, and an object of the present invention is to provide a gripping portion structure of a gravure plate-making robot, with which the accurate gripping of an unprocessed plate-making roll and the positioning accuracy during transfer of the unprocessed plate-making roll to each processing device can be improved by causing a gravure plate-making robot to exhibit a high gripping force when gripping the unprocessed plate-making roll.

    Means for Solving Problems



    [0009] In order to solve the problems described above, according to one embodiment of the present invention, there is provided a gripping portion structure of a gravure plate-making robot to be used in a fully automatic gravure plate-making processing system for manufacturing a gravure plate-making roll by gripping and transferring an unprocessed plate-making roll being a hollow cylinder roll to each processing device, the gripping portion structure of a gravure plate-making robot including: a pair of gripping plates to be mounted on an arm distal end of the gravure plate-making robot, the pair of gripping plates being freely spaced widely or narrowly from each other, and being configured to grip both end portions of the unprocessed plate-making roll; and a gripping surface forming member provided on each of the pair of gripping plates, the gripping surface forming member having a gripping surface that is curved so as to be recessed toward a center of the end portion of the unprocessed plate-making roll to be gripped and having a non-slip function. The invention is defined by independent claim 1 and the preferred embodiments are defined in the corresponding dependent claims.

    [0010] Preferably, the gripping surface forming member is made of a rubber or a synthetic resin.

    [0011] Preferably, the gripping surface forming member includes a plurality of gripping surface forming members, and the plurality of gripping surface forming members form a gripping surface.

    [0012] Preferably, each of the pair of gripping plates has a gripping plate cutout portion opened downwardly, and the gripping surface forming member also has a gripping surface forming member cutout portion so as to correspond to the gripping plate cutout portion.

    Advantageous Effects of the Invention



    [0013] According to the present invention, the gripping portion structure of the gravure plate-making robot, with which the accurate gripping of an unprocessed plate-making roll and the positioning accuracy during transfer of the unprocessed plate-making roll to each processing device can be improved by causing a gravure plate-making robot to exhibit a high gripping force when gripping the unprocessed plate-making roll.

    Brief Description of Drawings



    [0014] 

    FIG. 1 is a schematic outline plan view for illustrating one embodiment of a gripping portion structure of a gravure plate-making robot according to the present invention.

    FIG. 2 is a schematic side view for illustrating a gripping surface forming member when viewed from the line II-II direction of FIG. 1.

    FIG. 3 is a schematic outline plan view for illustrating another embodiment of a gripping portion structure of a gravure plate-making robot according to the present invention.

    FIG. 4 is a schematic side view for illustrating a gripping surface forming member when viewed from the line IV-IV direction of FIG. 3.

    FIGS. 5 are views for illustrating another embodiment of a gripping surface forming member, in which part (a) is a schematic outline side view, and part (b) is a sectional view of a main part thereof.

    FIG. 6 is a perspective view for illustrating a state in which an unprocessed plate-making roll is gripped by the gripping portion structure of the gravure plate-making robot of the present invention.


    Description of Embodiments



    [0015] Embodiments of the present invention are described below, but those embodiments are described as examples, and hence it is understood that various modifications may be made thereto without departing from the scope of the invention as defined by the appended claims.

    [0016] A gripping portion structure of a gravure plate-making robot according to one embodiment of the present invention is illustrated in FIG. 1 and FIG. 2. In FIG. 1 and FIG. 2, there is illustrated a gripping portion structure 10A of a gravure plate-making robot according to one embodiment of the present invention.

    [0017] The gripping portion structure 10A of the gravure plate-making robot is a gripping portion structure of the gravure plate-making robot to be used in a fully automatic gravure plate-making processing system for manufacturing a gravure plate-making roll by gripping and transferring an unprocessed plate-making roll 12 being a hollow cylinder roll to each processing device. The gripping portion structure 10A of a gravure plate-making robot includes a pair of gripping plates 16a and 16b and gripping surface forming members 20a and 20b. The pair of gripping plates 16a and 16b is mounted on an arm distal end 14 of the gravure plate-making robot. The pair of gripping plates 16a and 16b is freely spaced widely or narrowly from each other, and is configured to grip both end portions of the unprocessed plate-making roll 12. The gripping surface forming members 20a and 20b are provided on the gripping plates 16a and 16b, respectively. The gripping surface forming members 20a and 20b have gripping surfaces 18a and 18b that are curved so as to be recessed toward a center of end portions 50 of the unprocessed plate-making roll 12 to be gripped, and have a non-slip function.

    [0018] The gripping plates 16a and 16b are mounted on the arm distal end 14 through intermediation of a frame portion 22. When the frame portion 22 is expanded or contracted by a drive portion 24, the gripping plates 16a and 16b are spaced widely or narrowly.

    [0019] In the example of FIG. 1 and FIG. 2, there is illustrated the case in which the gripping surface forming members 20a and 20b having a non-slip function are made of a rubber. As long as the gripping surface forming members 20a and 20b have a non-slip function, a synthetic resin, for example, a silicon resin may also be used other than the rubber. The gripping surface forming member 20a and 20b are mounted on the gripping plates 16a and 16b through intermediation of mounting members 26a and 26b, respectively.

    [0020] In the illustrated example, there is illustrated a case in which the gripping plates 16a and 16b are made of iron, and the mounting members 26a and 26b are made of titanium. Surfaces of the mounting members 26a and 26b are curved, and the gripping surface forming members 20a and 20b are bonded to the curved surfaces. The surfaces of the mounting members 26a and 26b are curved as described above, and hence the gripping surface forming members 20a and 20b are brought into a curved state.

    [0021] Further, the gripping plates 16a and 16b each have a gripping plate cutout portion 28 opened downwardly, and the gripping surface forming members 20a and 20b each also have a gripping surface forming member cutout portion 30 so as to correspond to the gripping plate cutout portion 28.

    [0022] A flange 32 to be brought into abutment against a chuck cone of each processing device of the fully automatic gravure plate-making processing system is mounted on an inner peripheral surface of a hollow portion of the unprocessed plate-making roll 12. Thus, the gripping plate cutout portion 28 is opened downwardly so as to correspond to the flange 32. Further, preferably, a radius of curvature of the gripping plate cutout portion 28 is the same as that of the flange 32.

    [0023] With the above-mentioned configuration, when the unprocessed plate-making roll 12 is gripped by the gravure plate-making robot, the gripping surface forming members 20a and 20b are curved so as to be recessed toward a center of the end portions 50 of the unprocessed plate-making roll 12, and have a non-slip function. Therefore, a high gripping force can be exhibited. With this, the accurate gripping of the unprocessed plate-making roll 12 and the positioning accuracy during transfer of the unprocessed plate-making roll 12 to each processing device can be improved. In FIG. 1, an example of the case, in which the gripping plates 16a and 16b are spaced narrowly to grip the shorter unprocessed plate-making roll 12, is also illustrated with the imaginary line.

    [0024] Further, in the illustrated example, there is illustrated a case in which the surfaces of the mounting members 26a and 26b are curved, and hence the gripping surface forming members 20a and 20b are curved. Besides the illustrated example, for example, the following configuration may be adopted. The surfaces of the mounting members 26a and 26b are set to be flat, and the gripping surface forming members 20a and 20b having a non-slip function are curved. Further, the following configuration may also be adopted. The surfaces of the gripping plates 16a and 16b are curved as in the surfaces of the illustrated mounting members 26a and 26b, without using the mounting members 26a and 26b, and the gripping surface forming members 20a and 20b are bonded to the curved surfaces to be curved.

    [0025] Next, a gripping portion structure of a gravure plate-making robot according to another embodiment of the present invention is illustrated in FIG. 3 and FIG. 4. In FIG. 3 and FIG. 4, there is illustrated a gripping portion structure 10B of a gravure plate-making robot according to another embodiment of the present invention.

    [0026] The gripping portion structure 10B of a gravure plate-making robot is a gripping portion structure of a gravure plate-making robot used in a fully automatic gravure plate-making processing system for manufacturing a gravure plate-making roll by gripping and transferring the unprocessed plate-making roll 12 being a hollow cylinder roll to each processing device. The gripping portion structure 10B of a gravure plate-making robot includes a pair of gripping plates 17a and 17b and gripping surface forming members 36a and 36b. The gripping plates 17a and 17b are mounted on the arm distal end 14 of the gravure plate-making robot, are freely spaced widely or narrowly from each other, and are configured to grip both end portions of the unprocessed plate-making roll 12. The gripping surface forming members 36a and 36b are provided on the gripping plates 17a and 17b, respectively. The gripping surface forming members 36a and 36b have gripping surfaces 34a and 34b that are curved so as to be recessed toward a center of the end portions 50 of the unprocessed plate-making roll 12 to be gripped, and have a non-slip function.

    [0027] In the same manner as in the gripping portion structure 10A, the gripping plates 17a and 17b are mounted on the arm distal end 14 through intermediation of the frame portion 22. When the frame portion 22 is expanded or contracted by the drive portion 24, the gripping plates 17a and 17 are spaced widely or narrowly.

    [0028] Also in the example of FIG. 3 and FIG. 4, there is illustrated a case in which the gripping surface forming members 36a and 36b having a non-slip function are made of a rubber. The gripping surface forming members 36a and 36b are mounted on the gripping plates 17a and 17b through intermediation of mounting members 38a and 38b, respectively.

    [0029] In the gripping portion structure 10B, the gripping surface forming members 36a and 36b are each formed of a plurality of gripping surface forming members. In the illustrated example, there is illustrated a case in which four rubber plates are bonded, as the gripping surface forming members 36a and 36b, to the mounting members 38a and 38b in a radial manner, respectively, as well-illustrated in FIG. 4.

    [0030] In the illustrated example, there is illustrated a case in which the gripping plates 17a and 17b are made of iron, and the mounting members 38a and 38b are made of titanium. Surfaces of the mounting members 38a and 38b are curved, and the gripping surface forming members 36a and 36b are bonded to the curved surfaces. The surfaces of the mounting members 38a and 38b are curved as described above, and hence the gripping surface forming members 36a and 36b are brought into a curved state, as illustrated in FIG. 3.

    [0031] Further, the gripping plates 17a and 17b each have a gripping plate cutout portion 40 opened downwardly, and the gripping surface forming members 36a and 36b each also have a gripping surface forming member cutout portion 42 corresponding to the gripping plate cutout portion 40.

    [0032] The gripping plate cutout portion 40 is opened downwardly so as to correspond to the flange 32. Further, preferably, a radius of curvature of the gripping plate cutout portion 40 is the same as that of the flange 32.

    [0033] With the above-mentioned configuration, when the unprocessed plate-making roll 12 is gripped by the gravure plate-making robot, the gripping surface forming members 36a and 36b are curved so as to be recessed toward a center of the end portions 50 of the unprocessed plate-making roll 12 and have a non-slip function. Therefore, a high gripping force can be exhibited. With this, the accurate gripping of the unprocessed plate-making roll 12 and the positioning accuracy during transfer of the unprocessed plate-making roll 12 to each processing device can be improved.

    [0034] Further, as the gripping surface forming member having a non-slip function, besides the above-mentioned examples of the gripping surface forming member, for example, a plurality of gripping surface forming members having a non-slip function as in gripping surface forming members 44 illustrated in FIGS. 5 may be adopted. In the example of FIGS. 5, there is illustrated a case in which a plurality of rubber plates are bonded to the mounting member 26a illustrated in FIG. 1 and FIG. 2 to provide the gripping surface forming members 44 each having a non-slip function and having a gripping surface 46 curved so as to be recessed toward a center the end portion of the unprocessed plate-making roll 12.

    [0035] FIG. 6 is a view for illustrating a state in which the unprocessed plate-making roll 12 being a hollow cylinder roll is gripped and transferred to each processing device through use of a gravure plate-making robot including the gripping portion structure 10A of a gravure plate-making robot. In FIG. 6, there is illustrated an example of each processing device 48, for example, a plating device in the fully automatic gravure plate-making processing system. As illustrated in FIG. 6, through use of the gravure plate-making robot including the gripping portion structure 10A of a gravure plate-making robot, the unprocessed plate-making roll 12 is accurately gripped and transferred to the processing device 48, and the unprocessed plate-making roll 12 is accurately set at a predetermined position of the processing device 48.

    Reference Signs List



    [0036] 10A, 10B: gripping portion structure of gravure plate-making robot, 12: unprocessed plate-making roll, 14: arm distal end of gravure plate-making robot, 16a, 16b, 17a, 17b: gripping plate, 18a, 18b, 34a, 34b, 46: gripping surface, 20a, 20b, 36a, 36b, 44: gripping surface forming members having non-slip function, 22: frame portion, 24: drive portion, 26a, 26b, 38a, 38b: mounting member, 28, 40: gripping plate cutout portion, 30, 42: gripping surface forming member cutout portion, 32: flange, 48: processing device for fully automatic gravure plate-making processing system , 50: end portions of unprocessed plate-making roll.


    Claims

    1. A gripping portion structure of a gravure plate-making robot to be used in a fully automatic gravure plate-making processing system for manufacturing a gravure plate-making roll by gripping and transferring an unprocessed plate-making roll being a hollow cylinder roll to each processing device,
    the gripping portion structure (10A and 10B) of the gravure plate-making robot comprising:

    a pair of gripping plates (16a, 16b and 17a, 17b) to be mounted on an arm distal end 14 through intermediation of the frame portion (22) of the gravure plate-making robot, the pair of gripping plates being freely spaced widely or narrowly from each other, and being configured to grip both end portions of the unprocessed plate-making roll (12);

    a gripping surface forming member (20a, 20b and 36a, 36b) provided on each of the pair of gripping plates, the gripping surface forming member having a gripping surface (18a, 18b and 34a, 34b) that is curved so as to be recessed toward a center of the end portion of the unprocessed plate-making roll to be gripped and having a non-slip function; and

    the frame portion (22) which is expandable and contractable by a drive portion (24).


     
    2. The gripping portion structure of a gravure plate-making robot according to claim 1, wherein the gripping surface forming member is made of a rubber or a synthetic resin.
     
    3. The gripping portion structure of a gravure plate-making robot according to claim 1 or 2,

    wherein the gripping surface forming member comprises a plurality of gripping surface forming members, and

    wherein the plurality of gripping surface forming members form a gripping surface.


     
    4. The gripping portion structure of a gravure plate-making robot according to any one of claim 1 to 3,

    wherein each of the pair of gripping plates has a gripping plate cutout portion opened downwardly, and

    wherein the gripping surface forming member also has a gripping surface forming member cutout portion so as to correspond to the gripping plate cutout portion.


     


    Ansprüche

    1. Greifabschnittsstruktur eines Tiefdruckplattenherstellungsroboters zur Verwendung in einem vollautomatischen Tiefdruckplattenherstellungsverarbeitungssystem zum Fertigen einer Tiefdruckplattenherstellungsrolle durch Greifen und Überführen einer unverarbeiteten Plattenherstellungsrolle, die eine Hohlzylinderrolle ist, zu jeder Verarbeitungsvorrichtung,
    wobei die Greifabschnittsstruktur (10A und 10B) des Tiefdruckplattenherstellungsroboters Folgendes umfasst:

    ein Paar Greifplatten (16a, 16b und 17a, 17b) zum Montieren an einem distalen Armende 14 durch Vermittlung des Rahmenabschnittes (22) des Tiefdruckplattenherstellungsroboters, wobei das Paar Greifplatten weit oder eng frei voneinander beabstandet ist und konfiguriert ist, um beide Endabschnitte der unverarbeiteten Plattenherstellungsrole (12) zu greifen;

    ein Greifflächenbildungselement (20a, 20b und 36a, 36b), das auf jeder von dem Paar Greifplatten bereitgestellt ist, wobei das Greifflächenbildungselement eine Greiffläche (18a, 18b und 34a, 34b) aufweist, die gekrümmt ist, um zu einer Mitte des Endabschnittes der zu greifenden unverarbeiteten Plattenherstellungsrolle vertieft zu sein und eine Anti-Rutsch-Funktion aufweist; und

    den Rahmenabschnitt (22), der durch einen Antriebsabschnitt (24) expandierbar und zusammenziehbar ist.


     
    2. Greifabschnittsstruktur eines Tiefdruckplattenherstellungsroboters nach Anspruch 1, wobei das Greifflächenbildungselement aus einem Gummi oder einem Kunstharz hergestellt ist.
     
    3. Greifabschnittsstruktur eines Tiefdruckplattenherstellungsroboters nach Anspruch 1 oder 2, wobei das Greifflächenbildungselement eine Vielzahl von Greifflächenbildungselementen umfasst, und
    wobei die Vielzahl von Greifflächenbildungselementen eine Greiffläche bildet.
     
    4. Greifabschnittsstruktur eines Tiefdruckplattenherstellungsroboters nach einem der Ansprüche 1 bis 3,

    wobei jede von dem Paar Greifplatten einen Greifplattenausschnittsabschnitt aufweist, der nach unten geöffnet ist, und

    wobei das Greifflächenbildungselement auch einen Greifflächenbildungselementausschnittsabschnitt aufweist, um dem Greifplattenausschnittsabschnitt zu entsprechen.


     


    Revendications

    1. Structure de partie de préhension d'un robot de fabrication de plaques de gravure à utiliser dans un système de traitement de fabrication de plaques de gravure entièrement automatique pour fabriquer un rouleau de fabrication de plaques de gravure en saisissant et en transférant un rouleau de fabrication de plaques non traité qui est un rouleau cylindrique creux vers chaque dispositif de traitement,
    la structure de partie de préhension (10A et 10B) du robot de fabrication de plaques de gravure comprenant :

    une paire de plaques de préhension (16a, 16b et 17a, 17b) à monter sur une extrémité distale de bras par l'intermédiaire de la partie de châssis (22) du robot de fabrication de plaques de gravure, la paire de plaques de préhension étant librement espacées largement ou étroitement l'une de l'autre, et étant configurées pour saisir les deux parties d'extrémité du rouleau de fabrication de plaques non traité (12) ;

    un élément de formation de surface de préhension (20a, 20b et 36a, 36b) prévu sur chacune de la paire de plaques de préhension, l'élément de formation de surface de préhension ayant une surface de préhension (18a, 18b et 34a, 34b) qui est incurvée de manière à être évidée vers un centre de la partie d'extrémité du rouleau de fabrication de plaques non traité à saisir et ayant une fonction antidérapante ; et

    la partie de châssis (22) qui est extensible et contractable par une partie d'entraînement (24).


     
    2. Structure de partie de préhension d'un robot de fabrication de plaques de gravure selon la revendication 1, dans laquelle l'élément de formation de surface de préhension est constitué d'un caoutchouc ou d'une résine synthétique.
     
    3. Structure de partie de préhension d'un robot de fabrication de plaques de gravure selon la revendication 1 ou 2, dans laquelle l'élément de formation de surface de préhension comprend une pluralité d'éléments de formation de surface de préhension, et
    dans laquelle la pluralité d'éléments de formation de surface de préhension forment une surface de préhension.
     
    4. Structure de partie de préhension d'un robot de fabrication de plaques de gravure selon l'une quelconque des revendications 1 à 3,

    dans laquelle chacune de la paire de plaques de préhension a une partie découpée de plaque de préhension ouverte vers le bas, et

    dans laquelle l'élément de formation de surface de préhension a également une partie découpée de l'élément de formation de surface de préhension de manière à correspondre à la partie découpée de plaque de préhension.


     




    Drawing























    Cited references

    REFERENCES CITED IN THE DESCRIPTION



    This list of references cited by the applicant is for the reader's convenience only. It does not form part of the European patent document. Even though great care has been taken in compiling the references, errors or omissions cannot be excluded and the EPO disclaims all liability in this regard.

    Patent documents cited in the description