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WO2008008030A1 - Dispositif de préhension permettant de distribuer des articles sur une bande transporteuse et de les retirer de celle-ci - Google Patents

Dispositif de préhension permettant de distribuer des articles sur une bande transporteuse et de les retirer de celle-ci

Info

Publication number
WO2008008030A1
WO2008008030A1 PCT/SE2007/050459 SE2007050459W WO2008008030A1 WO 2008008030 A1 WO2008008030 A1 WO 2008008030A1 SE 2007050459 W SE2007050459 W SE 2007050459W WO 2008008030 A1 WO2008008030 A1 WO 2008008030A1
Authority
WO
WIPO (PCT)
Prior art keywords
palette
picking
conveyor path
article
articles
Prior art date
Application number
PCT/SE2007/050459
Other languages
English (en)
Inventor
Göran EWERLÖF
Original Assignee
Gepro Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gepro Ab filed Critical Gepro Ab
Publication of WO2008008030A1 publication Critical patent/WO2008008030A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
    • B65G47/08—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F17/00—Printing apparatus or machines of special types or for particular purposes, not otherwise provided for
    • B41F17/08—Printing apparatus or machines of special types or for particular purposes, not otherwise provided for for printing on filamentary or elongated articles, or on articles with cylindrical surfaces
    • B41F17/14—Printing apparatus or machines of special types or for particular purposes, not otherwise provided for for printing on filamentary or elongated articles, or on articles with cylindrical surfaces on articles of finite length
    • B41F17/16—Printing apparatus or machines of special types or for particular purposes, not otherwise provided for for printing on filamentary or elongated articles, or on articles with cylindrical surfaces on articles of finite length on end or bottom surfaces thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/34—Devices for discharging articles or materials from conveyor 
    • B65G47/46—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points
    • B65G47/51—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points according to unprogrammed signals, e.g. influenced by supply situation at destination
    • B65G47/5104—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points according to unprogrammed signals, e.g. influenced by supply situation at destination for articles
    • B65G47/5109—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points according to unprogrammed signals, e.g. influenced by supply situation at destination for articles first In - First Out systems: FIFO
    • B65G47/514—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points according to unprogrammed signals, e.g. influenced by supply situation at destination for articles first In - First Out systems: FIFO using stacking and/or destacking arrangements or stacks of articles or article carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/84—Star-shaped wheels or devices having endless travelling belts or chains, the wheels or devices being equipped with article-engaging elements
    • B65G47/846—Star-shaped wheels or wheels equipped with article-engaging elements
    • B65G47/848—Star-shaped wheels or wheels equipped with article-engaging elements the article-engaging elements being suction or magnetic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41P—INDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
    • B41P2215/00—Screen printing machines
    • B41P2215/50—Screen printing machines for particular purposes
    • B41P2215/55—Screen printing machines for particular purposes for printing compact discs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41P—INDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
    • B41P2217/00—Printing machines of special types or for particular purposes
    • B41P2217/50—Printing presses for particular purposes
    • B41P2217/55—Printing presses for particular purposes for printing compact discs

Definitions

  • the invention concerns a picking device for distribution and withdrawal of articles to and from a conveyor path, along which articles are processed.
  • the invention also concerns a processing device comprising such a picking device.
  • a drawback residing in that the palettes being moved sequentially around the conveyor path is that it implies a limitation of the number of articles that may be processed in the device during a certain unit of time.
  • a purpose of the device according to the invention is to provide a reliable device for the processing of articles, such as CDs or the like, in which a great number of articles may be processed during a certain unit of time with maintained quality.
  • Another purpose is to provide a picking device at which the palettes may be guided continuously around a conveyor path at the same time as the articles are transferred to and from the palettes.
  • the invention consists of a picking device for transferring articles between a palette that is moving along a conveyor path and a static position outside the conveyor path, which picking device comprises at least a rotating picking arm with a gripping unit comprising at least one suction cup connected to a sub pressure source, which is sufficient for the suction cup to be able to lift an article, whereby a valve regulator is arranged at the gripping unit, which valve regulator is regulating the sub pressure in the suction cup so that the sub pressure by actuation of the valve regulator may be sufficiently decreased so that the article is released from the suction cup when the article has been transferred to the desired position.
  • the palette is moving with a substantially constant speed past the picking device and the picking arm is rotating in a plane situated substantially parallel over the plane of the conveyor path, whereby the rotating movement of the picking arm is synchronized with the movement of the palette along the conveyor path so that the gripping unit of the picking arm is tangent to the conveyor path at substantially the same speed as the palette and substantially at the same time as the palette is passing to transfer the articles to or from the palette, and whereby the rotating movement of the picking arm is stopped when the gripping unit is approaching the static position outside the conveyor path so that it does not rotate when it is picking or releasing articles from or to the static position.
  • Another aspect of the invention consists of a processing device comprising such a picking device.
  • the invention according to both these aspects is complying with the purposes described above.
  • Figure 1 is a view from above of a processing device according to the invention.
  • fig 2a is a view from above of two picking devices for application of unprocessed articles and removal of processed articles to and from the conveyor path of the processing device;
  • fig 2b shows a cross section along the cut A-A in figure 2a
  • fig 3 is a side view of the two picking devices in figure 2a; fig 4 shows the same view as in figure 3 after that the picking devices have been turned 60° counter-clockwise;
  • fig 5 is a side view of the picking devices at the same stage as in figure 3, but from the other side;
  • fig 6 shows the same view as in figure 5 after that the picking devices have been turned 60° counter-clockwise, i.e. at the same stage as in figure 4;
  • FIG. 1 is a schematic view of the device 1 according to a first embodiment of the invention.
  • the device is intended for processing of articles such as CDs, DVDs or the like and comprises a conveyor path 2 along which a number of palettes 4 that are supporting articles 6 to be processed are guided in an orbit in a conveying direction D around the conveyor path 2.
  • At least one processing station 8A-F is placed in connection to the conveyor path 2.
  • all processing stations 8a-f are designed as printing stations, at which the articles are provided with a printing.
  • a curing station e.g. 8b, 8d and 8f is preferably placed after each printing station e.g. 8a, 8c and 8e, for curing the recently applied print.
  • the device 1 comprises two driving devices.
  • the first driving device extends all along the orbit and comprises a chain (not shown) that is driven by two gear wheels 26a and 26b.
  • the chain is engaged with the palettes and is arranged to drive them around the whole conveyor path.
  • the second driving device 30, which overlaps the first driving device, is arranged to drive the palettes 4 at the processing stations 8a- f.
  • the second driving device 30 comprises a worm conveyor 32 with a helical curve shaped track, in which a pin (not shown) on the palette is adapted to run.
  • the worm conveyor provides a high accurate driving, which is important in order to minimize the risk that the printing will be blurred.
  • the movement of the worm conveyor is synchronized with a possible movement at the processing stations.
  • the rotating speed of the pressing rolls is so adapted that the printed perimeter surface of the pressing roll has the same speed as the palettes.
  • the articles 6 arrive at the conveyor path piled on a first bar 1 Ia at a storing place, wherefrom a picking device 12A picks them up, one by one, and places them on a palette at the same time as the palette is driven forward in the conveying direction D.
  • a second picking device 12B removes the articles from the conveyor path when they are fully processed and places them on a second bar l ib at a discharging place.
  • the first bar has no unprocessed articles left it is guided further away to the discharging place to be loaded with articles that have been processed.
  • the invention therefore relates to the picking devices 12a and 12b and their interaction with the passing palettes 4.
  • the palettes have to be stationary when articles are to be placed and removed.
  • the device according to the invention is so designed that the palettes never have to stop under normal operation, whereby a continuous operation with high efficiency is achieved.
  • the picking devices 12a and 12b are shown in a view from above. Both picking devices comprise three picking arms 14a-c and 14d-f, which are symmetrically arranged at 120° from each other. Every picking arm is equipped with a gripping unit 15 comprising four elastic suction cups 16 (see e.g. figure 2b).
  • the suction cups 16 are connected to a vacuum pump (not shown), whereby the suction cups are arranged to suck up articles 6 at a first position and then after having rotated 180° the articles are released by elimination of the sub pressure when the articles are situated at the release spot.
  • the picking arms 14a-f of the picking device are not rotating continuously.
  • each picking device 12a and 12b stops when one of the picking arms 14a-c and 14d-f is located at a bar 11a and 1 Ib to pick up an unprocessed disc 6a, b and to put a processed disc 6d-f down.
  • the movement of the picking devices 12a and 12b is synchronized with the movement of the palettes 4 so that the picking arm is tangent to the conveyor path 2 at the same time as a palette 4 passes a picking device 12a and 12b.
  • FIG 2b a cross section along the cut A-A in figure 2a is shown of a picking arm 14a and a palette 4a in the stage where a disc 6a is dropped down on to the palette.
  • the palette is driven forward by a chain (not shown) and rolls on four horizontal wheels 44, of which the rear pair of wheels is shown in figure 2b, along the rail 3 of the conveyor path.
  • the picking arm 14a as in figure 2b, is straight over the palette 4a, the whole gripping unit 15 will be pushed down by a pressing element 13 designed as a ball bearing at the middle console of the picking device.
  • the gripping unit 15 has for this purpose at its lower inside a horizontal skirt 10 with a convex upper side, which is interacting with the pressing element 13 in such a way that the whole gripping unit 15 is pushed down.
  • a valve regulator 50 on the inside of the gripping unit 15 is being pushed inwards due to interaction with the projecting convex part 19a on the inside of the picking arm 14a, whereby the projecting part 19a forces the valve regulator 50 inwards.
  • the valve regulator 50 is in its turn regulating a valve that is controlling the sub pressure in the suction cups 16 and the valve is opened when the valve regulator 50 is pushed down, whereby the article 6a is dropped down on to the passing palette 4a when the picking arm 14a is straight above the palette.
  • the palette 4a is equipped with supporting elements 46, 47 for fixing of the articles 6.
  • the palette is adapted to carry discs with a centre hole, whereby the supporting elements 46, 47 consists of two opposed supporting elements 46 and 47 adapted to fix the article 6a in its centre hole.
  • One of the supporting elements 46 is fixedly arranged on the palette while the other supporting element 47 is spring mounted and fixedly connected to a ball bearing 48 placed on that side of the palette 4a that is facing the picking device 12a.
  • the ball bearing 48 is pushed inwards by interaction with a bulging element 53 arranged right below the picking devices 12a.
  • the element that is fixedly engaged with the supporting element 47 is also displaced towards the fixed supporting element 46 so that a certain clearance is created on at least one side of the supporting elements with respect to the centre holes of the articles.
  • the created clearance yields a certain allowance within which an article may be placed when it is dropped down on the palette 4a.
  • the supporting elements 46 and 47 keeps the article fixed around the whole conveyor path 2 and past the processing stations 8a-f until the palette 4a is approaching the second picking device 12b, which is also equipped with a bulging part 53 adapted to interact with the ball bearing 48 of the palette according to the method described above.
  • the use of the supporting elements 46, 47 requires that the articles that are to be processed include a centre hole, in which the articles may be fixed. If the articles that are to be processed do not have such a centre hole another type of supporting element must be used. Supporting elements may e.g. be arranged to grasp the opposed outer sides of the articles, whereby one of the supporting elements or both are adjustable in the same way as the spring mounted supporting element 47. It is also conventional to fix articles by means of vacuum, which is customary in prior art even when the articles include centre holes. A problem related to the vacuum fixing of articles is however that a vacuum suction apparatus has to be connected to each palette, which means that advanced valve and tube systems are needed to accompany each individual palette around the whole conveyor path.
  • the design of the device is principally made simpler, without reducing the quality. It may even be easier to make sure that the disc will end up in a correct position when using the supporting elements according to the invention since they are automatically assuring that the articles are correctly situated, while, on the other hand a vacuum suction apparatus just as well may fix a disc in an incorrect position.
  • supporting elements according to the invention involve advantages over the prior art.
  • the second picking device 12b functions in a manner similar to that of the first picking device except for one important difference; it relocates processed discs from the palettes to the second bar 1 Ib.
  • the picking arm 14f of the second picking device 12b passes a palette 4b, as shown in figure 2a
  • the suction element 16 of the gripping unit 15 is adapted to abut the fully processed article 6f in the same way as at the first picking device 12a.
  • the only difference is that no projecting convex part facing the conveyor path 2 and corresponding to the projecting convex part 19a of the first picking device 12a is arranged at the second picking device 12b.
  • valve regulator 50 is not manipulated, whereby the valve remains closed and the suction force in the suction cups 16 is maintained when a suction cup 16 is abutting the article 6f, which of course is a condition for the article 6f to be sucked up by it.
  • the first picking device 12a is, as earlier mentioned, arranged to pick unprocessed discs from the storing place at the first bar 11a and distribute them on the palettes. From figure 3 it is evident how a gripping unit 15 at a picking arm 14b is lowered straight at the first bar 1 Ia to collect the uppermost disc 6b from the pile. As the gripping unit 15 is lowered the suction cups 16 will abut the disc 6a so that the disc connects to them.
  • a lifting fork 17, shown most clearly in figure 4 is arranged at the first bar for sequentially lifting the discs, after which they are collected from the pile.
  • a spacer 18 is arranged under the discs in order for the lifting fork to reach the discs. Contrary to when the picking arm passes a palette the picking arms 14a-c of the picking device 12a are not rotating when they collect articles from the bar 11a.
  • the first picking device is equipped with a slightly upwardly slanted adjustable wing 51 comprising a peripheral ball bearing 52.
  • the adjustable wing is in a horizontal position, whereby the ball bearing 52 (hidden behind the gripping unit 15) is abutting the horizontal skirt 10 at the picking arm 14b and whereby the gripping unit 15 is held down such that the suction cups 16 are abutting the uppermost article 6b and may suck it up from the first bar.
  • the adjustable wing 51 is lowered following that a picking arm has stopped at the bar 11a and is again elevated before the picking arm starts to move away from the bar.
  • the disc is subsequently kept fixed on the picking arm until the picking arm passes straight above a palette 4 on the conveyor path.
  • the picking devices are shown at a later stage, i.e. the same stage as is shown in figures 2a and 2b, when the picking devices have been rotated 60° counter clockwise such that a picking arm 14a is straight above a palette 4 on the conveyor path 2.
  • the movement of the picking arms must be synchronized with the speed of the palettes 4. Consequently the picking devices are accelerated from a stationary position, in which a picking arm is straight above the bar (figure 3 and 5) , to rotate with an angular speed in which the gripping unit 15 of the picking arm 14a equals the speed of the passing palette 4a (figure 2a-b, 4 and 6).
  • the picking device 12a is retarded until it has returned to a stationary position, in which the following picking arm 14c is located right above the bar 11a and a new disc may be collected.
  • FIG 3 it is shown how a picking arm 14d at the second picking device 12b delivers a processed disc 6d to the second bar 1 Ib.
  • the control of the sub pressure in the suction cups 16 is operated in a similar way as when the sub pressure is eliminated to release the article 6a from the first picking device 12a on to the passing palette 4a.
  • a projecting convex part 19b at the second picking device 12b in line with the bar 1 Ib is interacting with the valve regulator 50 on the gripping unit 15 such that the sub pressure is eliminated and the disc is released straight at the bar l ib.
  • the valve is immediately reclosed and a sub pressure is again created at the suction cups 16 of the gripping unit 15.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

L'invention concerne un dispositif (12) de préhension destiné à transférer des articles (6) entre un plateau (4) se déplaçant le long d'une voie (2) de transport et une position statique (11a, 11b) à l'extérieur de la voie (2) de transport. Ledit dispositif de préhension comprend au moins un bras (14) de préhension rotatif pourvu d'une unité (15) de préhension comprenant au moins une ventouse (16) connectée à une source de pression inférieure pour générer une pression inférieure dans la ventouse (16), suffisante pour que la ventouse (16) puisse soulever un article (6), un régulateur (50) de valve étant positionné au niveau de l'unité (15) de préhension, ledit régulateur (50) de valve étant destiné à régler la pression inférieure dans la ventouse (16) de manière que la pression inférieure puisse être suffisamment réduite sous l'influence du régulateur (50) de valve pour que l'article soit libéré de la ventouse (16) lorsque l'article a été transféré sur la position désirée. Le plateau (4) se déplace sensiblement à la même vitesse au-delà du dispositif (12) de préhension et le bras (14) de préhension tourne dans un plan situé de manière sensiblement parallèle au-dessus du plan de la voie (2) de transport, le mouvement rotatif du dispositif (12) de préhension étant synchronisé avec le mouvement du plateau (4) le long de la voie (2) de transport de manière que l'unité (15) de préhension des bras (14) de préhension soit tangente par rapport à la voie (2) de transport sensiblement à la même vitesse que le plateau (4) et sensiblement au même moment que le passage du plateau (4) pour transférer les articles vers le plateau (4) ou depuis celui-ci. Le mouvement rotatif du dispositif (12) de préhension s'arrête lorsque l'unité (15) de préhension approche de la position statique (11a, 11b) à l'extérieur de la voie (2) de transport sur laquelle elle ne tourne pas lorsqu'elle prend et relâche des articles à partir de la position statique (11a, 11b) ou en direction de celle-ci.
PCT/SE2007/050459 2006-07-10 2007-06-21 Dispositif de préhension permettant de distribuer des articles sur une bande transporteuse et de les retirer de celle-ci WO2008008030A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0601519-2 2006-07-10
SE0601519A SE0601519L (sv) 2006-07-10 2006-07-10 Plockanordning för fördelning och återtagning av artiklar till och från en transportbana

Publications (1)

Publication Number Publication Date
WO2008008030A1 true WO2008008030A1 (fr) 2008-01-17

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Application Number Title Priority Date Filing Date
PCT/SE2007/050459 WO2008008030A1 (fr) 2006-07-10 2007-06-21 Dispositif de préhension permettant de distribuer des articles sur une bande transporteuse et de les retirer de celle-ci

Country Status (2)

Country Link
SE (1) SE0601519L (fr)
WO (1) WO2008008030A1 (fr)

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CN102730414A (zh) * 2012-07-18 2012-10-17 奇瑞汽车股份有限公司 取料装置
CN104528371A (zh) * 2014-11-28 2015-04-22 芜湖银星汽车零部件有限公司 一种拆卸专用夹紧取料装置
CN105347032A (zh) * 2015-12-16 2016-02-24 广西北流市智宇陶瓷自动化设备有限公司 一种工位自动转换装置
CN105600431A (zh) * 2016-03-22 2016-05-25 北京众力精机科技有限公司 一种自动抓取排盘装置
CN105752683A (zh) * 2016-04-27 2016-07-13 福建师范大学福清分校 一种流水线托盘的自动捡装系统
GB2517145B (en) * 2013-08-08 2017-04-26 Packaging Automation Ltd Improvements in and relating to packaging apparatus
CN107618258A (zh) * 2016-05-02 2018-01-23 邓君 光盘印刷机
CN107826313A (zh) * 2017-11-08 2018-03-23 北京博日鸿科技发展有限公司 一种高速枕包下料装置
CN110238626A (zh) * 2019-07-10 2019-09-17 山东华滋自动化技术股份有限公司 轮转压合装置
CN111169998A (zh) * 2020-01-08 2020-05-19 山东建筑大学 一种多工位吸盘机械手

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CN108622459B (zh) * 2017-03-16 2022-04-19 星德科包装技术(杭州)有限公司 搬运装置、包装设备及包装方法
CN111332782B (zh) * 2018-11-02 2021-07-20 北部湾大学 板形工件包边装置的上、下料吸盘

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CN105752683A (zh) * 2016-04-27 2016-07-13 福建师范大学福清分校 一种流水线托盘的自动捡装系统
CN107618258A (zh) * 2016-05-02 2018-01-23 邓君 光盘印刷机
CN107826313A (zh) * 2017-11-08 2018-03-23 北京博日鸿科技发展有限公司 一种高速枕包下料装置
CN110238626A (zh) * 2019-07-10 2019-09-17 山东华滋自动化技术股份有限公司 轮转压合装置
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