EP0532785B1 - Einwickel- und Einschachtelmaschine, vorzugsweise für Garnspulen oder dergleichen - Google Patents

Einwickel- und Einschachtelmaschine, vorzugsweise für Garnspulen oder dergleichen Download PDF

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Publication number
EP0532785B1
EP0532785B1 EP91115923A EP91115923A EP0532785B1 EP 0532785 B1 EP0532785 B1 EP 0532785B1 EP 91115923 A EP91115923 A EP 91115923A EP 91115923 A EP91115923 A EP 91115923A EP 0532785 B1 EP0532785 B1 EP 0532785B1
Authority
EP
European Patent Office
Prior art keywords
film
wrapping
spools
spool
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP91115923A
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English (en)
French (fr)
Other versions
EP0532785A1 (de
Inventor
Pierfrancesco Nicolo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
San Grato Cmt Srl
Original Assignee
SAN GRATO C M T Srl
San Grato Cmt Di Nicolo Pier Francesco & C - Sas
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 SAN GRATO C M T Srl, San Grato Cmt Di Nicolo Pier Francesco & C - Sas filed Critical SAN GRATO C M T Srl
Priority to DE69126707T priority Critical patent/DE69126707T2/de
Priority to EP91115923A priority patent/EP0532785B1/de
Priority to ES91115923T priority patent/ES2106753T3/es
Priority to AT91115923T priority patent/ATE154914T1/de
Publication of EP0532785A1 publication Critical patent/EP0532785A1/de
Application granted granted Critical
Publication of EP0532785B1 publication Critical patent/EP0532785B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers

Definitions

  • the present invention relates to a film-wrapping and boxing machine, particularly for spools of thread and the like.
  • Thread spools in fact generally have a truncated-cone shape and must be arranged in boxes or cartons so as to minimize wasted space.
  • US-A-4 731 977 discloses a machine provided with a device for inverting conical articles, for example spools of thread and the like, disposed onto a table in the machine itself.
  • the aim of the invention is indeed to eliminate the disadvantages described above by providing a film-wrapping and boxing machine, suitable specifically for spools of thread and the like, which allows to perform, with a fully automatic cycle, the boxing of the various spools, forming a layer with a presettable arrangement of the various spools.
  • a particular object of the invention is to provide a film-wrapping and boxing machine which can perform in automatic succession all of the operations, starting from the film-wrapping of the individual spools up to the forming of the cartons, with the boxing of the various layers of formed spools.
  • Another object of the present invention is to provide a film-wrapping and boxing machine which is particularly versatile and practical in use, since it can easily and rapidly adapt to all the types of spools which are commercially used.
  • Not least object of the present invention is to provide a film-wrapping and boxing machine, particularly for spools of thread and the like, which can be easily obtained starting from commonly commercially available elements and materials and which is furthermore competitive from a merely economical point of view.
  • the film-wrapping and boxing machine particularly for spools of thread and the like, according to the invention, comprises a station 1 for the film-wrapping of spools 2 which arrive from a spool accumulation region 3; a unit 5 for the advancement and orientation of the spools acts downstream of said station 1 so as to feed said spools into a station 6 for the forming of a layer of spools, where a removal unit 7 acts and transfers said spools to a boxing station, which is generally indicated by 8.
  • the spools 2 are placed in the accumulation region 3 so that they are mutually axially aligned and are all orientated in the same direction, i.e. with the taper of the spool directed in the same direction;
  • the accumulation region 3 in practice has a spool transfer lane 11, at the end of which there acts an articulated arm 12 which supports, at its upper end, a cradle 13 which is available at the lane 11 to remove the spool and arrange it in a guiding cradle 15 arranged on the inlet 16 of the film-wrapping station 1.
  • a pusher piston 17 which introduces the spool into a channel 18 outside which a film 19 of polyethylene or similar material is wrapped continuously; said film 19 is unrolled from a feed roll 20 which continuously feeds said film, which is wrapped around the channel 18, mutually overlapping its longitudinal flaps.
  • a bar-shaped heat welding unit 21 which, continuously and in discrete segments, associates the overlapping flaps, in practice joining the film in the longitudinal direction, so as to obtain a tubular element.
  • a head 22 for the transverse welding and cutting of the tubular film element formed upstream. Said head, by means of welding units, closes the ends of the wrapping.
  • the welding head is composed of two sets of welding/cutting clamps 22a and 22b which are articulated on chain links.
  • the welding/cutting units are forced to follow a straight path in the active portion and a curved one in the idle portion; they are composed of elements which are heated with electric pulses which have the purpose of welding the wrapping and then separating it from the tubular film element.
  • the spool pushed by the piston 17 (through the channel 18) arranges itself inside the welding head 22; the clamps 22a are in idle position (open), the clamps 22b are closed in the end-of-work position (they have welded the front part of the wrapping).
  • the advancement and orientation unit which comprises a removal unit, more clearly illustrated in figure 4, which is constituted by a pair of L-shaped arms 25 which are pivoted to the fixed structure at one end and support a pair of wing-shaped removal devices 26 which are arranged mutually opposite and are connected to small pusher pistons 27 which allow to couple the wing-shaped removal devices 26 to the lateral surface of the already film-wrapped spool 2.
  • the wing-shaped removal devices can rotate about their own axis so as to rotate the spool, arranging it with its larger base or its smaller base upward, according to the packaging requirements.
  • the arms 25 are rotated so as to deposit the spool, orientated with its base arranged in the selected manner, onto an advancement conveyor 30 on which a plurality of spools is aligned.
  • a cross-member 31 is provided transversely to the advancement conveyor 30, is connected to a side wall portion 32 and in practice stops and positions the first spool of the row, so as to produce a row with a required number of spools.
  • the side wall portion is connected to a traction cylinder 33 which moves said side wall portion in a direction which is perpendicular to the direction of motion of the advancement conveyor 30, so that the formed row of spools is removed from the conveyor 30 and is arranged on a forming conveyor 40 which is also constituted by a continuously advancing belt.
  • the rows of spools thus formed are caused to advance up to the station for the forming of the layer 8, which has a stop abutment 41 (figure 6) which acts as stop element for the first row of spools which has already been formed.
  • Lateral containment walls 42 perpendicular to the abutment 41, are furthermore provided and can be actuated by pistons for compacting the layer; there is also a front closing wall 43 which is mounted on an oscillating frame 44, and which is in a raised position during the spool row or line feeding step and is lowered in order to perform the lateral compaction of said layer.
  • a removal and transfer unit which is constituted by a spool gripping clamp 46 which has an abutment plane 47, above which grip walls 48 are pivoted; said grip walls can be actuated by pistons 49 to secure them against the lateral region of the formed layer of spools in order to be able to remove said spools.
  • the clamp is connected to a stem 50 which is associated with a carriage 51 which can move on upper guides 52 for the transfer of the layer of spools.
  • the abutment plane is furthermore provided with a limited stroke movement which allows to separate the spool layer from the grip walls to release said spools into the carton 55 which is arranged adjacent to the belt 40.
  • the packaging of the spools furthermore entails the insertion of partitions 56 between the layers; said insertion is performed by means of a sucker-fitted removal device 57 which removes a partition 56 from a stack and inserts it within the carton immediately after the insertion of each individual layer, or as otherwise provided for by the program-based control means.
  • the carton 55 is formed by means of a carton forming station or machine, generally indicated by the reference numeral 9; said carton forming station comprises a sucker-fitted removal device 62 which removes a single cutout, arranged in flattened configuration and with its larger face parallel to the ground, contrary to what is observed in the known art, which provides the placement of the cutouts along a vertical arrangement.
  • the removed cutout is carried to the carton forming station, which has a conveyor belt 64, on which the cutout is placed, as illustrated in figure 8; during the removal step, the carton, by virtue of the deactivation of part of the suckers, undergoes a first opening directly by gravity.
  • the station furthermore comprises a first arm 65 for folding the bottom side flap which is arranged opposite to a fixed folding device 66 which in practice closes the first two opposite flaps.
  • an upper folding arm 67 which folds a contiguous flap
  • a lower folding arm 68 which folds the opposite contiguous flap, consequently closing all four of the flaps of the bottom and consequently forming the carton perfectly.
  • the carton is caused to advance, by means of an upper traction device 70 and of the lower one 64, against a taping unit, indicated by 71, which closes the median region of the bottom, thus making the performed forming permanent.
  • the upper traction device 70 and the lower one 64 then place the carton on an unloading unit, indicated by 80, which has a grid-like frame 81 which can be overturned in order to arrange the formed carton, which has its open inlet arranged laterally, so that its bottom rests on the carton conveyance unit for routing to the boxing station and so that the upper inlet is open.
  • the spools 2, arranged in the accumulation region are caused to slide toward the removal arm 12, which introduces them at the inlet 16 of the channel 18, where the piston 17 pushes them, encountering the bottom of the polythene film, which is already closed transversely and welded along the longitudinal edge.
  • the spool Under the thrust of the piston 17, the spool is inserted in the wrapping which has been preformed by the clamp 22b, and said clamp, by rotating, welds the wrapping in its rear part, forms another wrapping with a front welding, and positions the packaged spool so that it is ready to be removed, as shown in figure 4.
  • the spool is removed by the removal device, is possibly inverted, if required, and is then arranged on the advancement belt 30 which moves it forward by one step according to the program.
  • the wall 32 When a row is completely formed, the wall 32 is moved, moving the row of spools onto the forming conveyor 40, which causes the advancement of the formed rows until the layer is defined in the layer forming region.
  • the layer When the layer is completely formed, it is compacted by means of the bars which act on the periphery of the set of spools.
  • the clamp 46 descends onto the layer and the abutment plane upwardly compresses the spool layer, then the lateral walls of the clamp are closed in order to retain the spool layer and the clamp is moved initially upward and then in a horizontal direction to arrange itself above the carton in which the spools are to be inserted.
  • the clamp is moved down until it reaches the bottom of the carton and is opened slightly so that the abutment plane, by means of a slight movement, can release the formed spool layer.
  • the clamp is then retracted above the boxing section, and the sucker-fitted removal device inserts a partition, or whatever else is required by the production cycle, into the carton.
  • the carton forming unit entails the complete opening of the carton, after the initial step of removal by means of the suckers and a partial opening directly by gravity, the folding of a flap by the arm 65 until the flap is closed completely, then the closure of the opposite flap by means of the opposite arm and the closure of the other flaps of the carton by means of the upper and lower arms, thus completing the closure of the carton.
  • the upper and lower traction devices pull the carton along the taping unit, which fixes adhesive paper to the seam of the flaps, so as to close the carton downward.
  • the carton thus formed is then conveyed to the grid-like frame, which moves the carton from the horizontal position to the vertical one, i.e. with the loading opening arranged upward, onto the conveyor which introduces the carton into the boxing station.
  • the taping unit is provided with adjustable levels so as to position the adhesive tape at the required level.
  • an apparatus which allows to perform, in a fully automatic manner, the packaging cycle of spools, comprising the film-wrapping and boxing of the spools and the forming of the cartons, which are removed from a stack of horizontally arranged cutouts.
  • the materials employed, as well the dimensions and contingent shapes, may be any according to the requirements.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)
  • Basic Packing Technique (AREA)

Claims (15)

  1. Film- bzw. Folienumhüllungs- und Verpackungsmaschine, insbesondere für Garnspulen und dgl., mit einer Station (1) für das Umwickeln von Garnspulen und dgl. mit Film bzw. Folie, einer Station (6) zur Ausbildung einer Lage von Spulen, einer Einheit (7) zum Entfernen und Übertragen der Lage von Spulen, und einer Station (8) zum Verpacken der vorgeformten Lage von Spulen in Schachteln, dadurch gekennzeichnet, daß die Maschine, ferner aufweist
    eine Einheit (5) für das gleichzeitige Vorschieben und Orientieren der filmumwickelten Spulen, die von einem Spulensammelbereich (3) kommen, in dem die Spulen achsial zueinander ausgerichtet und in der gleichen Richtung orientiert werden, d.h. mit dem verjüngten Teil der Spule in gleicher Richtung, wobei der Sammelbereich (3) vor der Station (1) für das Filmumwickeln von Spulen angeordnet ist, mit einem Pfad (11) mit einer mechanischen Vorrichtung zum individuellen Bewegen der Spulen durch die Filmumwicklungsstation (1) in Richtung der Einheit (5), die eine Abnahme- und Orientierungsvorrichtung für das mögliche Umfallen der Spulen aufweist, die in Bezug auf ihre eigene Achse so gedreht werden kann, daß sie die Spule vorschiebt und sie mit ihrer größeren Basis oder ihrer kleineren Basis nach oben anordnet.
  2. Filmumwicklungs- und Verpackungsmaschine nach Anspruch 1, dadurch gekennzeichnet, daß am Ende des Pfades (11) die mechanische Vorrichtung zur Bewegung der Spulen einen Gelenkarm (12) aufweist, der im oberen Bereich ein Gestell (13) aufnimmt, das am Pfad (11) vorgesehen ist, um die Spule (2) zu entfernen und sie in einem Führungsgestell (15) zu positionieren, das am Einlaß (16) der Filmumwicklungsstation (1) angeordnet ist.
  3. Filmumwicklungs- und Verpackungsmaschine nach den vorausgehenden Ansprüchen, dadurch gekennzeichnet, daß die Filmumwicklungsstation (1) einen Kanal (18) besitzt, der den Einlaß (16) bildet und auf dessen Außenseite es möglich ist, einen von einer Zuführungsrolle (20) kommenden Film (19) kontinuierlich zu umwickeln, wobei der Film (19) den Kanal (18) bei Überlappung seiner Längsklappen umwickelt.
  4. Filmumwicklungs- und Verpackungsmaschine nach Anspruch 3, dadurch gekennzeichnet, daß sie eine Wärmeschweißeinheit (21) aufweist, die oberhalb des Kanals (18) zum gegenseitigen Verbinden der Längsklappen wirksam ist.
  5. Filmumhüllungs- und Verpackungsmaschine nach Anspruch 3 oder 4, dadurch gekennzeichnet, daß sie flußabwärts in Bezug auf den Kanal (18) eine Schweiß- und Schneid - Zange (22a, 22b) aufweist, die in Querrichtung auf den rohrförmigen Film wirkt, der durch den Kanal (18) ausgebildet wird.
  6. Filmumhüllungs- und Verpackungsmaschine nach einem oder mehreren der Ansprüche 3 - 5, dadurch gekennzeichnet, daß sie einen Schieberkolben (17) aufweist, der auf die Spule (2) wirkt, welche im Kanal (18) angeordnet ist, um sie gegen den Boden des rohrförmigen Films (19) zu drücken, der vorher gezogen und von der Schweiß - Zange (22a, 22b) geschweißt worden ist.
  7. Filmumhüllungs- und Verpackungsmaschine nach einem oder mehreren der vorausgehenden Ansprüche, dadurch gekennzeichnet, daß die Abnahme und Orientierungsvorrichtung durch ein Paar von L-förmigen Armen (25) gebildet ist, die an dem starren Aufbau an einem Ende schwenkbar angeordnet sind und ein Paar von flügelartigen Abnahmevorrichtungen (26) aufnehmen, die wechselseitig gegenüberliegend angeordnet sind und in Längsrichtung verschiebbar sind, damit sie mit der Oberfläche der filmumwickelten Spule (2) in Eingriff kommen, und daß ferner eine Vorrichtung vorgesehen ist, die die flügelartigen Abgabevorrichtungen um ihre eigenen Achsen zum möglichen Umdrehen der filmbewickelten Spule (2) gedreht wird.
  8. Filmumwicklungs- und Verpackungsmaschine nach einem oder mehreren der vorausgehenden Ansprüche, dadurch gekennzeichnet, daß sie einen Vorschubförderer (30) aufweist, der stromabwärts in Bezug auf die Abnahmearme (25) angeordnet ist, wobei ein Querbauteil (31) quer zum Vorschubförderer (30) angeordnet und mit einem Wandabschnitt (32) verbunden ist, der zur Ausbildung einer Reihe von filmumwickelten Spulen geeignet ist.
  9. Filmumwicklungs- und Verpackungsmaschine nach Anspruch 8, dadurch gekennzeichnet, daß der Wandabschnitt (32) mit einem Zugzylinder (33) verbunden ist, um die Reihe von filmumwickelten Spulen (2) rechtwinklig zur Bewegungsrichtung des Vorschubförderers (30) zu bewegen, wobei die Reihe auf einen Formförderer (40) übertragen wird, der sich kontinuierlich und im wesentlichen senkrecht zum Vorschubförderer (30) bewegt.
  10. Filmumwicklungs- und Verpackungsmaschine nach einem oder mehreren der vorausgehenden Ansprüche, dadurch gekennzeichnet, daß die die Spulenlage ausbildende Station (6) einen Anschlag (41), der auf dem Formförderer (40) angeordnet ist und durch ein Paar seitlicher Behälterwandungen (42) flankiert ist, die rechtwinklig zum Anschlag (41) angeordnet sind, und eine vordere Abschlußwand (43), die auf einem oszillierenden Rahmen (44) befestigt und dem Anschlag (41) gegenüberliegend angeordnet ist, aufweist, wobei die Seitenwände (42) rechtwinklig zur Bewegungsrichtung des Formförderers (40) für das Verdichten der geformten Lage beweglich sind.
  11. Filmumhüllungs- und Verpackungsmaschine nach einem oder mehreren der vorausgehenden Ansprüche, dadurch gekennzeichnet, daß die Abnahme- und Übergabeeinheit (7) eine Spulengreifklemmvorrichtung (46) aufweist, die durch eine Anschlagebene (47) dargestellt ist, über der Greifwande (48) schwenkbar festgelegt sind, die perimetrisch angeordnet und gegen den seitlichen Bereich der geformten Spulenlage befestigbar sind, wobei die Klemmvorrichtung (46) mit einem Schaft (50) verbunden ist, der einem Schlitten (51) zugeordnet ist, der sich längs oberer Führungen (52) zur Übertragung der von der Klemmvorrichtung (46) entfernten Spulenlage bewegen kann.
  12. Filmumhüllungs- und Verpackungsmaschine nach einem oder mehreren der vorausgehenden Ansprüche, dadurch gekennzeichnet, daß sie eine Einheit für das Aufbringen einer Trennwand (56) zwischen einer und der nächsten Lage von Spulen aufweist, wobei die Einheit eine durch Saugwirkung arbeitende Trennwand- Entferneinheit (57) darstellt, die sich auf Tragführungen zum Einsetzen in den Karton (55), in den die Spulenlagen eingesetzt werden, bewegen kann.
  13. Filmumwicklungs- und Verpackungsmaschine nach Anspruch 1, dadurch gekennzeichnet, daß sie eine Kartonformmaschine mit einer durch Saugwirkung arbeitende Abnahmeeinheit (62) aufweist, die über einem Stapel von Aussparungen wirksam ist, welche auf einer horizontalen Ebene angeordnet sind, wobei mindestens ein Teil der Sauger für das unter Schwerkraft erfolgende Öffnen der Aussparung deaktivierbar ist, wobei ferner ein erster Arm (65) zum Falten einer ersten seitlichen Klappe, und ein fester Faltarm (66), der gegenüber dem ersten Faltarm (65) zum Schließen der gegenüberliegenden Klappe angeordnet ist, vorgesehen ist, und wobei ferner ein oberer Faltarm (67) und ein unterer Faltarm (68) zum Falten der anderen Bodenklappen vorgesehen ist.
  14. Filmumhüllungs- und Verpackungsmaschine nach Anspruch 13, dadurch gekennzeichnet, daß sie eine oberer Zugeinheit (70) aufweist, die auf den geformten Karton so einwirkt, daß dieser in eine Bewicklungseinheit (71) verschoben wird, die in der Lage ist, ein Klebeband aufzubringen, das geeignet ist, die Formgebung des Kartons dauerhaft zu machen.
  15. Filmumhüllungs- und Verpackungsmaschine nach Anspruch 13 oder 14, dadurch gekennzeichnet, daß sie eine Einheit (80) zum Entladen der geformten Kartons aufweist, die durch einen gitterartigen Rahmen (81) dargestellt ist, der umgelegt werden kann, damit der geformte Karton mit seinem offenen Einlaß nach oben angeordnet ist.
EP91115923A 1991-09-19 1991-09-19 Einwickel- und Einschachtelmaschine, vorzugsweise für Garnspulen oder dergleichen Expired - Lifetime EP0532785B1 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE69126707T DE69126707T2 (de) 1991-09-19 1991-09-19 Einwickel- und Einschachtelmaschine, vorzugsweise für Garnspulen oder dergleichen
EP91115923A EP0532785B1 (de) 1991-09-19 1991-09-19 Einwickel- und Einschachtelmaschine, vorzugsweise für Garnspulen oder dergleichen
ES91115923T ES2106753T3 (es) 1991-09-19 1991-09-19 Maquina para envolver con pelicula y embalar, en particular para bobinas de hilo y similares.
AT91115923T ATE154914T1 (de) 1991-09-19 1991-09-19 Einwickel- und einschachtelmaschine, vorzugsweise für garnspulen oder dergleichen

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP91115923A EP0532785B1 (de) 1991-09-19 1991-09-19 Einwickel- und Einschachtelmaschine, vorzugsweise für Garnspulen oder dergleichen

Publications (2)

Publication Number Publication Date
EP0532785A1 EP0532785A1 (de) 1993-03-24
EP0532785B1 true EP0532785B1 (de) 1997-07-02

Family

ID=8207167

Family Applications (1)

Application Number Title Priority Date Filing Date
EP91115923A Expired - Lifetime EP0532785B1 (de) 1991-09-19 1991-09-19 Einwickel- und Einschachtelmaschine, vorzugsweise für Garnspulen oder dergleichen

Country Status (4)

Country Link
EP (1) EP0532785B1 (de)
AT (1) ATE154914T1 (de)
DE (1) DE69126707T2 (de)
ES (1) ES2106753T3 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107128519A (zh) * 2017-03-31 2017-09-05 武汉健康之星餐具消毒有限公司 套装组合餐具自动装箱机械手及其装箱方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014221218A1 (de) 2014-10-20 2016-04-21 Krones Aktiengesellschaft Vorrichtung und Verfahren zum Umgang mit Artikeln
CN108974437B (zh) * 2018-09-27 2024-04-16 苏州精濑光电有限公司 一种装箱设备

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2641095A (en) * 1949-01-13 1953-06-09 Sutherland Paper Co Machine for packaging stacked hollow ware such as nested paper cups or the like
GB1214709A (en) * 1968-10-30 1970-12-02 Kleer Vu Ind Inc Packaging machine
GB1384682A (en) * 1973-06-27 1975-02-19 Voron Z Sint Kauchuka Im S M K Stacking machine
BE894318A (nl) * 1982-09-07 1983-01-03 Morel Ferdinand Verpakkingsmachine
JPS61115810A (ja) * 1984-11-05 1986-06-03 村田機械株式会社 コーン状物品の箱詰めロボット

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107128519A (zh) * 2017-03-31 2017-09-05 武汉健康之星餐具消毒有限公司 套装组合餐具自动装箱机械手及其装箱方法
CN107128519B (zh) * 2017-03-31 2019-02-05 武汉健康之星餐具消毒有限公司 套装组合餐具自动装箱机械手及其装箱方法

Also Published As

Publication number Publication date
ES2106753T3 (es) 1997-11-16
DE69126707D1 (de) 1997-08-07
ATE154914T1 (de) 1997-07-15
EP0532785A1 (de) 1993-03-24
DE69126707T2 (de) 1998-01-29

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