EP0639137B1 - Ensemble mobile d'impression et de pose d'etiquettes - Google Patents

Ensemble mobile d'impression et de pose d'etiquettes Download PDF

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Publication number
EP0639137B1
EP0639137B1 EP93911303A EP93911303A EP0639137B1 EP 0639137 B1 EP0639137 B1 EP 0639137B1 EP 93911303 A EP93911303 A EP 93911303A EP 93911303 A EP93911303 A EP 93911303A EP 0639137 B1 EP0639137 B1 EP 0639137B1
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EP
European Patent Office
Prior art keywords
package
printer
label
applicator assembly
assembly
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
EP93911303A
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German (de)
English (en)
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EP0639137A1 (fr
Inventor
Robert S. Overholt
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.)
Accu Sort Systems Inc
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Accu Sort Systems Inc
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Publication date
Application filed by Accu Sort Systems Inc filed Critical Accu Sort Systems Inc
Publication of EP0639137A1 publication Critical patent/EP0639137A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
    • B65C1/00—Labelling flat essentially-rigid surfaces
    • B65C1/02—Affixing labels to one flat surface of articles, e.g. of packages, of flat bands
    • B65C1/021—Affixing labels to one flat surface of articles, e.g. of packages, of flat bands the label being applied by movement of the labelling head towards the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
    • B65C9/00—Details of labelling machines or apparatus
    • B65C9/40—Controls; Safety devices
    • B65C9/42—Label feed control
    • B65C9/44—Label feed control by special means responsive to marks on labels or articles

Definitions

  • the present invention relates to a movable label printer-applicator. More particularly, it relates to a label printer-applicator which is used in conjunction with a package conveyor system to print and apply labels to packages. Most particularly, the present application finds use in the application of bar coded shipping labels having one face coated with a pressure sensitive adhesive.
  • Label applicators for applying labels to conveyor borne packages while they are in motion are known in the shipping industry.
  • Known applicator systems remove a printed label from its backing strip and retain it against an applicator grid until the article to be labeled reaches an appropriate position on the conveyor. At that point, a blast of gas, such as air, is used to transfer the label from the grid to the surface of the article.
  • U.S. Patent 4,255,220 discloses a label applicator in which a label receiver is mounted for movement on a supporting structure. A printed label received from a label dispenser is releasably retained on the label receiver. This receiver moves from a retracted position to an extended position in close proximity to the article to be labeled. A blast of air is used to transfer the label to the package. The label receiver returns to the retracted or home position where it receives the next label from the label dispensing means and the sequence is repeated.
  • the present invention provides an apparatus for labeling moving packages in which a carriage mounted, integrated printer-applicator head prints and applies the package label.
  • labeling information is input for a package which is then placed on conveyor system for transport.
  • Sensors check the package geometry or configuration and its location on the conveyor.
  • An edge sensor signals when the package has reached a predetermined position on the conveyor.
  • the package location and configuration data along with the labeling information are transmitted to a controller which receives and correlates the data.
  • the controller produces a label control signal which is transmitted to the labeling station.
  • Vertical and lateral drive motors position the carriage mounted, integrated printer-applicator assembly in response to the label control signal.
  • the printer-applicator (P-A) assembly both prints and applies the required label to the package.
  • the controller stores the P-A assembly position so that the P-A assembly moves directly to the next desired position as the sequence described above is repeated.
  • sensors are provided to signal the P-A assembly to translate vertically.
  • Figure 1 is a perspective view of a package labeling system incorporating the present invention.
  • Figure 2 is a perspective view of the labeling station assembly.
  • Figure 3 is a front elevation of the labeling station assembly.
  • Figure 4 is a side elevation of the labeling station assembly.
  • Figure 5 is a perspective of the printer-applicator assembly.
  • Figure 6 is an elevation of the printer-applicator assembly in the direction 6-6 on Figure 5.
  • Figure 7 is an elevation of the printer-applicator assembly in the direction 7-7 on Figure 5.
  • Figure 8 is a perspective view of a portion of the package labeling system which illustrates label application on a package.
  • Figure 9 is a flow diagram for package sensing and labeling in accordance with the preferred embodiment.
  • FIG. 1 there is shown a label applicator system 1 that has been mounted over a conveyor system 2 .
  • an operator's station 4 having a key pad 5 which is used to input shipping information for a given package.
  • the package (not shown) is then placed on the conveyor belt 3 for transport through the label applicator system 1 .
  • a sensor array 11 located in the housing 14 which is supported by framework 12 and straddles the conveyor belt 3 .
  • a primary controller 13 is located within the same housing 14 .
  • the sensor array 11 locates the leading and trailing edges of each package and transmits this data to the controller 13 .
  • the specific configuration of the sensor array 11 is not important to the present invention and there are a number of commercially available devices for this purpose. However, it is necessary to have some means of initial package identification.
  • a lateral location sensor 21 checks the lateral location of the package on the conveyor 3 and transmits a signal to the primary controller 13 .
  • a package profile sensor 31 Located at the third station 30 is a package profile sensor 31 .
  • This sensor 31 is comprised of light curtain emitter 32 and light curtain receiver 33 .
  • the emitter 32 and receiver 33 are mounted on opposing sides of the conveyor belt 3 in alignment with each other. As the package passes between the emitter 32 and receiver 33 , it is profiled and the data transmitted to the primary controller 13 .
  • the light curtain emitter 32 and receiver 33 are Part No's. XPS60018X and XPS60018R from Scientific Technologies, Inc., Corporate Headquarters, 31069 Genstar Road, Hayward, CA 94544.
  • the sensor 41 detects the leading edge of the approaching package. This establishes the package's arrival at a predetermined point along the conveyor 3 .
  • the primary controller 13 receives and correlates the package location and configuration data, and transmits a printer control signal to the labeling station assembly 51 .
  • Signals are transmitted through signal and transmission cables (not shown) which are housed in cable trough 6 that runs between the housing 14 and the labeling station assembly 51 .
  • Lighting supports 7 and lights 8 straddle the conveyor belt 3 at regular intervals and support the cable trough 6 .
  • Figures 2, 3 and 4 show more detailed views of the labeling station assembly 51 .
  • the labeling station 52 Before describing the operation of the labeling station 52 , it will be beneficial to describe the components which comprise the preferred assembly.
  • the assembly 51 is comprised of an open framework 63 which straddles the conveyor belt 3 .
  • the framework 63 is comprised of four vertical frame members 133 , 134 , 135 and 136 which define the four corners of the framework support assembly 63 .
  • the vertical frame members 133-136 are fixed in position on the sides of the conveyor 3 at 137 .
  • the longitudinal frame members 139 and 140 are respectively affixed to the vertical frame members 133 and 134 at upper and lower positions.
  • a second pair of longitudinal frame members 141 and 142 are affixed to the second pair of vertical frame members 136 and 137 in like fashion.
  • Straddling the conveyor belt 3 are the cross members 144 and 145 .
  • the cross member 144 connects the top vertical frame members 133 and 135 .
  • the cross member 145 connects the tops of the vertical frame members 134 and 136 .
  • An intermediate cross member 143 also connects the vertical frame members 133 and 135 at an intermediate position which is above the maximum expected package height
  • the framework 63 is essentially a box frame which straddles the conveyor 3 . While the specific construction is not important, it must be remembered that the frame 63 has to withstand rapid movement of the P-A assembly and must be sturdy enough to permit positive location of the P-A assembly over the conveyor 3 .
  • the linear actuators 146 and 147 are affixed to the respective longitudinal frame members 139 and 140 , and 141 and 142 , on either side of the conveyor and in front of the respective vertical frame member 133 and 135 .
  • the linear actuator 172 is horizontally attached, via a pair of mounts 173 , to the vertical linear actuators 146 and 147 .
  • the linear actuators 146 , 147 and 172 are Part No. 1251001 from Macron Dynamics, Inc., 405 Caredean Drive, Horsham, PA.
  • the carriage assembly 170 rides on the horizontal linear actuator 172 and is moved across the conveyor 3 by the lateral direction drive motor 178 .
  • Mounted on the lateral drive motor 178 is a rotary encoder or position sensor 179 which continually transmits the position of the carriage assembly 170 so it can be tracked by the secondary controller 160 .
  • the lateral drive motor 178 and the rotary encoder 179 are Part No. R34JENC-R2-NS-VS-00 from Pacific Scientific, Motor and Control Division, 4301 Kishwaukee Street, P.O. Box 106, Rockford, IL 61105-0106.
  • the horizontal linear actuator 172 and the carriage assembly 170 are raised and lowered on the vertical linear actuators 146 and 147 by the vertical drive motor 150 which is attached to the support assembly 63 by a motor support bracket 148 .
  • the drive pulley 151 on the vertical drive motor is coupled to the shaft pulley 156 by belt 158 .
  • This combination drives a transverse shaft 154 which engages the upper ends of vertical linear actuators 146 and 147 .
  • Rotary encoder or position sensor 157 tracks the turning of the transverse shaft 154 for the secondary controller 160 which controls the vertical drive motor 150 .
  • An electric brake 153 is attached to the opposing end of the transverse shaft as a safety feature.
  • the vertical drive motor 150 and rotary encoder 157 are Pacific Scientific, Motor and Control Division, Part No. R65HENA-R2-NS-VS-00.
  • the vertical drive brake 153 is Part No. 1-055-541-006BF from Rexnord, Stearns Division, 120 N. Broadway, Milwaukee, WI 53202.
  • the printer-applicator support bracket 174 is affixed to the carriage assembly and supports the printer-applicator assembly 200 .
  • the printer controller 202 Figure 4, is also attached to the carriage assembly 170 .
  • Mounted on the printer-applicator support bracket 174 above the P-A assembly 200 are a label supply reel 184 , which supplies labels on a tape 190 , and a take up spool 185 .
  • An external air supply line 164 extends from pneumatic line filter 163 to the head assembly 200 .
  • An external air supply is attached at connection 162 .
  • FIGS. 5, 6 and 7 are enlarged views of the P-A assembly 200 .
  • Contained inside the P-A housing 205 is a print head 204 , which receives the labels on the tape 190 , prints them and delivers printed labels 191 to the label dispenser 207 .
  • the printer 204 and the printer controller 202 are Part No's. 4524S-USPS from Sato America, Inc., 2761 Marine Way, Mountain View, CA 94043.
  • Attached to the P-A housing 205 above the dispenser 207 is a support bracket 210 .
  • a catch plate support 215 to which a catch plate 216 is pivotally mounted.
  • An air cylinder 211 is pivotally attached to the catch plate 216 with pin 213 . At its upper end, the air cylinder 211 is pivotally attached to the support bracket 210 .
  • An air supply line 220 supplies the air nozzle 221 which depends from the support bracket 210 over the label dispenser 207 .
  • Look-down sensor 222 and photo eye 224 are also mounted below the support bracket 210 .
  • Articulated cable carriers 188 and 189 see Figures 3 and 4, route cables and air lines (not shown) between the controller 160 and the P-A assembly 200 .
  • the printer control signal generated from the package configuration and location data is transmitted to the secondary controller 160 at the labeling station 50 .
  • This secondary controller 160 controls vertical drive motor 150 and lateral drive motor 178 to reposition the carriage assembly 170 .
  • the printer-applicator head assembly 200 is located 1.25 to 3.8 centimeters (one-half to one and one-half inches) above the package surface.
  • the look-down sensor 222 confirms the P-A assembly position.
  • the primary controller 13 commands, through the printer controller 202 , the print head 204 to print a shipping label based on the shipping data. With the preferred assembly, the printing can be done on the move, since a home base location is not needed, and the label can be applied almost simultaneously upon package arrival.
  • the labeling dispenser 207 peels the label 191 off its backing 192 , and a blast from air nozzle 221 blows the label onto the package. The package then proceeds under foam roller assembly 186 which rolls over the label to ensure that it is firmly seated on the package.
  • Strike sensors 180 are mounted on the support brackets 182 to confirm that the arriving package has not tipped or shifted into a position that will cause it to strike the P-A assembly 200 . If a package has shifted, the strike sensors signal the secondary controller to raise the P-A assembly 200 to avoid possible damage to the assembly and/or the package.
  • the controller 13 activates the air cylinder 211 to swing the catch plate 216 into position under the label dispenser 207 .
  • the label 191 is then blown onto the catch plate 216 . If the catch plate 216 is full, photo eye 224 signals the controller that operator assistance is required.
  • the P-A assembly 200 can both print and apply a shipping label, it is not necessary to have the P-A assembly 200 return to a retracted or home position before printing and applying a label to the next package on the conveyor 3 .
  • the P-A assembly 200 proceeds directly from its last position to the next desired position based on the location and configuration data collected for the next package on the conveyor. In the preferred embodiment, the P-A assembly prints the label as it travels to the next desired position.
  • the P-A assembly 200 utilizes labels 191 as described in U.S. Patent No. 4,724,166.
  • the label 191 can be peeled away from the clear adhesive layer that affixes it to the package without damage to or obstruction of any information which may be under the label. This makes the label position on the package inconsequential to other information on the package surface. Once the package has reached its destination, the label 191 can be removed, leaving only its clear adhesive layer behind.
  • the first package 71 is an unevenly profiled soft pack envelope which simulates a sweater. It is shown on the conveyor belt 3 at a position past the labeling station assembly 51 with a bar code printed label 191 successfully applied.
  • a second package 72 shown at the labeling station 51 under the P-A assembly 200 is a triangular prism with the label 191 applied.
  • a third package 73 is shown between light curtain emitter 32 and receiver 33 .
  • the third package 173 is an over stuffed soft pack envelope.
  • maximum package size is limited to 46 centimeters (18 inches) high and the 61 centimeters (24 inch) conveyor width.
  • other configurations are possible. Due to the present package identification and tracking system, the label applicator assembly is sensitive to package geometry and location. Thus, each package is treated individually without the need for the P-A assembly 200 to return to some fixed home base. These features combine to provide both increased speed and increased flexibility.
  • the conveyor system 2 is made up of a series of individually controllable belt segments which operate at speeds that increase along the conveyor from approximately 70 to 120 meters per second (240 to 400 feet per minute) at the P-A assembly 200 .
  • the primary controller 13 regulates the flow of packages through the system 1 based on the time required for inputting of labeling information as well as its completeness, the translation and print time required by the P-A assembly, and the position of other packages preceding the current package on the conveyor.
  • Figure 9 shows a information flow diagram for the preferred embodiment of the disclosed labeling apparatus system.
  • the diagram shows the operations performed in respect to the package flow along the conveyor path. It will be understood by those skilled in the art that some operations may occur simultaneously and that the sequence of events is not limited to this example.
  • Box 5 shows the entry of labeling data and a secondary operation, designated box 5.1 , shows the package being placed on the conveyor.
  • Boxes 10 , 20 , 30 and 40 show the various package configuration and position detecting operations that occur at stations 10 , 20 , 30 and 40 respectively as previously discussed.
  • the position and configuration data is transmitted to the primary controller 13 , shown in box 70 .
  • the secondary controller 160 and the printer controller 202 are also shown in box 70 with the primary controller and are referred to collectively.
  • the controller receives the package location and configuration data, correlates it and determines the required translation for the P-A assembly 200 to intercept the package.
  • a strike sensor shown in box 50.1 checks that the package does not exceed maximum height and/or position requirements. If there is a problem, the sensor results in a signal to the controller box 70 which moves the P-A assembly to a maximum height, stops the conveyor to avoid a collision and activates the label catch plate to remove the unused label. If the package does not exceed maximum height, the controller signals the P-A assembly 200 , as shown in box 50.2 , to label the package as it proceeds down the conveyor.
  • the present label printer-applicator apparatus allows for faster processing of packages than those label applicators previously known.

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  • Labeling Devices (AREA)

Claims (12)

  1. Machine (1) qui applique des étiquettes sur des emballages successifs qui défilent sur un transporteur (3) au droit d'une station d'étiquetage (50) sur la base d'un signal d'information d'étiquetage engendré pour chaque emballage, le dispositif (1) comprenant un ensemble imprimante-applicateur (200) ayant un moyen d'application d'étiquettes (207, 221), un moyen détecteur (21, 31, 41) servant à déterminer des données d'emplacement et de configuration d'emballage et un contrôleur (13, 160) servant à coordonner les données d'emplacement et de configuration d'emballage avec l'information d'étiquetage pour engendrer chaque signal d' information d'étiquetage, la machine (1) étant caractérisée en ce que l'ensemble imprimante-applicateur (200) possède aussi un moyen d'impression (202, 204) et en ce que la machine (1) comprend en outre un détecteur ou des détecteurs (157, 179) de position par lequel ou lesquels la position de l'ensemble imprimante-applicateur (200) peut être vérifiée, et des moyens d'entraînement (150, 178) servant à déplacer l'ensemble imprimante-applicateur (200) verticalement et latéralement selon le besoin, sous l'effet desquels, en réponse au signal d'information d'étiquetage pour un premier emballage l'ensemble imprimante-applicateur (200) vent se placer dans un premier emplacement et intercepte le premier emballage alors qu'il défile sur le transporteur au droit de la station d'étiquetage (50), imprime une première étiquette, et applique la première étiquette sur l'emballage et, en réponse à l'information d'étiquetage pour un emballage suivant, l'ensemble imprimante-applicateur (200) se déplace verticalement et latéralement, selon le besoin, pour passer directement du premier emplacement qui est défini par le détecteur ou les détecteurs de position (157, 179) à un emplacement suivant, et intercepte et étiquette l'emballage suivant alors qu'il défile sur le transporteur.
  2. Système selon la revendication 1, dans lequel l'ensemble imprimante-applicateur (200) est monté sur un ensemble chariot (170) et se déplace tant verticalement que latéralement dans un plan fixe perpendiculaire au trajet du transporteur (3).
  3. Système selon la revendication 2, dans lequel des actionneurs linéaires (146, 147, 172) placent l'ensemble imprimante-applicateur (200) monté sur chariot (170) en position pour intercepter les emballages.
  4. Système selon une quelconque des revendications précédentes, dans lequel l'ensemble imprimante-applicateur (200) imprime l'étiquette d'emballage alors qu'il se place en position pour intercepter les emballages.
  5. Système selon une quelconque des revendications précédentes et la revendication 2, dans lequel une bobine débitrice d'étiquettes (184), montée sur l'ensemble chariot (170), débite des étiquettes vierges à l'ensemble imprimante-applicateur (200) et une bobine réceptrice (185), montée sur l'ensemble chariot (170), récupère le ruban support usé.
  6. Système selon une quelconque des revendications précédentes, dans lequel un moteur d'entraînement rotatif codé (150, 157) active des actionneurs linéaires (146, 147) montés verticalement et un moteur d'entraînement rotatif codé (178, 179) active un actionneur linéaire (172) monté horizontalement ; les moteurs codés fournissent des données de suivi au contrôleur (13, 160) qui reçoit et met en corrélation les données et les signaux de commande de sortie pour positionner l'ensemble imprimante-applicateur (200) avec précision alors qu'il passe directement d'une première position de fourniture d'étiquettes à une position de fourniture d'étiquettes suivante, dans lequel les actionneurs linéaires (146, 147, 172) peuvent entraîner ensemble l'ensemble imprimante-applicateur tant verticalement que latéralement.
  7. Système selon une quelconque des revendications précédentes, dans lequel l'ensemble imprimante-applicateur (200) se déplace pour intercepter des emballages successifs sans retourner à une position de repos.
  8. Système selon une quelconque des revendications précédentes, dans lequel des détecteurs de heurt (180) sont montés devant l'ensemble imprimante-applicateur (200) pour détecter si une position d'emballage le heurte et, en réponse à la détection d'un tel emballage, transmettre un signal au contrôleur (13, 160) qui fait monter l'ensemble imprimante-applicateur (200) et arrête le transporteur (3).
  9. Système selon une quelconque des revendications précédentes et la revendication 6, dans lequel une plaque de réception (216) située sur l'ensemble imprimante-applicateur (200) est actionnée par le contrôleur (13, 160) pour intercepter une étiquette éventuelle qui ne peut pas être correctement appliquée sur l'emballage.
  10. Procédé pour actionner un système (1) d'étiquetage d'emballages qui comprend les phases consistant à :
    (a) réaliser un système (3) transporteur d'emballages muni d'un moyen servant à entrer des données (5), d'une pluralité de détecteurs (31, 41) de géométrie et d'emplacement des emballages, d'un contrôleur (13, 160), et d'étiquettes :
    (b) entrer des données d'étiquetage pour une série d'emballages situés sur le transporteur (3) ;
    (c) transmettre les données d'étiquetage au contrôleur (13) ;
    (d) détecter la géométrie et la position de l'emballage situé sur le transporteur (3) pour chacun des emballages successifs ;
    (e) transmettre les données de géométrie et de position des emballages au contrôleur (13) pour chacun des emballages successifs ;
    (f) mettre les données de géométrie et de position des emballages en corrélation avec les données d'étiquetage ;
    (g) transmettre un signal d'information d'étiquette à l'imprimante-applicateur (200) pour chacun des emballages successifs ; et
    (h) imprimer et appliquer une étiquette conformément au signal d'information d'étiquette ;
       le procédé étant caractérisé en ce qu'il comprend en outre les phases consistant à :
    (i) réaliser un ensemble imprimante-applicateur (200) d'étiquettes mobile, intégré, monté sur chariot (170), placé le long du trajet du transporteur, un moyen d'entraînement vertical (150) muni d'un codeur rotatif correspondant (157) et un moyen d'entraînement horizontal (178) muni d'un codeur rotatif correspondant (179) pour le mouvement de l'ensemble imprimante-applicateur (200) ;
    (j) suivre la position de l'ensemble imprimante-applicateur (200) à l'aide des codeurs rotatifs (157, 179) ;
    (k) commander la position horizontale et verticale de l'ensemble imprimante-applicateur (200) sur la base des données de position pour chacun des emballages successifs ;
    (l) déplacer l'ensemble imprimante-applicateur (200) verticalement, latéralement dans ces deux directions pour intercepter chacun des emballages successifs directement sur la base de la position d'étiquetage de l'emballage précédent ; et
    (m) imprimer et appliquer une étiquette à une position prédéterminée sur chacun des emballages successifs conformément au signal d'information d'étiquette respectif, l'impression et l'application étant exécutées par ledit ensemble imprimante-applicateur (200) ;
  11. Procédé selon la revendication 10, dans lequel les phases consistant à déplacer l'ensemble imprimante-applicateur (200) et à imprimer l'étiquette sont exécutées simultanément.
  12. Procédé selon, soit la revendication 10, soit la revendication 11, comprenant en outre :
    réaliser une plaque de réception (216) associée à l'ensemble imprimante-applicateur (200) ; et
    actionner la plaque de réception (216) pour intercepter une étiquette éventuelle qui ne peut pas être correctement appliquée sur l'emballage.
EP93911303A 1992-05-13 1993-05-13 Ensemble mobile d'impression et de pose d'etiquettes Expired - Lifetime EP0639137B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US88246892A 1992-05-13 1992-05-13
US882468 1992-05-13
PCT/US1993/004556 WO1993023292A1 (fr) 1992-05-13 1993-05-13 Ensemble mobile d'impression et de pose d'etiquettes

Publications (2)

Publication Number Publication Date
EP0639137A1 EP0639137A1 (fr) 1995-02-22
EP0639137B1 true EP0639137B1 (fr) 1997-08-06

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EP93911303A Expired - Lifetime EP0639137B1 (fr) 1992-05-13 1993-05-13 Ensemble mobile d'impression et de pose d'etiquettes

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EP (1) EP0639137B1 (fr)
JP (1) JPH07507983A (fr)
AT (1) ATE156442T1 (fr)
AU (1) AU670091B2 (fr)
CA (1) CA2138514A1 (fr)
DE (1) DE69312932T2 (fr)
WO (1) WO1993023292A1 (fr)

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CN113955267B (zh) * 2021-10-29 2023-04-18 湖南贝恩叮当猫婴童用品有限公司 一种环保的纸尿裤生产用贴标装置

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Also Published As

Publication number Publication date
ATE156442T1 (de) 1997-08-15
AU4248493A (en) 1993-12-13
JPH07507983A (ja) 1995-09-07
CA2138514A1 (fr) 1993-11-25
EP0639137A1 (fr) 1995-02-22
DE69312932D1 (de) 1997-09-11
AU670091B2 (en) 1996-07-04
DE69312932T2 (de) 1997-12-11
WO1993023292A1 (fr) 1993-11-25

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