EP1151833B1 - Vorrichtung zum Positionieren von Bögen in einer Maschinenstation - Google Patents

Vorrichtung zum Positionieren von Bögen in einer Maschinenstation Download PDF

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Publication number
EP1151833B1
EP1151833B1 EP01110900A EP01110900A EP1151833B1 EP 1151833 B1 EP1151833 B1 EP 1151833B1 EP 01110900 A EP01110900 A EP 01110900A EP 01110900 A EP01110900 A EP 01110900A EP 1151833 B1 EP1151833 B1 EP 1151833B1
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EP
European Patent Office
Prior art keywords
sheet
gripping means
bearing surface
upright
fixed
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
EP01110900A
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English (en)
French (fr)
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EP1151833A3 (de
EP1151833A2 (de
Inventor
Fabio Bettinelli
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.)
Bobst Mex SA
Original Assignee
Bobst SA
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Filing date
Publication date
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Publication of EP1151833A2 publication Critical patent/EP1151833A2/de
Publication of EP1151833A3 publication Critical patent/EP1151833A3/de
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Publication of EP1151833B1 publication Critical patent/EP1151833B1/de
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Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • B65H5/14—Details of grippers; Actuating-mechanisms therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/44—Moving, forwarding, guiding material
    • B65H2301/443—Moving, forwarding, guiding material by acting on surface of handled material
    • B65H2301/4433—Moving, forwarding, guiding material by acting on surface of handled material by means holding the material
    • B65H2301/44331—Moving, forwarding, guiding material by acting on surface of handled material by means holding the material at particular portion of handled material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2403/00—Power transmission; Driving means
    • B65H2403/50—Driving mechanisms
    • B65H2403/53—Articulated mechanisms
    • B65H2403/531—Planar mechanisms
    • B65H2403/5311—Parallelogram mechanisms

Definitions

  • the present invention relates to a device for positioning leaves in a station of a leaf processing machine, comprising a mobile tablet for supporting at least one marginal area of a sheet, actuators means driving the tablet moving in its plan, and pinch means accompanying the tablet in the said displacement, able to grasp the said marginal area of a sheet between a organ clip-sheets and the tablet, and release it.
  • the leaves In machines for processing paper sheets, cardboard compact, corrugated cardboard, such as stationary presses multiple, the leaves must be positioned very precisely as well in the longitudinal direction than in the transverse direction in each of the stations they cross.
  • a transport device such as that a clamp bar, comprising a plurality of clamps mounted on a crossbar, secured to lateral chains, subsequently taking this sheet in the following machine processing stations, such as cutting station, waste ejection station and others.
  • Terms “forward”, “longitudinal”, “transverse” and “lateral” are used here by reference in the sense in which the leaves progress in the machine. In these stations, the problem of positioning the sheet is solved through the positioning of the shaping tools with respect to the stopping positions of the clamp bar. Precision and productivity of processing steps The following are therefore conditioned by the accuracy of the gripping.
  • Stacks of leaves are brought on pallets and introduced into a feeder.
  • the feeder ensures a regular feeding of the leaves towards the margin table, which causes the sheet sheets, allows their gripping and their introduction to the following stations.
  • the sheet is stuck on the margin table against front and side cleats by means of advancing members such as rollers or strips of materials elastic upper, descending in support on the table, or a pair of rollers arranged above and below the table.
  • advancing members such as rollers or strips of materials elastic upper, descending in support on the table, or a pair of rollers arranged above and below the table.
  • the front and side cleats used are arranged exactly compared to the references of the following stations.
  • the leaf is quickly thrust against the cleats by the advancing members, then seized by a clamp bar.
  • the cleats are then retracted and the clamp bar can pull the sheet in the next treatment station and position it precisely compared to the tools of the platinum of this station.
  • the problem of positioning is particularly delicate when the leaf has undergone one or more prior treatment (s), such as printing or creasing fold lines because the following treatments should be done very accurately with reference to the previous treatment. he it is therefore useful to equip the positioning devices with position correction systems.
  • DE-A-3916405 discloses a positioning device in which the cleats are motorized so that they can command a variation of their position and in which a print mark or other, resulting from prior treatment, can be identified by means of optoelectronic reading in order to adjust the position of the cleats, and therefore the sheet, directly according to the measured position of such mark.
  • lug positioning devices imply that each sheet is practically stopped during the entire duration of his jogging and adjustment, which significantly limits the rate of scrolling leaves in the machine.
  • Patent CH-A-693,378, published 15.07.2003 of the applicant describes a device positioning of sheets in the station of introduction of a machine of sheet processing, of the defined type of input, making it possible to operate this machine at significantly higher rates.
  • the clip-leaf organ present in the form of a transverse bar carrying fingers, the whole forming a comb arranged above the tablet, with studs side integral with the bar and articulated each at a single pivot point located at the mobile tablet.
  • the clip-leaf organ is controlled on the one hand by a spring under pressure arranged between the bar and the tablet, tending to press the fingers of the clip-leaf member against the tablet, and on the other hand by one or two control levers of the introduction station, connected by a telescopic pendulum rod at the rear of the bar, whose pushing the opening of the clip-leaf member by pivoting.
  • the positioning method according to CH 0671/99 uses a horizontal tablet, which is driven by actuators, for example linear electric motors, on the one hand in a movement back and forth longitudinal and secondly in complementary movements of correction in longitudinal and / or transverse and / or rotational translation around a vertical axis.
  • actuators for example linear electric motors
  • This process consists, from the tablet in position rear starting, to engage the pinching means of the sheet on the tablet and then order the actuators to advance the tablet and, if necessary, sideways and / or sideways, depending on the readings of the coordinates position of the sheet by optoelectronic means, performed during in advance of the tablet, so as to bring the front edge of the sheet into the clamps of a clip bar in a precise and predetermined position, to release the clamping means of the positioning device, then to bring the tablet back to the starting position.
  • the actuation of the opening control lever (s) of the clip-on member generates a shock, therefore a quasi-force instant; the center of inertia of this organ being distinct from its axis of pivoting, the resultant forces has a horizontal component that is exercised on the actuators.
  • the control lever of the bar of the clip-leaf member only exists on one side, its thrust on the bar via a connecting rod generates a moment of rotation which interferes with a rotation correction of the position of the sheet.
  • the cyclical appearance of a horizontal component of a force at the opening of the clip-sheet member may interfere with the setting of side linear motors, making the position correction system inoperative. In extreme cases, there may be a resonance between this parasitic force and these motors, causing a stuffing of the machine.
  • the object of the present invention is to overcome the above defects.
  • This goal is achieved in a device of the defined type of input by the the clip-on member is connected to the tablet by at least one articulation comprising a plurality of levers forming a parallelogram Speak clearly.
  • the implementation of the opening control of the clip-leaf organ hardly generates of horizontal parasitic force that may be exerted on the actuators of moving the tablet carrying the clip-on system.
  • the articulation may include a fixed amount, in solidarity with the tablet, accommodating an upper fixed pivot axis and an axis of lower fixed pivot, arranged substantially one above the other.
  • the clip-sheet member is connected to the pivot by a lever actuator and a return lever forming an articulated parallelogram.
  • the joint may in particular comprise a top lever actuator, articulated in rotation in its central part around the axis of upper fixed pivot, articulated in rotation at its first end to a control lever of the pinch means and at its second end to a movable upright, a lower return lever articulated in rotation at its first end around the lower fixed pivot axis and hinged in rotation at its second end at the lower end of said movable post, said mobile upright being integral with the clip-sheet member.
  • a spring piston acts permanently on the lever lower return, so as to apply the clip-leaf member on the tablet.
  • This type of articulation presents by nature a very slight radial play at axis level, which can, at the time of opening the clip-leaf member, cause a parasitic effect on the actuators moving the tablet.
  • the movable upright of the clip-leaf organ is connected to the fixed upright by a spring piston, articulated in rotation by its first end to said fixed amount and by its second end to the said moving amount.
  • This spring piston is preferably compressed in permanently.
  • the device comprises an articulation at each transverse end of the clip-leaf member, said clip-leaf member comprising a transverse beam and a plurality of fingers oriented towards the front of the device forming a first comb with the beam, arranged above the front edge of the tablet, the so-called front edge of the tablet presenting the profile of a second comb, complementary to the first comb, to pinch the said marginal area of a sheet between them.
  • the device according to the invention can comprise at minus a leaf spring, flexible in a vertical plane and rigid in the direction cross-section, connecting the clip-leaf member to a lateral upright integral with the Tablet.
  • the device may comprise a pair of leaf springs, polyester reinforced with fiberglass or simply steel spring, each fixed on the one hand to a substantially horizontal plate, secured to a said amount, and secondly to a plate secured to the end of the beam of the clip-leaf organ.
  • Figure 1 shows, in a 3/4 rear perspective view, the entire positioning device for gripping a press shaping.
  • a mobile tablet 1 is mounted on a frame 2 by via three actuator assemblies 3, 4, 5: the tablet 1 is articulated on three vertical pivots, a central pivot and two lateral pivots, respectively integral with three sliding carriages sliding on slides longitudinal and transverse.
  • the slides are supported by mobile bars comprising permanent magnets forming the rotor of linear electric motors whose stator rests on pedestals respectively in the center and on the lateral edges of the frame 2.
  • Such actuators with permanent magnets having a good dynamic performance, are available in commerce; they are for example marketed by Etel (Switzerland) under the reference LMA11 / 50.
  • the positioning device also comprises position detectors not shown in the figures, namely a pair of front edge detection cells of a sheet arranged transversely side by side and at least one side cell bar allowing detect the lateral edge of this same sheet.
  • the results of the readings of these cells are processed by a microprocessor that also knows the race of the tablet 1, determines the possible positioning error of the sheet relative to its theoretical position and calculates correction instructions addressed to the electric motors of the three actuator assemblies.
  • the correction of the basic back-and-forth motion can result in a longitudinal translation in more or less if the sheet is a little too much forward or backward, a transversal translation if the sheet is presented slightly off-center, or rotation, induced by translation differential actuators 3 and 5, if the sheet is slightly crooked.
  • the device stops in the corrected position in front of a bar of clamps open in the standby position, as shown in Figure 3, where a clamp P is shown, the front edge of the sheet being introduced into the clamps of the clamp bar.
  • the clamps of the clamp bar close and the organ Leaf gripper of the positioning device opens.
  • the tablet returns in rear starting position, linear motors returning to their positions respective neutrals. A new feeding cycle of a sheet can then to start.
  • the tablet 1 is attached to each of its lateral ends to a horizontal plate 6 which, on the one hand, accommodates a vertical axis 7 of an actuator group and on the other hand extends vertically upwards by a fixed amount 8, which is secured to the tablet.
  • a fixed amount 8 By convenience of language, the terms “fixed” and “mobile”, in the case of the joint, are used here by reference to the tablet 1, although this last is itself mobile in relation to the frame 2.
  • the amount 8 presents a slot 9 in the longitudinal direction of the device, in which is housed an upper actuating lever 10, which pivots around the fixed upright 8 about an upper fixed pivot axis 11, which axis can be made under shape of a smooth bushing passing through the two branches of the fixed upright and the upper lever actuation.
  • the lever 10 presents at its first end a pair of holes 12 axis on which articulates a lever of control of the pinching means, this articulation being able to take place via a connecting rod (not shown in the figures).
  • the upper actuating lever 10 is articulated, about an axis of rotation 13, to a mobile upright 14.
  • the axis of rotation 13 can itself be achieved by means of a smooth socket.
  • the amount mobile 14 is secured to the lateral ends of a transverse beam 15.
  • the transverse beam 15 carries fingers 16 oriented towards the front, regularly spaced, forming a comb with the transverse beam 15 and constituting therewith the clip-leaf member.
  • the amount 14 goes down, as can be seen on Figure 2; at its lower end, it is articulated in rotation about an axis horizontal 17 at the second end of a lower return lever 18, whose first end is articulated in rotation about an axis 19 fixed amount 8.
  • the shafts 17 and 19 can be made by means of smooth bushings.
  • the fixed amount 8, the upper actuating lever 10, the amount mobile 14 and the lower return lever 18 constitute a parallelogram Speak clearly.
  • the clip-leaf member secured to the upright 14 describes a translational movement.
  • this movement of translation can be considered as a vertical translation, because the axes 11 and 19 are located almost vertically one above the other and the movement of the actuating lever 10 is effected on either side of a perpendicular to a perpendicular to and connecting these two axes, on an angle relatively weak.
  • the return lever 18 carries a superior protrusion 20, itself carrying a side pin 21.
  • a lever of control (not shown) articulated at the axis 12, acts on the piston 22, via the articulated parallelogram, by overcoming the force of the spring 23, for open the clip-on organ.
  • the device comprises a second spring piston 24, articulated in rotation on the one hand to the fixed amount 8 and secondly to the moving amount 14 to be able to follow the deformations of the parallelogram.
  • the spring piston 24 is arranged substantially parallel to the levers 10 and 18, and the spring of this spring piston 24 is permanently compressed.
  • the device comprises two identical articulations, arranged symmetrically at both ends of the beam 15 of the clip-leaf member.
  • Two control lever systems (unrepresented) perform the same action simultaneously on both joints, so that the process of opening the clip-leaf organ does not generate rotational torque that could interfere with the positional corrections of the actuator assemblies.
  • the set of two articulations arranged on both sides of the clip-sheet member comprises eight smooth sockets, for two times four axes, allowing the translational movement of the clip-leaf member from bottom to high.
  • This arrangement confers by its nature a certain transversal clearance to the beam 15, between the two joints.
  • the device comprises on either side of the beam 15, a leaf spring 25 fixed by one of its ends to a fixing plate 26 substantially horizontal, come from a room with the fixed amount 8 or attached jointly to this one.
  • Each leaf spring 25 is fixed by its other end to another horizontal plate 27 integral with the movable beam.
  • this second horizontal plate 27 constitutes a protrusion at right angles to the mobile upright 14, itself integral with the beam 15.
  • the leaf spring 25 is made of polyester reinforced with fiberglass. It is obvious that this blade-spring 25 could be made from another material with similar elastic characteristics. This blade is flexible in a plane vertical and accompanies the movement of opening and closing of the organ sheet-gripping. However, it is rigid in the transverse direction and blocks a possible transverse sliding of the clip-on member on the sleeves constituting the axes of rotation of the articulated parallelograms.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Registering Or Overturning Sheets (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
  • Pile Receivers (AREA)
  • Manipulator (AREA)

Claims (10)

  1. Vorrichtung zum Positionieren von Bögen in einer Station einer Bogenverarbeitungsmaschine, umfassend eine bewegliche Platte (1), welche dazu eingerichtet ist, wenigsten einen Randbereich eines Bogens zu tragen, Betätigungsmittel (3, 4, 5), welche die Platte bei Verlagerung in ihrer Ebene antreiben, Klemmmittel, welche die Platte bei der Verlagerung begleiten und dazu in der Lage sind, den Randbereich eines Bogens zwischen einem Klemmmittel (15, 16) und der Platte zu ergreifen und ihn freizugeben, dadurch gekennzeichnet, dass das Klemmmittel vermittels wenigstens eines Gelenks mit der Platte verbunden ist, welches mehrere Hebel (10, 18) aufweist, die ein um horizontale Drehachsen (11, 13, 17, 19) gelenkig gelagertes Parallelogramm bilden.
  2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass das Gelenk eine feste, mit der Platte (1) fest verbundene Stütze (8) umfasst, welche eine obere feste Drehachse (11) und eine untere feste Drehachse (19) aufnimmt, welche im wesentlichen untereinander angeordnet sind.
  3. Vorrichtung nach Anspruch 2, dadurch gekennzeichnet, dass das Gelenk einen oberen Betätigungshebel (10) umfasst, welcher in seinem zentralen Bereich drehbar um die obere feste Drehachse (11) gelenkig gelagert ist, und welcher an seinem ersten Ende drehbar um eine Achse (12) an einem Steuerhebel der Klemmmittel und an seinem zweiten Ende (13) an einer beweglichen Stütze (14) gelenkig gelagert ist, und das Gelenk ebenfalls einen unteren Rückbewegungshebel (18) umfasst, welcher an seinem ersten Ende drehbar um die untere feste Drehachse (19) gelenkig gelagert ist (17) und an seinem zweiten Ende am unteren Ende der beweglichen Stütze drehbar gelenkig gelagert ist, wobei die bewegliche Stütze mit dem Bögen-Klemmmittel (15, 16) fest verbunden ist.
  4. Vorrichtung nach Anspruch 3, dadurch gekennzeichnet, dass das Gelenk einen Kolben (22) mit einer Feder (23) umfasst, welcher dauernd auf den unteren Rückbewegungshebel (18) wirkt, und zwar derart, dass das Bögen-Klemmmittel (15, 16) auf die Platte (1 ) angelegt wird.
  5. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass die mit dem Bögen-Klemmmittel (15, 16) fest verbundene, bewegliche Stütze (14) mit der festen Stütze durch einen zweiten Kolben mit Feder (24) verbunden ist, welcher an seinem ersten Ende drehbar an der festen Stütze (8) und an seinem zweiten Ende an der beweglichen Stütze (14) gelenkig gelagert ist.
  6. Vorrichtung nach Anspruch 5, dadurch gekennzeichnet, dass der Kolben mit Feder (24) dauernd komprimiert ist.
  7. Vorrichtung nach einem der vorhergehenden Ansprüche, gekennzeichnet durch das Vorhandensein eines solchen Gelenks an jedem Querrichtungsende des Bögen-Klemmmittels (15, 16), wobei das Bögen-Klemmmittel einen Querträger (15) und mehrere Finger (16) umfasst, welche zur Vorderseite der Vorrichtung orientiert sind und einen ersten Kamm mit dem Träger bilden, welcher über der vorderen Kante der Platte (1) angeordnet ist, wobei die vordere Kante der Platte ein Profil eines zweiten Kamms aufweist, welches komplementär zum ersten Kamm ist, um den Randbereich eines Bogens zwischen ihnen zu ergreifen.
  8. Vorrichtung nach Anspruch 7, dadurch gekennzeichnet, dass sie wenigstens ein in einer vertikalen Ebene flexibles und in Querrichtung steifes Federblatt (25) umfasst, welches das Bögen-Klemmmittel (15, 16) mit einer festen seitlichen Stütze (8) verbindet.
  9. Vorrichtung nach Anspruch 8, dadurch gekennzeichnet, dass sie ein Paar Federblätter (25) aus glasfaserverstärktem Polyester umfasst, wobei jedes Federblatt einerseits an einem im wesentlichen horizontalen, mit einer Stütze fest verbundenen Plättchen (26) und andererseits an einem fest mit dem Ende des Trägers (15) des Bögen-Klemmmittels verbundenen Plättchen (27) befestigt ist.
  10. Presse zur Bearbeitung von Papier- oder Pappebögen, dadurch gekennzeichnet, dass sie eine Positioniervorrichtung nach einem der vorhergehenden Ansprüche umfasst, welche zwischen dem Bogenzuführtisch und der Schneidestation angeordnet ist.
EP01110900A 2000-05-05 2001-05-05 Vorrichtung zum Positionieren von Bögen in einer Maschinenstation Expired - Lifetime EP1151833B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH8832000 2000-05-05
CH00883/00A CH693794A5 (fr) 2000-05-05 2000-05-05 Dispositif pour positionner des feuilles dans une station de machine.

Publications (3)

Publication Number Publication Date
EP1151833A2 EP1151833A2 (de) 2001-11-07
EP1151833A3 EP1151833A3 (de) 2003-10-22
EP1151833B1 true EP1151833B1 (de) 2005-03-02

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP01110900A Expired - Lifetime EP1151833B1 (de) 2000-05-05 2001-05-05 Vorrichtung zum Positionieren von Bögen in einer Maschinenstation

Country Status (13)

Country Link
US (1) US6637744B2 (de)
EP (1) EP1151833B1 (de)
JP (1) JP3408801B2 (de)
KR (1) KR100424121B1 (de)
CN (1) CN1206146C (de)
AT (1) ATE289899T1 (de)
AU (1) AU778553B2 (de)
BR (1) BR0101686B1 (de)
CA (1) CA2346276C (de)
CH (1) CH693794A5 (de)
DE (1) DE60109083T2 (de)
ES (1) ES2237510T3 (de)
TW (1) TW480215B (de)

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CH693794A5 (fr) * 2000-05-05 2004-02-13 Bobst Sa Dispositif pour positionner des feuilles dans une station de machine.
DE10204296A1 (de) * 2002-02-02 2003-08-14 Kolbus Gmbh & Co Kg Vorrichtung zum dreiseitigen Beschneiden von Druckprodukten
EP1522512B1 (de) * 2003-10-07 2006-03-08 Bobst S.A. Arbeitsstation einer Umwandlungsmaschine für plattenförmige Elemente
FR2901164B1 (fr) * 2006-05-16 2008-08-15 Aro Soc Par Actions Simplifiee Pince a enserrer des toles, utilisee en association avec un bras manipulateur, et a module d'equilibrage deporte
DE102010027119A1 (de) * 2010-07-14 2012-01-19 Heidelberger Druckmaschinen Ag Verfahren und Vorrichtung zum Positionieren von Bogen
CN105128508B (zh) * 2014-05-26 2018-10-09 海德堡印刷机械股份公司 用于印刷机的刮刀装置
US9446612B1 (en) 2015-12-11 2016-09-20 Xerox Corporation Multiple-gripper architecture for multi-sheet-length digital printing
CN109809236B (zh) * 2019-04-03 2024-02-09 广州市兴世机械制造有限公司 带材储料用的箱式收卷设备
CN110561899A (zh) * 2019-10-08 2019-12-13 山东沃丰新材料有限公司 一种彩钢板印花装置及工艺
BR112023017977A2 (pt) * 2021-03-08 2023-10-03 Bobst Mex Sa Conjunto de posicionamento e máquina de processamento de material de folha
KR102576579B1 (ko) * 2022-10-21 2023-09-11 (주)삼원 원단 파지용 클램프장치 및 이를 이용한 금형방법

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Also Published As

Publication number Publication date
CA2346276A1 (en) 2001-11-05
CN1322626A (zh) 2001-11-21
TW480215B (en) 2002-03-21
KR20010100982A (ko) 2001-11-14
JP3408801B2 (ja) 2003-05-19
JP2002003010A (ja) 2002-01-09
US20010040334A1 (en) 2001-11-15
CH693794A5 (fr) 2004-02-13
BR0101686B1 (pt) 2009-05-05
ATE289899T1 (de) 2005-03-15
AU4206901A (en) 2001-11-08
DE60109083D1 (de) 2005-04-07
DE60109083T2 (de) 2006-04-13
KR100424121B1 (ko) 2004-03-24
CN1206146C (zh) 2005-06-15
AU778553B2 (en) 2004-12-09
EP1151833A3 (de) 2003-10-22
EP1151833A2 (de) 2001-11-07
CA2346276C (en) 2004-11-30
ES2237510T3 (es) 2005-08-01
BR0101686A (pt) 2001-12-26
US6637744B2 (en) 2003-10-28

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