EP1798694B1 - Pick mechanism - Google Patents
Pick mechanism Download PDFInfo
- Publication number
- EP1798694B1 EP1798694B1 EP06255998A EP06255998A EP1798694B1 EP 1798694 B1 EP1798694 B1 EP 1798694B1 EP 06255998 A EP06255998 A EP 06255998A EP 06255998 A EP06255998 A EP 06255998A EP 1798694 B1 EP1798694 B1 EP 1798694B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- pick
- media
- action
- motor
- sheet media
- 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 - Fee Related
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H3/00—Separating articles from piles
- B65H3/08—Separating articles from piles using pneumatic force
- B65H3/0808—Suction grippers
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07D—HANDLING OF COINS OR VALUABLE PAPERS, e.g. TESTING, SORTING BY DENOMINATIONS, COUNTING, DISPENSING, CHANGING OR DEPOSITING
- G07D11/00—Devices accepting coins; Devices accepting, dispensing, sorting or counting valuable papers
- G07D11/10—Mechanical details
- G07D11/16—Handling of valuable papers
- G07D11/165—Picking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2406/00—Means using fluid
- B65H2406/30—Suction means
- B65H2406/34—Suction grippers
- B65H2406/341—Suction grippers being oscillated in arcuate paths
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2513/00—Dynamic entities; Timing aspects
- B65H2513/40—Movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2555/00—Actuating means
- B65H2555/20—Actuating means angular
- B65H2555/26—Stepper motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
- B65H2557/20—Calculating means; Controlling methods
- B65H2557/24—Calculating methods; Mathematic models
- B65H2557/242—Calculating methods; Mathematic models involving a particular data profile or curve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
- B65H2701/19—Specific article or web
- B65H2701/1912—Banknotes, bills and cheques or the like
Definitions
- This invention relates to a pick mechanism for use in handling sheet media, in particular but not exclusively sheet media including paper media such as currency notes.
- FIG. 1 A prior art example is shown in Figure 1 and comprises one or more suction cups mounted on a pivoting arm.
- the suction cup is brought into contact with the sheet media (usually the top sheet of a stack of sheet media), a vacuum is applied, and the suction cup is moved away with the media sheet held thereto by suction.
- a cam member 104 bearing a cam track 103 is used to control the motion of an arm 108 on which is mounted a suction cup 106.
- the cam member 104 is arranged to rotate in one direction to bring the suction cup 106 into contact with an item of sheet media, to form a tight seal therewith and apply a vacuum.
- the continued rotation of the cam member 104 lifts the sheet media away from the stack using suction and feed it into a transport mechanism 128 comprising rollers.
- the suction is released to allow the media to be carried away by the rollers.
- a problem associated with the prior art is that a particular cam is required for a particular media for the following reasons.
- ATMs include a plurality of pick mechanisms so that different denominations of currency notes can be dispensed from stacks of notes of that denomination.
- modules typically four modules are provided, two of which may be dedicated to picking from stacks of twenty-pound notes and the other two of which may be dedicated to picking from stacks of ten-pound notes.
- each module has a separate pick mechanism.
- the desirable shape for a cam track is determined according to the sheet media.
- the suction cup 106 must be held against a note with enough force and for long enough to form a good seal behind which a partial vacuum is formed.
- the prior art mechanism is also limited in that there is little control over the pick action otherwise known as the pick cycle.
- the force of contact with the sheet media and the length of time for which contact is held in order to form a seal is a function of the cam track 103 used. If there is a 'pick failure', which may for example occur if there is a hole in sheet media so that a vacuum is not formed, or the sheet media becomes jammed within its cassette, then the same pick action will simply repeat, with little extra chance of success.
- UK patent application number GB 2 353 989 and US patent number 5,630,582 disclose exemplars of prior art pick mechanisms.
- a pick mechanism for picking sheet media according to claim 1.
- the pick mechanism is able to adapt to provide different pick action for picking media as required and therefore a pick mechanism could be re-tasked without requiring replacement of any physical element of the mechanism.
- a machine built to one specification, with identical hardware parts may be used with a variety of media. This simplifies production of pick mechanism.
- the invention provides a 'software' cam, which can be altered by the control circuitry in place of the prior art physical cam.
- the pick action is determined according to characteristics of the sheet media with which the pick mechanism is intended to operate.
- the characteristics may be one or more of the following: density of media, substrate, weight of media, quality of media, dimensions or the like.
- the control circuitry is arranged to determine a new pick action following a failed pick attempt.
- the new pick action may comprise one or more of: holding the pick means against the sheet media for longer, holding the pick means against the sheet media with greater pressure than in failed pick attempt, agitating the sheet media with the pick means.
- the motor is a stepping motor.
- a stepping motor provides an advantage over prior art Direct Current (DC) motors as its action may be more precisely controlled.
- DC Direct Current
- a method of picking sheet media including performing a first pick action and, if the action is unsuccessful, performing a second pick action.
- This is advantageous as it provides the possibility of varying the pick action in response to occasional pick failures due to, for example, a hole in an item of sheet media or an item of sheet media becoming trapped within a dispensing mechanism.
- the second pick action may vary from the first pick action in the force with which a pick means is held against an item of sheet media, the length of time for which it is held there, movement of the pick means once in contact with the pick means or the like.
- a pick action is carried out by applying a waveform to a motor.
- the motor is a stepper motor.
- a stepper motor is more precisely controllable than other forms of motor such as a DC motor.
- the method may be implemented by the pick mechanism of the first aspect of the invention.
- an Automated Teller Machine comprising at least one pick mechanism according to the first aspect of the invention.
- Figure 1 shows a prior art of a cash machine pick mechanism 100 comprising a pick means 102 arranged to pick currency notes held in a cash cassette 101.
- the pick means 102 comprises a suction cup 106 which is mounted on a pivoting arm 108.
- the suction cup 106 is connected to a pump (not shown).
- the pivoting arm 108 is mounted eccentrically to a point 114 on a rotating disc 116, which comprises also a gear section 118.
- the mechanism further comprises a cam member 104 bearing a cam track 103.
- a driver arm 112 is mounted at a biased mounting point 113 within the mechanism 100, which urges the driver arm 112 towards the centre of the cam member 104.
- the driver arm 112 comprises a stud 115 which co-operates with the cam track 103 and a driver gear section 117 which co-operates with the gear section 118 of the rotating disc 116.
- the cam member 104 is arranged to rotate in one direction to bring the suction cup 106 into contact with an item of sheet media, to form a tight seal therewith and apply a vacuum. The continued rotation of the cam member 104 lifts the sheet media away from the stack using suction and feeds it into a transport mechanism 128 comprising rollers.
- the mechanism 100' of Figure 2 in which features in common with Figure 1 are labeled with like numbers, comprises a stepper motor 200 controlled by control circuitry 202.
- the stepper motor 200 acts on the stud 115 of the driver arm 112.
- the control circuitry 202 applies a pick action as a waveform 300, such as that shown in Figure 3 , to the motor 200.
- the waveform 300 has been determined according to the intended media type to be dispensed (usually currency, so this will include a consideration of the note type in that country, and the denomination that the unit 100 is expected to dispense).
- the waveform 300 includes a first section, an approximately linear wave, increasing with time or with rotation of the motor, section A, which when applied to the motor 200 results in the suction cup being brought into contact with the sheet media.
- the steepness of this section represents the force with which the suction cup 106 hits the sheet media and the height of this section determines how hard the suction cup 106 is held against the sheet media.
- a second section B is approximately flat, providing the length of time that the suction cup 106 is held against the media whilst the partial vacuum is formed.
- the motor 200 acts on the stud 115 moving the driven arm 112.
- the control circuitry 202 the causes the motor 200 to control the displacement of the stud 115 against the bias of the driven arm 112 and according to the wave form shown in Figure 3 .
- the driver gear section 117 co-operates with the gear section 118 on the rotating disc 116, causing the point 114 at which the pivoting arm 108 is held to move such that the suction cup 106 is first brought into contact with the uppermost sheet in a stack of sheets stored in the cash tray then held there while a partial vacuum is formed by the pump.
- the motor then allows the stud 115 to lower under the action of the bias and the gear portion 118 on the rotating disc 116 moves the suction cup 106 away from the cash tray with the sheet held thereto by suction.
- the sheet is then transported into the transfer mechanism 128 and carried away, for example in order to be dispensed to a user of the cash machine.
- the control circuitry 202 determines a new pick action and produces a waveform 300 corresponding to that pick action to be applied to the motor 200.
- This waveform 300 will hold the suction cup 106 against the sheet for longer (i.e. section B of the wave form will be longer) and with more pressure (i.e. section A will be steeper and end higher). If this attempt fails, a further waveform is calculated.
- This waveform will include an oscillating portion in section B, where the suction cup is against the sheet in an attempt to agitate the sheet, which may have become stuck.
Description
- This invention relates to a pick mechanism for use in handling sheet media, in particular but not exclusively sheet media including paper media such as currency notes.
- Pick mechanisms for transferring sheet media are known. A prior art example is shown in
Figure 1 and comprises one or more suction cups mounted on a pivoting arm. The suction cup is brought into contact with the sheet media (usually the top sheet of a stack of sheet media), a vacuum is applied, and the suction cup is moved away with the media sheet held thereto by suction. As is illustrated inFigure 1 , acam member 104 bearing acam track 103 is used to control the motion of anarm 108 on which is mounted asuction cup 106. Thecam member 104 is arranged to rotate in one direction to bring thesuction cup 106 into contact with an item of sheet media, to form a tight seal therewith and apply a vacuum. The continued rotation of thecam member 104 lifts the sheet media away from the stack using suction and feed it into atransport mechanism 128 comprising rollers. The suction is released to allow the media to be carried away by the rollers. - A problem associated with the prior art is that a particular cam is required for a particular media for the following reasons.
- Taking the example of an Automated Teller Machine (ATM), in which the media comprises currency notes, most ATMs include a plurality of pick mechanisms so that different denominations of currency notes can be dispensed from stacks of notes of that denomination. In the UK, typically four modules are provided, two of which may be dedicated to picking from stacks of twenty-pound notes and the other two of which may be dedicated to picking from stacks of ten-pound notes. In order that notes can be dispensed, each module has a separate pick mechanism. The desirable shape for a cam track is determined according to the sheet media. In an ATM, the
suction cup 106 must be held against a note with enough force and for long enough to form a good seal behind which a partial vacuum is formed. However, it is desirable that the notes are dispensed quickly and it is important that thesuction cup 106 is not held against a stack of note for so long that two notes are picked up. If a pick module is to be re-tasked to deal with different media, thecam member 104 must usually be replaced. - The prior art mechanism is also limited in that there is little control over the pick action otherwise known as the pick cycle. For example, the force of contact with the sheet media and the length of time for which contact is held in order to form a seal is a function of the
cam track 103 used. If there is a 'pick failure', which may for example occur if there is a hole in sheet media so that a vacuum is not formed, or the sheet media becomes jammed within its cassette, then the same pick action will simply repeat, with little extra chance of success. UK patent application numberGB 2 353 989 US patent number 5,630,582 disclose exemplars of prior art pick mechanisms. - According to a first aspect of the present invention, there is provided a pick mechanism for picking sheet media according to claim 1.
- This is advantageous as the pick mechanism is able to adapt to provide different pick action for picking media as required and therefore a pick mechanism could be re-tasked without requiring replacement of any physical element of the mechanism. Additionally, a machine built to one specification, with identical hardware parts, may be used with a variety of media. This simplifies production of pick mechanism. In effect, the invention provides a 'software' cam, which can be altered by the control circuitry in place of the prior art physical cam.
- In one embodiment, the pick action is determined according to characteristics of the sheet media with which the pick mechanism is intended to operate. The characteristics may be one or more of the following: density of media, substrate, weight of media, quality of media, dimensions or the like. Even considering a limited media type such as currency, there can be significant variations within a single currency type in terms of the sizes and weights of notes. Between different countries, differences in note type are more marked. For example, Japanese currency is shiny and resists attachment to suction cups. US currency is more readily picked up by suction cups.
- Preferably, the control circuitry is arranged to determine a new pick action following a failed pick attempt. The new pick action may comprise one or more of: holding the pick means against the sheet media for longer, holding the pick means against the sheet media with greater pressure than in failed pick attempt, agitating the sheet media with the pick means. This is an improvement over the prior art in that, in prior art machines, the shape of the cam shaft defined the pick action and therefore a new pick action could only be implemented by changing the cam. This is not practical following each failed pick attempt (which may, for example, be due to a tear in a note rather than a poorly chosen cam track).
- Preferably, the motor is a stepping motor. Such a motor provides an advantage over prior art Direct Current (DC) motors as its action may be more precisely controlled.
- According to a second aspect of the present invention, there is provided a method of picking sheet media including performing a first pick action and, if the action is unsuccessful, performing a second pick action.
- This is advantageous as it provides the possibility of varying the pick action in response to occasional pick failures due to, for example, a hole in an item of sheet media or an item of sheet media becoming trapped within a dispensing mechanism.
- The second pick action may vary from the first pick action in the force with which a pick means is held against an item of sheet media, the length of time for which it is held there, movement of the pick means once in contact with the pick means or the like.
- Preferably, a pick action is carried out by applying a waveform to a motor. This is advantageous as it provides an easily modified pick action control means. In a preferred embodiment the motor is a stepper motor. A stepper motor is more precisely controllable than other forms of motor such as a DC motor.
- The method may be implemented by the pick mechanism of the first aspect of the invention.
- According to a third aspect of the invention, there is provided an Automated Teller Machine comprising at least one pick mechanism according to the first aspect of the invention.
- Embodiments of the present invention will now be described, by way of example only, and with reference to the accompanying drawings, of which
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Figure 1 shows a prior art cash machine pick mechanism; -
Figure 2 shows a cash machine pick mechanism according to one embodiment of the present invention; and -
Figure 3 shows an example of a waveform that the control circuitry of a pick mechanism according to one embodiment of the present invention. -
Figure 1 shows a prior art of a cashmachine pick mechanism 100 comprising apick means 102 arranged to pick currency notes held in acash cassette 101. The pick means 102 comprises asuction cup 106 which is mounted on apivoting arm 108. Thesuction cup 106 is connected to a pump (not shown). Thepivoting arm 108 is mounted eccentrically to apoint 114 on a rotatingdisc 116, which comprises also agear section 118. The mechanism further comprises acam member 104 bearing acam track 103. - A
driver arm 112 is mounted at abiased mounting point 113 within themechanism 100, which urges thedriver arm 112 towards the centre of thecam member 104. Thedriver arm 112 comprises astud 115 which co-operates with thecam track 103 and adriver gear section 117 which co-operates with thegear section 118 of the rotatingdisc 116. Thecam member 104 is arranged to rotate in one direction to bring thesuction cup 106 into contact with an item of sheet media, to form a tight seal therewith and apply a vacuum. The continued rotation of thecam member 104 lifts the sheet media away from the stack using suction and feeds it into atransport mechanism 128 comprising rollers. - The mechanism 100' of
Figure 2 , in which features in common withFigure 1 are labeled with like numbers, comprises a stepper motor 200 controlled bycontrol circuitry 202. The stepper motor 200 acts on thestud 115 of thedriver arm 112. - In use of the mechanism 100', the
control circuitry 202 applies a pick action as awaveform 300, such as that shown inFigure 3 , to the motor 200. Thewaveform 300 has been determined according to the intended media type to be dispensed (usually currency, so this will include a consideration of the note type in that country, and the denomination that theunit 100 is expected to dispense). - The
waveform 300 includes a first section, an approximately linear wave, increasing with time or with rotation of the motor, section A, which when applied to the motor 200 results in the suction cup being brought into contact with the sheet media. The steepness of this section represents the force with which thesuction cup 106 hits the sheet media and the height of this section determines how hard thesuction cup 106 is held against the sheet media. A second section B is approximately flat, providing the length of time that thesuction cup 106 is held against the media whilst the partial vacuum is formed. - When a media sheet is requested, the motor 200 acts on the
stud 115 moving the drivenarm 112. Thecontrol circuitry 202 the causes the motor 200 to control the displacement of thestud 115 against the bias of the drivenarm 112 and according to the wave form shown inFigure 3 . As thestud 115 is raised, thedriver gear section 117 co-operates with thegear section 118 on therotating disc 116, causing thepoint 114 at which thepivoting arm 108 is held to move such that thesuction cup 106 is first brought into contact with the uppermost sheet in a stack of sheets stored in the cash tray then held there while a partial vacuum is formed by the pump. The motor then allows thestud 115 to lower under the action of the bias and thegear portion 118 on therotating disc 116 moves thesuction cup 106 away from the cash tray with the sheet held thereto by suction. - The sheet is then transported into the
transfer mechanism 128 and carried away, for example in order to be dispensed to a user of the cash machine. - In the event that a pick attempt fails (i.e. the sheet is not carried away by the suction cup 106), the
control circuitry 202 determines a new pick action and produces awaveform 300 corresponding to that pick action to be applied to the motor 200. Thiswaveform 300 will hold thesuction cup 106 against the sheet for longer (i.e. section B of the wave form will be longer) and with more pressure (i.e. section A will be steeper and end higher). If this attempt fails, a further waveform is calculated. This waveform will include an oscillating portion in section B, where the suction cup is against the sheet in an attempt to agitate the sheet, which may have become stuck.
Claims (10)
- A pick mechanism (100) for picking sheet media comprising control circuitry (202), a motor (200) and a pick means (102), wherein the motor (200) is arranged to move the pick means (102) such that it can pick sheet media and the control circuitry (202) is arranged to determine a pick action and to control the motor (200) such that the pick means (102) follows the determined pick action; characterised in that the control circuitry (202) is arranged to determine a new different action pick following a failed pick attempt.
- A pick mechanism (100) according to claim 1 in which the pick action is determined according to characteristics of the sheet media with which the pick mechanism (100) is intended to operate.
- A pick mechanism (100) according to claim 2 in which the characteristics comprise one or more of the following: density of media, substrate, weight of media, quality of media, dimensions.
- A pick mechanism (100) according to any preceding claim, in which the new different pick action comprises one or more of: holding the pick means (102)against the sheet
media for longer, holding the pick means (102) against the sheet media with greater pressure than in a failed pick attempt, agitating the sheet media with the pick means (102). - A pick mechanism (100) according to any preceding claim, wherein the motor (200) is a stepping motor.
- An automated teller machine comprising at least one pick mechanism (100) for picking sheet media comprising control circuitry (202), a motor (200) and a pick means (102), wherein the motor (200) is arranged to move the pick means (102) such that it can pick sheet media and the control circuitry (202) is arranged to determine a pick action and to control the motor (200) such that the pick means (102) follows the determined pick action; characterised in that the control circuitry (202) is arranged to determine a new different pick action following a failed pick attempt.
- An Automated Teller Machine according to claim 6, in which the pick action is determined according to characteristics of the sheet media with which the pick mechanism (100) is intended to operate.
- An Automated Teller Machine according to claim 7, in which the characteristics comprise one or more of the following: density of media, substrate, weight of media, quality of media, dimensions.
- An Automated Teller Machine according to any one of claims 6 to 8, in which the new different a pick action comprises one or more of: holding the pick means (102) against the
sheet media for longer, holding the pick means (102) against the sheet media with greater pressure than in a failed pick attempt, agitating the sheet media with the pick means (102). - An Automated Teller Machine according to any one of claims 6 to 9, in which the motor (200) is a stepping motor.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/305,755 US20070138733A1 (en) | 2005-12-16 | 2005-12-16 | Pick mechanism |
Publications (3)
Publication Number | Publication Date |
---|---|
EP1798694A2 EP1798694A2 (en) | 2007-06-20 |
EP1798694A3 EP1798694A3 (en) | 2008-06-18 |
EP1798694B1 true EP1798694B1 (en) | 2012-11-14 |
Family
ID=37689120
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP06255998A Expired - Fee Related EP1798694B1 (en) | 2005-12-16 | 2006-11-23 | Pick mechanism |
Country Status (3)
Country | Link |
---|---|
US (1) | US20070138733A1 (en) |
EP (1) | EP1798694B1 (en) |
ES (1) | ES2396427T3 (en) |
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US8727336B2 (en) * | 2011-10-31 | 2014-05-20 | Ncr Corporation | Condition determining |
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DE50007305D1 (en) * | 2000-10-05 | 2004-09-09 | Grapha Holding Ag | Device for loading a processing line with folded or unfolded printed sheets |
US6557845B2 (en) * | 2001-01-31 | 2003-05-06 | Heidelberger Druckmaschinen Ag | Sheet separating device |
AUPR292501A0 (en) * | 2001-02-07 | 2001-03-01 | Silverbrook Research Pty. Ltd. | A method and apparatus (ART100) |
AUPR315301A0 (en) * | 2001-02-19 | 2001-03-15 | Silverbrook Research Pty. Ltd. | An Apparatus (ART102) |
US7036811B2 (en) * | 2003-01-30 | 2006-05-02 | Xerox Corporation | Registration system paper path length compensation |
JP4076217B2 (en) * | 2003-01-30 | 2008-04-16 | 大日本スクリーン製造株式会社 | Plate supply device |
JP4423368B2 (en) * | 2003-12-19 | 2010-03-03 | 旭精工株式会社 | Card-like product automatic dispensing device and method thereof |
DE102004012379B4 (en) * | 2004-03-13 | 2006-01-19 | Siemens Ag | Method and device for stacking flat items |
JP4338611B2 (en) * | 2004-09-17 | 2009-10-07 | 富士フイルム株式会社 | Film sheet single wafer mechanism and heat development recording apparatus provided with the same |
US7461838B2 (en) * | 2005-10-18 | 2008-12-09 | Graphic Packaging International, Inc. | Spaced apart segment wheel assembly for a carton packaging machine |
US7641185B2 (en) * | 2005-12-22 | 2010-01-05 | Ncr Corporation | Vacuum pick mechanisms |
-
2005
- 2005-12-16 US US11/305,755 patent/US20070138733A1/en not_active Abandoned
-
2006
- 2006-11-23 ES ES06255998T patent/ES2396427T3/en active Active
- 2006-11-23 EP EP06255998A patent/EP1798694B1/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
ES2396427T3 (en) | 2013-02-21 |
EP1798694A2 (en) | 2007-06-20 |
EP1798694A3 (en) | 2008-06-18 |
US20070138733A1 (en) | 2007-06-21 |
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