EP2653434B1 - Greifersystem, damit ausgestattetes Handhabungsgerät sowie seine Verwendung. - Google Patents

Greifersystem, damit ausgestattetes Handhabungsgerät sowie seine Verwendung. Download PDF

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Publication number
EP2653434B1
EP2653434B1 EP20130164366 EP13164366A EP2653434B1 EP 2653434 B1 EP2653434 B1 EP 2653434B1 EP 20130164366 EP20130164366 EP 20130164366 EP 13164366 A EP13164366 A EP 13164366A EP 2653434 B1 EP2653434 B1 EP 2653434B1
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EP
European Patent Office
Prior art keywords
frame
gripping
products
layer
clamping
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Active
Application number
EP20130164366
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English (en)
French (fr)
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EP2653434A1 (de
Inventor
François Recher
Alain Stoltz
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.)
STEF SA
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STEF SA
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Publication date
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Publication of EP2653434A1 publication Critical patent/EP2653434A1/de
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Publication of EP2653434B1 publication Critical patent/EP2653434B1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • B66F9/183—Coplanar side clamps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • B66F9/188—Stacked-bricks lifting devices

Definitions

  • the present invention relates to a gripping system of one or more layers of products arranged on a support, such as a pallet, a self-propelled handling apparatus comprising such a gripping system, and the use of this gripping system.
  • the present invention generally relates to a provision to avoid these disadvantages, and further leading to other advantages.
  • a gripping system for one or more layers of products arranged on a support, such as a pallet, comprising means for mounting on the lifting system of a self-propelled handling apparatus; a first group of clamping means the product layer or layers in a first direction; and a second group of means for clamping the product layer or layers in a second direction, not parallel to the first direction; the system comprising a delimited gripping frame, a central opening for gripping the product layer or layers; characterized in that the first and second groups of clamping means are mounted on the frame and border the central opening, each group of clamping means having a pair of pads arranged parallel to each other and at right angles to each other.
  • actuating the clamping means are mounted on the frame, completely peripheral with respect to the central opening, these actuating means comprising, for each pad, at least one connecting rod connecting pivot with the frame and in slide connection with the back of the pad, to actuate it in translation under the effect of the rotation of the rod.
  • Such a system offers a particularly compact mobile solution, allowing the preparation of orders to the layer, bursting, non-homogeneous pallets.
  • the actuating means arranged entirely at the periphery of the central opening, therefore do not in particular protrude into the space of this opening.
  • the present invention also provides a self-propelled handling apparatus comprising a gripping system as defined above and mounted frontally on a lifting apron of the apparatus.
  • This self-propelled handling device can be a self-loading stacker or a forklift.
  • the frame can be pivotably mounted on the deck of this apparatus in order to arrange it inclined relative to the horizontal in a transport position.
  • the present invention furthermore relates to the use of a gripping system as defined above, for the preparation of orders to the bursting layer of non-homogeneous pallets, especially in cold storage.
  • a gripping system 1 for gripping one or more layers of products arranged on a support, such as a pallet, carries a gripping frame 10 passing through, here of generally rectangular shape, delimiting a central opening 11 also rectangular for gripping the product layer or layers.
  • the products can be of various natures and of various forms. It may be, for example, parallelepiped packages containing frozen products.
  • the gripping frame 10 comprises a first group of clamping means 12 of the product layer or layers in a first direction, here longitudinal, and a second group of clamping means 13 of the product layer or layers according to a second direction, not parallel to the first direction, here perpendicular to it.
  • each group of clamping means 12, 13 comprises a pair of pads, respectively 12 'and 13', in the form of rectangular parallelepipeds and arranged parallel to each other and at right angles compared to the pair of skates of the other group. Each of these extends in a plane substantially perpendicular to that in which the gripping frame 10 extends.
  • each pad 12 ', 13' is equipped with damping means, here beads 14 of silicone material, in practice a silicone elastomer, screwed on each of these pads.
  • damping means here beads 14 of silicone material, in practice a silicone elastomer, screwed on each of these pads.
  • the pads 12 ', 13' are mounted in translation on the gripping frame 10, preferably by at least one articulated arm and / or at least one slide connection.
  • two articulated arms and a slide connection are implemented for each of the pads.
  • the articulated arms are arranged in the thickness of the frame, while the slide connection is mounted on the upper face thereof.
  • first and second groups of clamping means 12, 13 are adapted to be actuated independently of one another by actuating means specific to each of the groups, here superimposed on each other. to others.
  • these actuating means 17 of the longitudinal shoes 13 ', mounted on the upper face 18 of the gripping frame 10 comprise, for each shoe 13', at least one connecting rod 19 pivotally connected to the upper face of the frame 10 ( 20) and in sliding connection with the back of the pad 13 ', to actuate it in translation under the effect of the rotation of the rod 19.
  • the rods 19 are 3 in each skid 13 ', distributed over the length thereof, while they are only 2 for each of the transverse pads 12'.
  • Each connecting rod 19 is here in the form of a square, with a return roller of a strip of material, described in more detail below, mounted at one of the vertices of the square (here the top of the right angle), the pivot connection being located at the other vertex and the third vertex coming in sliding connection with the back of the shoe 13 'to move the latter in translation, by camming in the plane of the gripping frame 10.
  • These pins 22 slide in slides 23 having generally the shape of U elongate base and fixedly connected to the back of the pads 13 '.
  • the actuating means 17 further comprise a jack 24, here hydraulic for use in a refrigerating warehouse, adapted to exert traction on the aforementioned material strip 25 and cooperating with the connecting rods 19 by a set of return rollers alternately secured to the gripping frame 10 and connecting rods 19.
  • the return rollers 21 secured to the rods 19 have already been described supra.
  • the return rollers 26 secured to the frame 10 are arranged, generally in a U-shaped configuration, around the two longitudinal skids 13 'and one of the transverse pads 12'.
  • the strip of material 25 passes through successive references at right angles to the return rollers 26 integral with the frame 10, looped on a cylinder 28 mounted on a yoke 29 fixedly connected to the end of the rod 30 of the hydraulic cylinder 24.
  • the material strip 25 extends substantially rectilinearly between two extreme return rollers 26, between which are arranged, on one side of the strip of material 25, guide rods 31 of this strip 25.
  • Similar actuating means are provided under the frame for actuating the transverse pads 12 '. It should be noted, however, that the arrangement of the return rollers is provided such that the strip extends substantially rectilinear along the longitudinal sides of the frame and zigzag along the transverse sides of the frame 10 for the purpose of to be able to translate the adjacent pads 12 'in translation.
  • the guide rods 31 arranged along the longitudinal sides of the gripping frame 10 protrude vertically from the lower or upper faces of this frame 10, on the one hand to guide the lower material strip by one of their longitudinal ends and, secondly, to serve as a point of attachment elastic return means at their opposite longitudinal end.
  • each pad 12 ', 13' admits a first retracted rest position, bordering the central opening 11, and a second position, clamping or unfolded layers of products, the resilient biasing means continuously soliciting each pad of its second position towards its first position, being provided to return the pad 12 ', 13' to the rest position after having been brought to the translatory clamping position by virtue of the actuating means 17.
  • These elastic return means 32 are in the form of traction springs 33 fixed at one of their ends to a guide rod 31 and at their end opposite to a tab 34 secured to the back of a pad 12 ' , 13 'corresponding. It will be observed that all the tension springs have not been shown, and that the rods 31 mounted on the transverse sides of the gripping frame 10 only serve to fix the tension springs 33, if necessary, being mounted the transverse side of the frame where is arranged the hydraulic cylinder 4, by mounting on the gripping frame 10 through an opening 36 formed therein.
  • End stops 37 are also provided on the frame for each connecting rod 19.
  • a tensioner 38 is provided to compensate for any stretching of the material web 25.
  • a hydraulic unit 39 For the actuation of the hydraulic cylinder 24, there is further provided a hydraulic unit 39, also mounted on the gripping frame 10 and connected to an electrical cabinet 40.
  • Two mounting lugs 41 each provided with a pivot 42, are also mounted protruding vertically from the gripping frame, at this end where are arranged the hydraulic cylinder 24 and the means for controlling it.
  • the frame can be mounted pivotally on the apron 43 of a self-propelled handling apparatus 44, here a self-supporting stacker, in order to be able to arrange this frame 10 inclined relative to the horizontal in a transport position that may require that the The device can enter confined spaces such as a freight elevator.
  • a self-propelled handling apparatus 44 here a self-supporting stacker
  • a fairing 45 covers the actuating means 17 to prevent accidental contact therewith.
  • Support pads 46 are provided for this purpose on the gripping frame 10 (see Figures 1 to 3 ).
  • the stacker 44 is also equipped with means for controlling the actuating means 47 in the case of the embodiment of the Figures 1 to 5 .
  • control means can be mounted on the stacker 44 itself, on the gripping frame 10, or both. It can also be provided a remote remote control of the actuating means 17. In practice, these control means are adapted, here, to apply different clamping pressures to the products via the actuating means 17 and means of tightening 12, 13.
  • the management is ensured by a PLC.
  • control means further comprise means for positioning the height of the gripping frame 10 in the form of a camera 49 connected to a display device.
  • the gripping system further comprises a fork 50 adapted to be arranged under the gripping frame 10 to center the latter relative to the layer or layers of products to be recovered on a pallet (see figures 4 and 5 ).
  • this fork 50 comprises, for this purpose, four teeth 51 arranged parallel to each other, the two lateral teeth flaring outwardly at their free end.
  • the base 52 of the fork 50 connecting the teeth 51 between them is extended by a lug 53 for fixing the fork 50 to the deck 43 of the stacker 44, here by screwing.
  • the gripping system further comprises, in the context of the embodiment of these Figures 1 to 5 , an upper plate 54 (not shown on the figure 4 ), able to be brought into abutment on the product layer, where appropriate the upper product layer, after gripping thereof (by the gripping frame 10). On it can thus be arranged products, cartons, packages ... to the unit to complete an order comprising the product layer or layers gripped by the gripping frame 10.
  • This plate 54 is provided, for this purpose, with means for forming a free sliding connection with complementary means of the stacker 44 provided on the apron 43. It may be, for example, two lateral lugs 55 of the plate 54, sliding in grooves 56 provided in the masts 57 of the deck 43 of the stacker 44.
  • the spacing between transverse pads 12 'and between longitudinal pads 13' is respectively about 1200 mm and 800 mm in the rest position ( figure 2 ) and respectively about 1000 mm and about 600 mm in working position.
  • FIG 6 illustrates, very schematically, a gripping system according to a second embodiment of the present invention.
  • the two positions, rest and work, are shown in this figure, respectively in dashed lines and solid lines.
  • the mounting means of the system 100 on the handling apparatus have not been shown here, but are of course present.
  • Elements similar or identical to those of the first embodiment, bear the same reference number, to which the number "100" has been added.
  • the gripping frame 110 of this system is generally of the type comprising actuating means 117 having a cylinder 124 specific to each connecting rod 119 instead of including return rollers 21, 26 and the strip of material 25 and means resilient return members 32 of the first embodiment.
  • three hydraulic cylinders 124 are coupled to each longitudinal shoe 112 ', while two hydraulic cylinders 124 are provided for each of the transverse pads 113'.
  • cylinders 124 are rotatably mounted on the gripping frame 110, here via an axis 160 housed in bearings 161, at one of their longitudinal ends.
  • the other is rotatably articulated to a connecting rod 119, here by means of an articulation of the axis type in cylinder 162.
  • This articulation 162 is located in one of the angles of a parallelogram formed by the connecting rod 119 in section.
  • the neighboring angle, on the short side of this parallelogram, is occupied by an axis 163 for rotating the connecting rod 119 on the frame 110.
  • the connecting rod is in sliding connection with the back of the skate 112 'or 113', here by means of a plate 123 fixedly connected to the shoe 112 ', 113', perpendicularly to its back, and forming a slide for a pin 122 projecting from below the connecting rod 119.
  • an insert 164 carrying a ball carrier, which allows to support the pads 112 ', 113' so that they do not rock forward.
  • Steel plates can also be provided to limit in rotation the rotational mounting axes of the cylinders 124 and rods 119.
  • the hydraulic supply system (pipes, fittings, housings, group, ...) was not represented on the figure 6 for the sake of readability. It is in practice arranged above the elements described supra.
  • the present invention makes it possible not only to produce a gripping system whose vertical space is minimized by means of actuating means arranged horizontally in the thickness of the pads, but which is also particularly compact in the horizontal plane (that of the frame, in which act these actuating means).
  • the size of the actuating mechanism is 177mm, for a cylinder stroke of 150 mm.
  • the acute angle that forms a straight line joining the axes of revolution of a pin 122 and a mounting axis 163 adjacent, with the corresponding outer side of the frame 110 is between 60 ° and 70 °, here about 66 ° (cf. figure 6 ), while in the rest position, this straight line extends substantially parallel to the side.
  • the gripping system according to the present invention makes it possible to have a completely open central opening, both above the frame and below.
  • bursting workshop which can for example be located in a cold store, are arranged two batches 201, 202 of 12 homogeneous mother pallets to burst of a first type of package, and a batch 203 of 12 pallets homogeneous to burst, of a second type of package.
  • two preparation zones are provided at layer 206, 207 each served by a self-supporting stacker 44 in accordance with the present invention.
  • a preparation zone 208 to the package by means of a conventional self-supporting stacker 209.
  • the mother pallets 201-203 are successively brought to the different pallets girls to supply to fill the number of layers provided for the corresponding pallet on a voucher.
  • the quantity of layers required is taken by means of the gripping system.
  • a pallet not yet empty can be brought into the central burst area 208 to the package.
  • the bursting sequence to the package is carried out by means of the stacker 209 in the central zone and in the light of the indications appearing on the ventilation slip.
  • This sequencing is to be respected in the case of a pre-composition in order to be able to position the individual packages above the layers already prepared.
  • Electronic and / or computer means such as bar code systems and display devices, can also be provided to further facilitate order picking.
  • the gripping system of the present invention it is thus possible to carry out orders without an operator having to wear any product, such as a frozen food package. This results in a less arduous work performed by this operator and a very substantially increased productivity.
  • this gripping system allows to consider a pricing to the layer.
  • the gripping system can nevertheless be easily used, as has been seen above, also for the realization of orders also including individual packages.
  • the upper support plate which can be used for this purpose will also make it possible to avoid the possible buckling of a layer of products upwards when tightened by the gripping frame 10.
  • This gripping system is also particularly compact and can recover layers of products at relatively high heights.
  • this is a system that is particularly well suited to the field of large-scale retailing, and in particular cold stores, for the preparation of orders to the layer, in the form of bursting.
  • the number of pads per side is not limited to one: it can, for example, be implemented three pads positioned on each side along the length of the frame of the gripping system, and two pads positioned according to the width of the gripping system.
  • These pads may also border an opening other than rectangular, such as for example square.
  • the belt can be replaced, for example, by a high strength rope.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)

Claims (17)

  1. System zum Greifen einer oder mehrerer Produktlagen, die auf einem Träger, wie etwa einer Palette, angeordnet sind, umfassend Montagemittel (41, 42) zum Montieren an das Hebesystem eines selbstfahrenden Handhabungsgeräts, eine erste Gruppe von Spannmitteln (12; 112') zum Spannen der Produktlage oder Produktlagen in einer ersten Richtung, eine zweite Gruppe von Spannmitteln (13; 113') zum Spannen der Produktlage oder Produktlagen in einer zweiten Richtung, die nicht parallel zur ersten Richtung verläuft, wobei das System einen Greifrahmen (10; 100) aufweist, der eine mittige Öffnung (11) zum Ergreifen der Produktlage bzw. Produktlagen eingrenzt, dadurch gekennzeichnet, dass
    die erste und die zweite Gruppe von Spannmitteln (12, 13; 112', 113') an den Rahmen (10; 110) montiert sind und die mittige Öffnung (11) umranden, wobei jede Gruppe von Spannmitteln ein Paar Schuhe (12', 13'; 112', 113') aufweist, die parallel zueinander und rechtwinklig zu dem Paar Schuhen der anderen Gruppe angeordnet sind,
    und dass Betätigungsmittel (17; 117) zum Betätigen der Spannmittel (12, 13; 112', 113') an den Rahmen (10; 110) in bezüglich der mittigen Öffnung (11) voll umfänglicher Weise montiert sind, wobei diese Betätigungsmittel für jeden Schuh zumindest einen Schwenkarm (19; 119) in Schwenkverbindung mit dem Rahmen und in Gleitverbindung mit dem Rücken des Schuhs aufweisen, um diesen unter der Drehwirkung des Schwenkarms translatorisch zu verschieben.
  2. Greifsystem nach Anspruch 1,
    dadurch gekennzeichnet, dass die erste und die zweite Gruppe von Spannmitteln dazu geeignet sind, unabhängig voneinander über die Betätigungsmittel betätigt zu werden, die jeder Gruppe eigen sind.
  3. System nach Anspruch 1 oder 2,
    dadurch gekennzeichnet, dass die Betätigungsmittel zum Betätigen der ersten Gruppe von Spannmitteln den Betätigungsmitteln zum Betätigen der zweiten Gruppe von Spannmitteln überlagert montiert sind, und zwar in Richtung der Höhe auf beiden Seiten des Rahmens.
  4. Greifsystem nach einem der Ansprüche 1 bis 3,
    dadurch gekennzeichnet, dass jeder Schuh eine erste Ruhestellung einnimmt, in welcher er die mittige Öffnung umrandet, sowie eine zweite Stellung zum Spannen der Produktlage oder Produktlagen, wobei der Rahmen ferner Federrückstellmittel (32) aufweist, welche jeden Schuh aus seiner Stellung in seine erste Stellung dauerhaft beaufschlagen, wobei die Rückstellmittel vorzugsweise zumindest eine Zugfeder pro Schuh aufweisen.
  5. System nach einem der Ansprüche 1 bis 4,
    dadurch gekennzeichnet, dass jeder Schuh mit Dämpfungsmitteln an seiner der mittigen Öffnung zuwandten Seite, vorzugsweise in Form von Wülsten (14) aus Silikonmaterial, versehen ist.
  6. System nach einem der Ansprüche 1 bis 5,
    dadurch gekennzeichnet, dass jeder Schuh translatorisch verschiebbar am Rahmen vorzugsweise über zumindest einen angelenkten Arm und/oder zumindest eine Gleitverbindung gelagert ist.
  7. Greifsystem nach einem der Ansprüche 1 bis 6,
    dadurch gekennzeichnet, dass jeder Schwenkarm in Form eines Dreiecks mit einer an einem seiner Eckpunkte gelagerten Umlenkrolle vorliegt, wobei die Schwenkverbindung an dem anderen Eckpunkt liegt und der dritte Eckpunkt in Gleitverbindung mit dem Rücken des Schuhs steht.
  8. System nach einem der Ansprüche 1 bis 7,
    dadurch gekennzeichnet, dass an dem Rahmen ein Endanschlag (37) für jeden Schwenkarm vorgesehen ist.
  9. System nach einem der Ansprüche 1 bis 8,
    dadurch gekennzeichnet, dass die Betätigungsmittel einen Kraftzylinder (124) aufweisen, der jedem Schwenkarm eigen ist.
  10. System nach einem der Ansprüche 1 bis 9,
    dadurch gekennzeichnet, dass die Betätigungsmittel einen vorzugsweise hydraulischen Kraftzylinder (24) aufweisen, der dazu geeignet ist, eine Zugkraft auf ein Materialband, wie etwa ein Riemen oder ein widerstandsfähiges Seil, auszuüben, das über einen Satz von Umlenkrollen (21, 26), die abwechselnd mit dem Rahmen und den Schwenkarmen verbunden sind, mit den Schwenkarmen zusammenwirken.
  11. System nach einem der Ansprüche 1 bis 10,
    dadurch gekennzeichnet, dass es Steuermittel zum Steuern der Betätigungsmittel aufweist, die vorzugsweise dazu geeignet sind, über die Betätigungsmittel und die Spannmittel unterschiedliche Spanndrücke auf die Produkte aufzubringen.
  12. System nach Anspruch 11,
    dadurch gekennzeichnet, dass die Steuermittel Führungsmittel zur Höhenführung des Rahmens aufweisen, vorzugsweise eine Kamera (49), die mit einer Anzeigevorrichtung verbunden ist.
  13. System nach einem der Ansprüche 1 bis 12,
    dadurch gekennzeichnet, dass es ferner eine obere Platte (54) aufweist, die dazu geeignet ist, in Anlage an die Produktlage, gegebenenfalls an die oberste Produktlage, nach Ergreifen derselben gebracht zu werden, wobei die Platte vorzugsweise mit Mitteln versehen ist, um eine freie Gleitverbindung mit komplementär ausgeführten Mitteln des selbstfahrenden Handhabungsgeräts zu bilden.
  14. System nach einem der Ansprüche 1 bis 13,
    dadurch gekennzeichnet, dass das System eine Gabel (50) aufweist, die dazu geeignet ist, unter den Rahmen angeordnet zu werden, um letzteren gegenüber der Produktlage oder Produktlagen zu zentrieren.
  15. Selbstfahrendes Handhabungsgerät (44), insbesondere selbsttragender Stapelförderer oder Gabelstapler, das ein Greifsystem nach einem der vorangehenden Ansprüche umfasst, das stirnseitig an einen Hebetisch des Geräts montiert ist.
  16. Selbstfahrendes Handhabungsgerät nach Anspruch 15,
    dadurch gekennzeichnet, dass der Rahmen verschwenkbar an dem Hebetisch montiert ist, um diesen gegenüber der Horizontalen geneigt in einer Transportstellung anordnen zu können.
  17. Verwendung eines Greifsystems nach einem der Ansprüche 1 bis 14 zum schichtweisen Kommissionieren von Bestellungen unter Umschlagung von nicht einheitlichen Paletten, insbesondere bei der Kühllagerung.
EP20130164366 2012-04-19 2013-04-18 Greifersystem, damit ausgestattetes Handhabungsgerät sowie seine Verwendung. Active EP2653434B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1253626A FR2989674B1 (fr) 2012-04-19 2012-04-19 Systeme de prehension, appareil de manutention le comportant et utilisation

Publications (2)

Publication Number Publication Date
EP2653434A1 EP2653434A1 (de) 2013-10-23
EP2653434B1 true EP2653434B1 (de) 2014-11-19

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EP20130164366 Active EP2653434B1 (de) 2012-04-19 2013-04-18 Greifersystem, damit ausgestattetes Handhabungsgerät sowie seine Verwendung.

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Country Link
EP (1) EP2653434B1 (de)
ES (1) ES2530812T3 (de)
FR (1) FR2989674B1 (de)
PT (1) PT2653434E (de)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112389519A (zh) * 2020-10-22 2021-02-23 益阳锋源科技发展有限公司 一种运动鞋加工流转装置

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3262595A (en) * 1963-09-27 1966-07-26 Johns Manville Lift truck clamp attachment
US3486292A (en) * 1966-10-27 1969-12-30 Owens Illinois Inc Automatic case loader
JPS6019118Y2 (ja) * 1979-04-14 1985-06-08 ライオン株式会社 四面クランプリフト
DE4104346C2 (de) 1991-02-13 1994-09-08 Wagner Foerdertechnik An einem höhenbeweglichen Lastträger angeordnete Lagenaufnahmevorrichtung für ein Kommissionierfahrzeug
DE4425127A1 (de) * 1994-07-15 1996-01-18 Dreier Systemtechnik Ag Lageranlage zum Kommissionieren
US6135704A (en) 1997-11-04 2000-10-24 Cascade Corporation Layer-picking clamp supported on a forklift truck
JP2003081427A (ja) * 2001-09-17 2003-03-19 Nkk Corp ピッキング装置
JP3835224B2 (ja) * 2001-09-17 2006-10-18 Ｊｆｅエンジニアリング株式会社 ピッキング装置
NL1027152C2 (nl) * 2004-09-30 2006-04-03 Ingbureaumoderniek B V Klem voor hantering van goederen.
DE102006053694A1 (de) * 2006-11-13 2008-05-15 Müller, Hermann Vorrichtung zum Palettieren und Depalettieren von Waren mit einem Palettiergreifer

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Publication number Publication date
EP2653434A1 (de) 2013-10-23
FR2989674B1 (fr) 2015-02-20
ES2530812T3 (es) 2015-03-06
PT2653434E (pt) 2015-02-24
FR2989674A1 (fr) 2013-10-25

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