EP2762436B1 - Handhabungsvorrichtung zum räumlichen Bewegen von Objekten - Google Patents

Handhabungsvorrichtung zum räumlichen Bewegen von Objekten Download PDF

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Publication number
EP2762436B1
EP2762436B1 EP14153749.8A EP14153749A EP2762436B1 EP 2762436 B1 EP2762436 B1 EP 2762436B1 EP 14153749 A EP14153749 A EP 14153749A EP 2762436 B1 EP2762436 B1 EP 2762436B1
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EP
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Prior art keywords
line
movement
handle
loading portion
handling device
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English (en)
French (fr)
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EP2762436A1 (de
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Fulvio Italo Pancheri
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ATIS Srl
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ATIS Srl
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/005—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with balanced jib, e.g. pantograph arrangement, the jib being moved manually

Definitions

  • This invention relates to a handling device for objects to be moved in space.
  • said handling device is of the pneumatic type.
  • handling devices help an operator to manually move objects (usually weighing between around 5 kg and 500 kg) in space while avoiding effort by the operator.
  • handling devices allow the movement of offset loads, in any direction without constraints and with extreme freedom.
  • a handling device comprises a supporting base, preferably having the shape of a column, connectable to a reference point which may be stationary (e.g.: the ground, ceiling, etc.) or movable (e.g.: a rail, etc.) and at least one arm whose first end is rotatably mounted on said supporting base.
  • a handling device comprises a loading portion rotatably connected to a second end (opposite to the first end) of the arm and designed to support an object to be shifted. In detail, the loading portion is shifted manually by the user.
  • a handling device usually comprises at least one balancing actuator (preferably pneumatic) connected between the supporting base and the arm and designed to balance the weight at least of the loading portion along a line of movement in such a way as to keep the loading portion suspended in space.
  • balancing actuator preferably pneumatic
  • the line of movement substantially coincides with a vertical line along which the second end of the arm moves.
  • the second end of the arm moves along the vertical line to raise or lower the object loaded relative to the ground or to the ceiling.
  • the loading portion comprises a holding unit which can be grasped by an operator for shifting the loading portion in space.
  • the operator having positioned the object on the loading portion, manually moves said loading portion in space to shift the object, depending on requirements, without having to manually hold the offset load.
  • the handling device may have loaded balancing in which the actuator balances both the weight of the loading portion and the weight of the object loaded, or empty balancing in which the actuator balances only the weight of the loading portion.
  • the operator to move the object loaded (for example along the vertical line) on the loading portion the operator must apply an additional force on the latter in such a way as to oppose the force determined by the inertia of the load to be shifted and to begin lifting or lowering the object. It is estimated that said additional force in upward/downward movements is between 1.5 kg and 7 kg depending on the weight of the object loaded.
  • That second known technique consists of inserting in the holding unit a pneumatic control connected to the balancing actuator. Said control allows the static condition of the actuator to be varied and promotes the initial movement of the object loaded.
  • the continuous variation of the balancing conditions may result in subsequent imprecision in restoring the initial balancing conditions.
  • the aim of this invention is to provide a handling device for objects to be moved in space which overcomes the above-mentioned disadvantages.
  • this invention has for an aim to provide a handling device which allows objects to be shifted in space in a precise way and without additional effort by the operator.
  • the reference numeral 1 denotes in its entirety a handling device for objects to be moved in space according to this invention.
  • the handling device 1 comprises a supporting base 2 connectable to a reference point 3.
  • said reference point 3 may be stationary (e.g.: the ground, the ceiling, a lateral wall, etc.) or movable (e.g.: a rail, etc.).
  • said supporting base 2 extends away from said reference point 3.
  • the supporting base 2 extends between its own fixing portion 2a fixed to the reference point 3 and its own connecting portion 2b distanced from the fixing portion 2a.
  • the supporting base 2 extends along a first axis 4.
  • said first axis 4 is substantially vertical.
  • the supporting base 2 is connected to the ground and extends upwards along the first axis 4.
  • the handling device 1 comprises an arm 5 extending between its own first part 5a and its own second part 5b. Said first part 5a is movably connected to the supporting base 2 in such a way that said second part 5b is movable relative to the supporting base 2 along a line of movement 6.
  • the arm 5 is rotatably coupled to the supporting base 2.
  • the arm 5 is rotatable relative to the supporting base 2 according to two axes of rotation which are orthogonal to one another.
  • Figure 1 shows how the arm 5 is rotatable about the first axis 4 (vertical) and about a second axis 7.
  • said second axis 7 is substantially horizontal.
  • the line of movement 6 of the second part 5b of the arm 5 is defined by the movement of the arm 5 according to only one of the two axes.
  • the line of movement 6 of the second part 5b of the arm 5 is defined by the movement of the arm 5 according to the second axis 7 (horizontal). In other words, the line of movement 6 is substantially vertical in such a way as to move the second part 5b of the arm 5 away from or towards the reference point 3.
  • the arm 5 is freely movable relative to the supporting base 2. That is to say, there are no motor-driven means for moving the arm 5 relative to the supporting base 2.
  • the handling device 1 comprises a loading portion 8 for loading the object to be moved, said portion extending away from the second part 5b of the arm 5 and mechanically connected to said second part 5b of the arm 5.
  • the loading portion 8 extends between its own connecting end 8a which is connected to the second part 5b of the arm 5 and its own loading end 8b where, in use, the object to be shifted is mounted.
  • the loading portion 8 extends close to the reference point 3.
  • the connecting end 8a of the loading portion 8 is rotatably mounted on the second part 5b of the arm 5 in such a way that it is rotatable relative to the latter.
  • the loading portion 8 is rotatable relative to the arm 5 according to a substantially vertical axis.
  • Figure 1 shows how, while the supporting base 2 extends away from the ground, the loading portion 8 extends towards the ground.
  • the object to be loaded is positioned on the loading end 8b.
  • the loading end 8b has a predetermined shape depending on the object to be supported.
  • the loading end 8b has the shape of a shelf on which the object to be shifted can be loaded.
  • the handling device 1 comprises a pickup unit 9 for the object, mounted on the loading portion 8 at the loading end 8b and configurable between a position for picking up the object and a position for releasing the object.
  • said pickup unit 9 may be a gripper or a set of suction cups designed to grip the object to be shifted, as described in more detail below.
  • the loading portion 8 comprises a holding unit 10 (also described in more detail below) which can be grasped by an operator for shifting the loading portion 8 in space.
  • the handling device 1 comprises a balancing actuator 11 connected between the supporting base 2 and the arm 5 and designed to balance the weight at least of the loading portion 8 along the line of movement 6 in such a way as to keep the loading portion 8 suspended in space.
  • said balancing actuator 11 comprises a pneumatic cylinder 12 and a cylinder internal pressure control assembly 13 so that in use the arm 5 is held stationary in a predetermined position relative to the supporting base 2.
  • the handling device 1 may have loaded balancing in which the actuator balances both the weight of the loading portion 8 and the weight of the object loaded, or empty balancing in which the actuator balances only the weight of the loading portion 8.
  • the handling device 1 is designed to keep the loading portion 8 suspended in space without the object or with the object loaded.
  • the actuator extends and operates along a line which is angled relative to the line of movement 6 in such a way as to be able to move the second part 5b of the arm 5 along the line of movement 6.
  • the handling device 1 comprises movement aid means 14 acting on the mechanical arm 5 and designed to move the mechanical arm 5 relative to the base along the line of movement 6.
  • the aid means 14 determine a force along the line of movement 6 which aids the user during the operation for shifting the loading portion 8. In particular, at least during the initial step of shifting the loading portion 8 so as to overcome the inertia.
  • the movement aid means 14 comprise an auxiliary actuator 15 which is separate from the balancing actuator 11 and connected between the supporting base 2 and the arm 5 for moving the arm 5 along the line of movement 6.
  • the auxiliary actuator 15 extends and operates along a line which is angled relative to the line of movement 6 in such a way as to be able to move the arm 5 relative to the supporting base 2.
  • the handling device 1 comprises a control unit 16 which can be operated by the operator and is operatively connected to the movement aid means 14 for operating said movement aid means 14 on command.
  • the control unit 16 is operatively connected to the movement aid means 14 for controlling them.
  • the control unit 16 is designed to activate or deactivate the aid means 14.
  • the control unit 16 is mounted on the loading portion 8 at the loading end 8b.
  • control unit 16 comprises a part 17 fixed to the loading portion 8 and a handle 18 which is slidable relative to the fixed part 17.
  • the handle 18 is movable along a line of shifting 19 corresponding to the line along which the loading portion 8 is to be moved.
  • the handle 18 is shown in two respective operating positions. A first operating position ( Figure 3 ) corresponding to raising of the loading portion 8 relative to the ground. And a second operating position ( Figure 4 ) corresponding to lowering of the loading portion 8 relative to the ground.
  • the movement of the handle 18 along the line of shifting 19 corresponds to the movement that the operator intends to make the loading portion 8 perform, so as to make the command instinctive for the user.
  • the user wants to raise the loading portion 8 he must move the handle 18 upwards.
  • the handle 18 is designed to operate the movement aid means 14 along the line of movement 6 corresponding to the line of shifting 19 of the handle 18.
  • the handle 18 is designed to move the movement aid means 14 along the line of movement 6 in the direction corresponding to the movement performed by the handle 18.
  • the handle 18 is movable along the line of shifting 19 between a first operating position, a home position, and a second operating position.
  • the control unit 16 is designed to activate the movement aid means 14 in a first direction of the line of the line of movement 6 when the handle 18 is brought from the home position to the first operating position and to activate the movement aid means 14 in a second direction, opposite to the first, of the line of movement 6 when the handle 18 is brought from the home position to the second operating position.
  • aid means 14 act on the arm 5 for the time interval corresponding to the time during which the handle 18 is held by the operator in the first operating position or in the second operating position.
  • the line of movement 6 and the line of shifting 19 are substantially parallel with a vertical line.
  • the fixed part 17 of the control unit 16 comprises a bar 20 and two pierced plates 21 through which the bar 20 extends. Even more particularly, the pierced plates 21 are spaced from one another along the bar 20 in such a way as to form, between them, a manoeuvring space for the handle 18.
  • the bar 20 extends along the line of shifting 19.
  • the handle 18 comprises a hollow annular body 22 slidably movable on the outside of the bar 20.
  • the hollow annular body 22 extends inside the manoeuvring space.
  • the annular body 22 comprises two disks 23 positioned orthogonally along the handle 18 and spaced from one another. Said disks 23 are positioned between the plates 21 of the fixed part 17.
  • control unit 16 comprises first elastic return means 24 interposed between the fixed part 17 and the handle 18 for promoting handle 18 return to the home position.
  • first elastic return means 24 are connected between the fixed part 17 and a disk 23 of the handle.
  • control unit 16 comprises a stop 25 extending inside the annular body 22 and operating by interfering with the bar 20.
  • the bar 20 comprises a seat 26 substantially shaped to match the stop 25 and positioned at the home position in such a way as to facilitate identification of the home position.
  • the stop 25 is movable along a line orthogonal to the line of shifting 19 and comprises a substantially conical head.
  • the control unit 16 comprises elastic means 27 acting on the stop 25 to keep it abutted against the bar 20.
  • the seat 26 of the bar 20 is substantially shaped to match the stop 25, sliding is defined between the conical head and the seat 26 towards the home position. It should be noticed that the home position corresponds to the position in which the conical head is completely coupled with the seat 26.
  • control unit 16 comprises end of stroke means acting on the handle 18 to define the end of stroke of the latter along the line of shifting 19.
  • Said end of stroke means comprise a pin 28 passing through the handle 18 transversally to the line of shifting 19 and passing through the bar 20 positioned inside the handle 18.
  • the bar 20 comprises a through opening 29 with an elongate shape along the line of shifting 19. The pin 28 is inserted in that opening. In that way, the movement of the pin 28 (driven by the handle 18) is limited by the dimensions of the through opening 29 of the bar 20.
  • the handle 18 is rotatable ( Figure 5 ) about its own axis of rotation between a first rotation position and a second rotation position.
  • the axis of rotation is defined by the line of shifting 19.
  • the control unit 16 is designed to control the pickup unit 9 (according to the second embodiment of the loading portion 8 described above) so that it moves to the pickup position when the handle 18 is rotated towards the first rotation position, and to control the pickup unit 9 so that it moves to the releasing position when the handle 18 is rotated towards the second rotation position.
  • control unit 16 comprises second elastic return means 30 connected between the handle 18 and the fixed part 17 of the control unit 16 for promoting handle 18 return from the first rotation position or from the second rotation position to an intermediate position.
  • the second elastic return means 30 comprise two springs, each connected between the handle 18 and a respective anchoring point on the fixed part 17. It should be noticed that the anchoring points of each spring are spaced from one another around the axis of rotation of the handle 18.
  • the control unit 16 comprises at least one detection unit 31 for detecting the position of the handle 18. Said detection unit 31 is designed to detect the position of the handle 18 and to activate the aid means 14 and/or the pickup unit 9 depending on the position detected.
  • control unit 16 is formed by a frame 32 comprising a plurality bars 33 arranged side by side which the operator can grab in order to move the pickup portion.
  • the handle 18 is one of said bars 33.
  • the handle 18 is a lateral bar 33 so that it is positioned at one of the hands of the operator.
  • control unit 16 comprises a push-button panel 34 ( Figure 7 ) positioned at a lateral bar 33 opposite to the handle 18 in such a way that it is positioned at the other hand of the operator.
  • the push-button panel 34 is designed to enable the commands received from the handle 18 before they reach the movement aid means 14 and the pickup unit 9.
  • said configuration allows the operator to keep both hands busy for moving the loading unit, thereby guaranteeing operator safety during the movements of the handling device 1.
  • This invention also relates to a method for operating the handling device 1 for objects to be moved in space.
  • said methods comprises a first operating step of preparing the balancing actuator, of the type described above, which operates on the loading portion 8 of the handling device 1 for balancing said loading portion 8 in such a way as to keep it suspended in space.
  • the method comprises preparing the control unit 16 connected to the loading portion 8 of the handling device 1.
  • Said control unit 16 comprises the handle 18 movable along the line of shifting 19 corresponding to the line along which the object is to be moved.
  • the method comprises a step of activating the movement aid means 14 operating on the loading portion 8 for moving it along the line of shifting 19, after movement of the handle 18 along the self-same line of shifting 19.
  • Operation of this invention derives directly from what is described above.
  • the operator when moving the handle 18 along the line of shifting 19 the operator generates a command (generated by the control unit 16) for activating the auxiliary actuator 15 along the corresponding line of movement 6 in such a way as to receive help in overcoming the initial inertia for shifting the loading portion 8. In particular, that occurs for shifting along a vertical line.
  • This invention achieves the preset aims.
  • the handling device allows objects to be shifted in space in a precise way and without additional effort by the operator.
  • the movement aid means act on the arm independently of the balancing actuator in such a way as to move the arm without acting on the balancing actuator. Therefore, the movement of the loading portion is more precise and has a real-time response.
  • this invention allows an increase in the responsiveness of the handling device to movements performed by the operator, since the movement aid means act on the arm in the same way in which the operator acts. In other words, to shift the loading portion along the line of shifting the force applied on the loading portion is given by the sum of the force applied by the operator and the force applied by the aid means.
  • this invention makes the command by the operator for the auxiliary means instinctive, since the movement of the handle along the line of shifting corresponds to the movement that the operator intends to make the loading portion perform.

Claims (11)

  1. Handhabungsvorrichtung (1) zum räumlichen Bewegen von Objekten, umfassend:
    eine Stützbasis (2), die mit einem Referenzpunkt (3) verbunden werden kann;
    einen Arm (5), der sich zwischen seinem ersten Teil (5a) und seinem zweiten Teil (5b) erstreckt, wobei der erste Teil (5a) bewegbar mit der Stützbasis (2) verbunden ist, sodass der zweite Teil (5b) entlang einer Bewegungslinie (6) relativ zur Stützbasis (2) bewegbar ist;
    einen Ladeabschnitt (8) für die zu bewegenden Objekte, der mechanisch mit dem zweiten Teil (5b) des Arms (5) verbunden ist;
    einen Ausgleichsantrieb (11), verbunden zwischen der Stützbasis (2) und dem Arm (5) und ausgestaltet, um das Gewicht von mindestens dem Ladeabschnitt (8) entlang der Bewegungslinie (6) auszugleichen, sodass der Ladeabschnitt (8) im Raum schwebend beibehalten wird,
    wobei der Ladeabschnitt (8) eine Halteeinheit (10) umfasst, die von einem Bediener gegriffen werden kann, um den Ladeabschnitt (8) räumlich zu verschieben, wobei der Ausgleichsantrieb (11) ebenfalls ausgestaltet ist, um den zweiten Teil (5b) des Arms (5) entlang der Bewegungslinie (6) zu bewegen, und zwar infolge der Anwendung einer Basiskraft, die durch einen Bediener auf den Ladeabschnitt (8) angewandt wird, sodass der Ladeabschnitt (8) bewegt wird;
    dadurch gekennzeichnet, dass sie Bewegungshilfsmittel (14) umfasst, die vom Ausgleichsantrieb (11) getrennt sind und auf den mechanischen Arm (5) wirken und ausgestaltet sind, um den mechanischen Arm (5) entlang der Bewegungslinie (6) relativ zur Basis zu bewegen, sodass auf den Ladeabschnitt (8) relativ zur Basiskraft eine zusätzliche Basiskraft angewandt wird, die ausgestaltet ist, um der anfänglichen Trägheit des Ladeabschnitts (8) entgegenzuwirken,
    wobei die Handhabungsvorrichtung (1) eine Steuereinheit (16) umfasst, die vom Bediener bedient werden kann und betriebswirksam mit den Bewegungshilfsmitteln (14) verbunden ist, um die Bewegungshilfsmittel (14) auf Befehl zu betätigen,
    wobei die Steuereinheit (16) einen Handgriff (18) umfasst, der entlang einer Verschiebungslinie (19) entsprechend der Linie, entlang derer der Ladeabschnitt (8) verschoben werden muss, bewegbar ist,
    wobei der Handgriff (18) ausgestaltet ist, um die Bewegungshilfsmittel (14) entlang der Bewegungslinie (6) entsprechend der Verschiebungslinie (19) des Handgriffs (18) zu betätigen,
    wobei der Handgriff (18) entlang der Verschiebungslinie (19) zwischen einer ersten Betriebsstellung, einer Ausgangsstellung und einer zweiten Betriebsstellung bewegbar ist,
    wobei die Steuereinheit (16) ausgelegt ist, um die Bewegungshilfsmittel (14) in eine erste Richtung der Bewegungslinie (6) zu aktivieren, wenn der Handgriff (18) von der Ausgangsstellung in die erste Betriebsstellung gebracht wird, und um die Bewegungshilfsmittel (14) in eine zweite Richtung der Bewegungslinie (6) zu aktivieren, die der ersten entgegengesetzt ist, wenn der Handgriff (18) von der Ausgangsstellung in die zweite Betriebsstellung gebracht wird,
    wobei die Steuereinheit (16) einen Teil (17) umfasst,
    der am Ladeabschnitt (8) und am Handgriff (18) fixiert ist, der relativ zum fixierten Teil (17) verschiebbar ist;
    wobei der fixierte Teil (17) einen Stab (20) und der Handgriff (18) einen hohlen ringförmigen Körper (22) umfasst, der verschiebbar an der Außenseite des Stabs (20) bewegbar ist.
  2. Handhabungsvorrichtung (1) nach Anspruch 1, dadurch gekennzeichnet, dass die Bewegungshilfsmittel (14) einen Hilfsantrieb (15) umfassen, der vom Ausgleichsantrieb (11) getrennt und zwischen der Stützbasis (2) und dem Arm (5) verbunden ist, um den Arm (5) entlang der Bewegungslinie (6) zu bewegen.
  3. Handhabungsvorrichtung (1) nach einem der vorhergehenden Abschnitte, dadurch gekennzeichnet, dass die Steuereinheit (16) erste elastische Rückholmittel (24) umfasst, die zwischen dem fixierten Teil (17) und dem Handgriff (18) eingesetzt sind, um die Rückkehr des Handgriffs (18) in die Ausgangsstellung zu fördern.
  4. Handhabungsvorrichtung (1) nach Anspruch 3, dadurch gekennzeichnet, dass die Steuereinheit (16) einen Anschlag (25) umfasst, der sich innerhalb des ringförmigen Körpers (22) erstreckt und durch Interferieren mit dem Stab (20) betätigt wird,
    wobei der Stab (20) einen Sitz (26) umfasst, der im Wesentlichen passend zum Anschlag (25) geformt und an der Ausgangsstellung positioniert ist, sodass die Identifizierung der Ausgangsstellung erleichtert wird.
  5. Handhabungsvorrichtung (1) nach Anspruch 4, dadurch gekennzeichnet, dass der Anschlag (25) entlang einer Linie bewegbar ist, die quer zur Verschiebungslinie (19) verläuft, und einen im Wesentlichen konischen Kopf umfasst;
    wobei die Steuereinheit (16) elastische Mittel (27) umfasst, die auf den Anschlag (25) wirken, um diesen angeschlagen gegen den Stab (20) beizubehalten.
  6. Handhabungsvorrichtung (1) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass sie eine Aufnahmeeinheit (9) für das Objekt umfasst, die am Ladeabschnitt (8) montiert ist und zwischen einer Position zum Aufnahmen des Objekts und einer Position zur Freigabe des Objekts konfiguriert werden kann;
    wobei der Handgriff (18) in der Lage ist, sich um seine Rotationsachse zwischen einer ersten Rotationsposition und einer zweiten Rotationsposition zu drehen;
    wobei die Steuereinheit (16) ausgestaltet ist, um die Aufnahmeeinheit (9) zu steuern, sodass diese sich in die Aufnahmeposition bewegt, wenn der Handgriff (18) in die erste Rotationsposition bewegt wird, und um die Aufnahmeeinheit (9) zu steuern, sodass diese sich in die Freigabeposition bewegt, wenn der Handgriff (18) in die zweite Rotationsposition gedreht wird.
  7. Handhabungsvorrichtung (1) nach einem der vorhergehenden Ansprüche 2 bis 9, dadurch gekennzeichnet, dass der Ausgleichsantrieb (11) und der Hilfsantrieb (15) pneumatisch sind.
  8. Handhabungsvorrichtung (1) nach Anspruch 7, dadurch gekennzeichnet, dass der Ausgleichsantrieb (11) einen Pneumatikzylinder (12) und eine in den Zylinder integrierte Druckkontrollegruppe (13) umfasst, sodass der Arm (5) in Betrieb an einer vorgegebenen Position relativ zur Stützbasis (2) stationär gehalten wird.
  9. Handhabungsvorrichtung (1) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass sie ein Ausgleichen im Lastmodus umfasst, wobei der Ausgleichsantrieb (11) ausgestaltet ist, sowohl um das Gewicht des Ladeabschnitts (8) als auch das Gewicht eines darauf geladenen Objekts auszugleichen.
  10. Handhabungsvorrichtung (1) nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass sie ein Ausgleichen im Leermodus umfasst, wobei der Ausgleichsantrieb (11) ausgestaltet ist, um nur das Gewicht des Ladeabschnitts (8) auszugleichen.
  11. Handhabungsvorrichtung (1) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Bewegungslinie (6) und die Verschiebungslinie (19) im Wesentlichen parallel zu einer vertikalen Linie verlaufen.
EP14153749.8A 2013-01-18 2014-02-04 Handhabungsvorrichtung zum räumlichen Bewegen von Objekten Active EP2762436B1 (de)

Applications Claiming Priority (1)

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IT000011A ITVR20130011A1 (it) 2013-01-18 2013-01-18 Manipolatore per oggetti da movimentare nello spazio

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EP2762436B1 true EP2762436B1 (de) 2016-01-13

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EP2949433A1 (de) 2014-05-28 2015-12-02 ATIS S.r.l. Vorrichtung zum handhaben von gegenständen, insbesondere von säcken, durch ansaugung
ITUB20153443A1 (it) * 2015-09-07 2017-03-07 Whitech S R L Gruppo manipolatore ad azionamento elettrico
ITUB20159295A1 (it) * 2015-12-01 2017-06-01 B N P Srl Braccio articolato
ITUB20160948A1 (it) * 2016-02-22 2017-08-22 Whitech S R L Gruppo manipolatore ad azionamento elettrico
IT201600107861A1 (it) * 2016-10-26 2018-04-26 Famatec S P A Macchina per la movimentazione di bagagli ed affini
DE102019126389A1 (de) * 2019-09-30 2021-04-01 Eduard Jaryj Vorrichtung zur Handhabung von Werkstücken

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EP2762436A1 (de) 2014-08-06
ITVR20130011A1 (it) 2014-07-19

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