EP2909117A2 - Dispositif et procédé destinés au transfert rapide de panneaux - Google Patents

Dispositif et procédé destinés au transfert rapide de panneaux

Info

Publication number
EP2909117A2
EP2909117A2 EP13836239.7A EP13836239A EP2909117A2 EP 2909117 A2 EP2909117 A2 EP 2909117A2 EP 13836239 A EP13836239 A EP 13836239A EP 2909117 A2 EP2909117 A2 EP 2909117A2
Authority
EP
European Patent Office
Prior art keywords
gripping device
plate
plates
gripper fingers
different
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.)
Ceased
Application number
EP13836239.7A
Other languages
German (de)
English (en)
Inventor
Franz Krommer
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.)
Grenzebach Maschinenbau GmbH
Original Assignee
Grenzebach Maschinenbau GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Grenzebach Maschinenbau GmbH filed Critical Grenzebach Maschinenbau GmbH
Publication of EP2909117A2 publication Critical patent/EP2909117A2/fr
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0464—Storage devices mechanical with access from above
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors 
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B65G65/005—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0214—Articles of special size, shape or weigh
    • B65G2201/022—Flat
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
    • B65G2249/04—Arrangements of vacuum systems or suction cups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
    • B65G2249/04—Arrangements of vacuum systems or suction cups
    • B65G2249/045—Details of suction cups suction cups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/08—Stacking of articles by adding to the top of the stack articles being tilted or inverted prior to depositing

Definitions

  • the invention relates to the rapid displacement of plates, in particular glass plates.
  • the production of large-area glass plates takes place in the form of float glass by the continuous pouring of a molten glass on a heated in an elongated tub tin bath and the resulting glass ribbon.
  • This glass band has a side on which lay on the tin bath, the so-called bath side.
  • the other side of the glass ribbon which has been cooled in the air is referred to as the so-called air side.
  • the bath side and the air side have different properties. For example, as the air side has less bumps, it is better for coatings.
  • the subsequent assembly of the float glass is done by slitting and cross-cutting the expiring from the float glass production at a certain feed rate glass ribbon.
  • tape measure or large format here is a size of 6 meters by 3.21 meters called.
  • split tape measure or medium format is called a plate size of 3.21 meters by 2 meters (to 2.5 meters).
  • this holding mechanisms usually in the form of a stable frame, moved up to the glass plate in question, connected to this via suction cups, and then the holding mechanism with the suctioned thereto Glass plate further transported.
  • Claim 1 solved in that the approach of the lifting mechanism to the object to be displaced to the first or the second place below
  • the object to be displaced is a glass pane
  • the first place is an inner loader frame
  • the second place is a conveyor belt and the holding mechanism is a suction frame.
  • the plate conveyor is provided with a recess in which the robot arm can dip, and with, a dipping of the suction frame or the like enabling recesses.
  • the suction frame or the like should be pivotally mounted at the free end of the robot arm in an upwardly facing position to from the in the
  • the stacking rack used here is immovably fixed to the ground, so it can only be equipped by the, the robotic arm facing page.
  • the stacking frame must each be moved away when loading with another glass plate by the small distance of the thickness of a glass plate from the robot arm, since the distance of the robot arm is a fixed size.
  • so-called clock slides are necessary in practice in the current state of the art, which move the stacking frame each time before loading with a new glass plate by the distance of a glass plate - thickness of the robot arm to make room for another glass plate.
  • a turntable is necessary for loading the stacking rack from the other side. For loading the stacking rack with large and heavy glass plates are the required clock slide and the
  • the device according to the invention or the corresponding method is therefore based on the task of detecting glass plates of very different formats, thicknesses or quality levels on the production line in the shortest possible time,
  • a glass plate also sometimes has to be coated and such a coating is usually applied to the smoother side, namely the air side, it is necessary to be able to detect such a glass plate from the opposite side, namely the bath side.
  • FIG. 5 shows a section of the subsequent step of FIG .. 4
  • Fig. 7 a plan view of the gripping device
  • Fig. 11 a section through a precision sucker
  • Fig. 1 shows a perspective view of the overall device.
  • the essential difference to conventional devices for moving or transporting plates, in particular glass plates, is that the
  • Gripping device for detecting the plates is not moved by means of robot-based structures, but by means of a special rope mechanism.
  • FIG. 1 shows a characteristic position of a gripping device 4 with a plate 5 gripped by it.
  • the gripping device 4 is held by four support cables 2 which are synchronously changed in each case by means of a cable drive 8 at the top of the crane masts 1 in length.
  • the four crane masts 1 are mechanically connected by a diagonal support cross 3.
  • the diagonal support cross 3 serves to support the stabilizer 10, as can be seen more clearly in FIG. 2.
  • FIG. 1 two stacking racks 6 are designated in FIG. 1 on the right side, which an unmarked stacking rack on the other side of a Transport device 7 is opposite.
  • a Transport device 7 On the transport device 7, which is sketched here as a ribbon-like structure, two overlapping plates can be seen.
  • the incoming on the transport device 7 plates 5 may be different in format, its thickness or quality level.
  • FIG. 2 shows a sectional drawing through the entire device. Here are on the left and on the right side in each case a vertical
  • Crane mast 1 shown, both of which are connected via the visible in section and not specially designated diagonal - carrying cross.
  • a stabilizer suspension 9 In the middle of the diagonal support cross is a stabilizer suspension 9 and already in FIG. 1
  • the stabilizer 10 for the gripping device 4 shown.
  • the stabilizer 10 is on the one hand in the stabilizer - suspension 9 hinged all around and
  • the stabilizer 10 is also mounted all around articulated in the central region of the gripping device and serves to stabilize the suspended between the support cables 2
  • Gripping device 4 Of the four supporting cables 2 only two opposite supporting cables 2 can be seen in this illustration.
  • the gripping device shown in FIG. 2 has in the edge region on both sides by means of hinges hinged hinged gripper finger 13.
  • the gripper fingers 13 are alternately struck left and right.
  • the process of folding over the gripper fingers 13 is effected by drives 11.
  • the gripper fingers 13 have holding means 14, which are arranged on both sides, since, as will be shown later, they can detect the plates to be offset from the top or bottom.
  • the gripper fingers 13 are arranged in the gripping device 4 so that they can reach between the distances of the rollers of the transport device.
  • the transmission of electrical energy and a variety of required control signals is divided by means of a different
  • the electrical energy thus supplied serves the operation of the drive 11, a non-designated vacuum pump for Operation of the holding means 14 and the operation of sensors for detecting the position of the gripping device.
  • Fig. 3 shows a sectional view through the entire device in motion.
  • the left-hinged part of the gripper fingers 13 with its holding means 14 has detected a plate 5 and is about to set down this plate on the left-positioned stacking frame 6, on the already another plate 5 is located.
  • the gripper fingers 13 carry holding means 14 on both longitudinal sides. In the case of a glass plate 5, this would be a transfer operation that would be caused by access to the air side.
  • the stabilizer 10 is shortened in this illustration according to the changed length of the support cables 2. The location of the crane masts 1, the
  • Diagonal - support cross 3 and the transport device 7 are compared to the ratios in FIG. 2 unchanged.
  • a corresponding stacking frame 6 is shown on the left side of Fig. 3.
  • Fig. 4 shows a sectional view of the functional sequence in the displacement of a plate with an access from the bottom, ie from the side with which the corresponding plate rests on the transport device 7. In the case of a glass plate 5, this would be a transfer operation caused by access to the bath side.
  • Transport device 7 with a resting plate 5 are opposite to the
  • Gripper fingers 13 can be shortened telescopically for reasons of space, taking into account that the holding means 14 are also telescoped closer together in this area. A shortening by about one third of the total length to almost the entire length of a gripper finger 13 is realized here.
  • the height of the transport device 7 is adjustable to adapt to different plate formats to change.
  • FIG. 5 shows a section of the subsequent step of FIG. 4.
  • Swivel joints further angled and are about to take the plate 5 from the bottom.
  • the stabilizer 10 is further extended according to the shown changed positioning of the gripper fingers 13 in its length. Since, as can be seen from the representation of the later Fig. 6, a settling of the plate 5 is intended on the left stacking frame 6, only the
  • Holding means 14 of the right hinged gripper finger 13 is activated, so that the plate 5 can be stored with the resting on the transport device 7 side up on the left stacking rack. It is here again pointed out that for ease of movement in the pivot joints 12 the
  • Gripper fingers (13) can be shortened telescopically in the last third of their total length.
  • Light field sensors 17 shown. The number of these sensors depends on the size of the device according to the invention.
  • the light field sensors 17 can be used to supplement common laser sensors.
  • mini-lenses which collect optical information in the form of hundreds of mini lenses according to the light field principle and then later to images with a desired resolution and / or a desired viewing angle can be compiled data technically.
  • miniature lenses are 3 - D able to produce cheaply and follow the principle of an insect eye. They are capable of overarching data coordination of the involved
  • FIG. 6 shows the following step of the movement process of FIG. 5.
  • the support cables on the left side of the transfer device according to the invention are so shortened and the stabilizer 10 is pivoted so far to the left that the
  • Gripper fingers 13 of the gripping device with the plate 5 reach into the region of the left stacking frame.
  • a coordinated further shortening of the left suspension cables in conjunction with a corresponding extension of the right suspension cables and any necessary slight correction of the position of the gripper fingers 13 by means of their drive 11 complete the conversion process.
  • the holding means 14 are then released from the plate 5 and moves the gripping device in a further working position.
  • a - frames which provide a loading option on two opposite sides, since with appropriate dimensioning of the crane masts 1, the vertical working area is easy to expand.
  • FIG. 6 therefore, two A-frames are drawn on the left and on the right-hand side. This possibility has already been pointed out in the description of FIG.
  • FIG. 7 shows a plan view of the gripping device. From above, the rectangular gripping device with the attached at its four corners supporting cables 2 can be seen here. In the middle of the gripping device, the holder 15 of the entire, held by the four support cables 2 frame for the stabilizer 10 is arranged. On the right and the left side, the pivot joints 12 for the right, or left posted gripper fingers 13 with their, shown only in the lower looper finger, respective holding means 14 can be seen. For the right-bitten gripper fingers 13 of the associated drive 11 is designated. At least one sensor 16, which is shown here by way of example in the middle region of the gripping device, serves to detect the position and the control of the gripping device. Here too, laser sensors and / or light field sensors 17 can additionally be used, in each case according to the size of the overall system.
  • FIG. 8 is a plan view of an alignment unit for a plate 5 in FIG. 8
  • the transport device 7 is shown by way of example as a roller bearing with an incoming plate 5. After leaving the transport device 7 enters a plate 5 in this case in an area of, hanging on the four support cables 2 and on the
  • Frame holder 15 connected to the stabilizer, gripper frame 18 of the float on air nozzles 26 and thus allows an exact alignment of their position on the air cushion thus generated. This purpose is served in the lower
  • Image area recognizable alignment strip 27 which can be moved horizontally on the left and right in each case by a mounted on a holding device 29 synchronous drive 28 substantially.
  • alignment devices 22 are provided with alignment plates 23 along the longitudinal side of this frame. These alignment devices can be actuated and actuated individually and, in conjunction with the alignment strip 27, permit exact positioning of the respective plate 5.
  • the gripper finger carrier 19 can also be seen with the drive 11 for the corresponding gripper fingers. Further details can be found in FIG.
  • FIG. 9 shows a representation of an electrostatic gripper element.
  • the upper part of the picture is a large area enlargement in the area of a
  • surfaces 21 have been marked whose different stress levels cause an electrostatically induced adhesion of the plate 5 to the air cushion generated by means of the air nozzles 26.
  • a side view in the region of the section line A - A shows in the lower image area next to the gripper frame 18 and the pivot 12 of the relevant
  • Such electrostatic grippers are state of the art and can transfer forces of up to 20 N / cm 2 transversely to the workpiece surface (Ref.Nr .: 1981 RWTH Aachen).
  • FIG. 10 shows a section through a so-called power vacuum cleaner, which can likewise be used as holding means 14.
  • This type of nipple consists essentially of a teat stock 35 which is inserted in a guide and support tube 34 and a suction cup 31 attached thereto.
  • a compensating spring 36 which is located between the guide and the tube
  • Supporting tube 34 and the vacuum pad 31 is mounted, on the one hand ensures a gentle placement of the suction cup 31 on the plate 5 and on the other hand, it supports the flexible suction cup holder 30 in an inclined position
  • Saugtellerhalterung 30 is made of a soft, but good shock-absorbing material and provides a harmonious connection between the Saugerschaft 35 and the vacuum pad 31.
  • the circular Saugermanschette 32 with its particularly adhesive edge lip makes the actual connection to the plate 5 ago.
  • the vacuum pad 31 has a circular filter element 33 in its center. This serves the purpose of keeping fine glass particles from the vacuum pump required for operation, not specified here. It can either be cleaned by hand or replaced at regular intervals. By a sensor not shown separately, the forward resistance of the filter element 33 of each sucker can be detected in a particular stage and displayed on a monitor.
  • FIG. 11 shows a so-called precision vacuum cleaner as it can also be used as holding means 14.
  • This illustration shows the special effect of this nipple. Since it is important in the case of glass panes to be picked up that they are transported and applied absolutely in a flat position, the area at which the respective pane is touched by the respective suction head must also be absolutely even with each suction head. This is achieved in that in the illustration shown, a sealing ring 37 is guided in a suction head 38 made of solid material. The cleaner head 38 slides in this case together with a rubber bellows 39 in a holding plate 40.
  • a sealing ring 37 is guided in a suction head 38 made of solid material.
  • the cleaner head 38 slides in this case together with a rubber bellows 39 in a holding plate 40.
  • the suction head 38 may in this case also be approximately square or have any other desired surface shape, for example, which induces as little mechanical stress as possible in the respectively recorded disk.
  • an elliptical shaped surface may contribute to reducing stresses during picking and transport in the respective disc.
  • ultrasonic suckers can also be used which belong to the state of the art.
  • Diagonal - carrying cross (stabilizer 10)
  • Holding means sucers, electrostatic grippers

Abstract

L'invention concerne un procédé et un dispositif pour la pose rapide de panneaux, notamment de panneaux de verre, de formats, d'épaisseurs et de degrés de qualité différents, les uns derrière les autres, sur diverses structures d'empilement. L'invention est caractérisée en ce que a) le panneau (5) à transférer vers des rouleaux de transport d'un dispositif de transport (7) est saisi au moyen d'un dispositif de préhension (4) suspendu à des câbles porteurs (2) et au moyen de ses doigts de préhension rotatifs (13) pourvus d'éléments de fixation (14), b) le dispositif de préhension (4) et le panneau (5) sont transportés vers une structure d'empilement choisie (6) par raccourcissement et/ou rallongement des câbles porteurs concernés (2) et déposés par libération des éléments de fixation (14), et c) le dispositif de préhension (4) est transporté vers sa prochaine position de travail par raccourcissement et/ou rallongement de certains câbles porteurs (2).
EP13836239.7A 2012-10-22 2013-10-01 Dispositif et procédé destinés au transfert rapide de panneaux Ceased EP2909117A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012020679.8A DE102012020679B4 (de) 2012-10-22 2012-10-22 Verfahren und Vorrichtung zum schnellen Versetzen von Platten
PCT/DE2013/000564 WO2014063669A2 (fr) 2012-10-22 2013-10-01 Procédé et dispositif destiné à la pose rapide de panneaux

Publications (1)

Publication Number Publication Date
EP2909117A2 true EP2909117A2 (fr) 2015-08-26

Family

ID=50272231

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13836239.7A Ceased EP2909117A2 (fr) 2012-10-22 2013-10-01 Dispositif et procédé destinés au transfert rapide de panneaux

Country Status (7)

Country Link
US (1) US20150274420A1 (fr)
EP (1) EP2909117A2 (fr)
CN (1) CN104822612B (fr)
DE (1) DE102012020679B4 (fr)
EA (1) EA029686B1 (fr)
IL (1) IL238210B (fr)
WO (1) WO2014063669A2 (fr)

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DE102015013799A1 (de) * 2015-10-26 2017-04-27 Grenzebach Maschinenbau Gmbh Vorrichtung und Verfahren zum Beschichten überlanger flächenhafter Substrate, insbesondere Glasscheiben, in einer Vakuum-Beschichtungsanlage
CN105292593A (zh) * 2015-11-11 2016-02-03 中银（宁波）电池有限公司 吊卡式电池包装自动码垛机构
DE102016118959B4 (de) 2016-10-06 2018-05-03 Valeo Schalter Und Sensoren Gmbh Kraftfahrzeug mit einem Umgebungsüberwachungssystem mit mindestens zwei Ultraschallsensoren, deren Erfassungsbereiche sich überlappen, zum Erfassen einer Umgebung des Kraftfahrzeugs
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CN111361991B (zh) * 2018-11-02 2021-08-31 北部湾大学 板形工件包边装置的上料伸缩杆结构
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DE102012020679A1 (de) 2014-04-24
IL238210A0 (en) 2015-06-30
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EA029686B1 (ru) 2018-04-30
IL238210B (en) 2018-03-29
CN104822612A (zh) 2015-08-05
CN104822612B (zh) 2017-05-03
US20150274420A1 (en) 2015-10-01
EA201590541A1 (ru) 2015-08-31
WO2014063669A3 (fr) 2014-08-07

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