EP3868530A1 - Automatische palettenmontagesystem und verfahren - Google Patents

Automatische palettenmontagesystem und verfahren Download PDF

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Publication number
EP3868530A1
EP3868530A1 EP20382951.0A EP20382951A EP3868530A1 EP 3868530 A1 EP3868530 A1 EP 3868530A1 EP 20382951 A EP20382951 A EP 20382951A EP 3868530 A1 EP3868530 A1 EP 3868530A1
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EP
European Patent Office
Prior art keywords
framing
runner
pallet
deck
elements
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.)
Granted
Application number
EP20382951.0A
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English (en)
French (fr)
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EP3868530B1 (de
Inventor
Juan Manuel Perez Toneu
Carlos Perez Toneu
Marc Perez Toneu
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.)
Mecanica Cape SL
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Mecanica Cape SL
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 Mecanica Cape SL filed Critical Mecanica Cape SL
Priority to EP20382951.0A priority Critical patent/EP3868530B1/de
Priority to ES20382951T priority patent/ES2927898T3/es
Publication of EP3868530A1 publication Critical patent/EP3868530A1/de
Application granted granted Critical
Publication of EP3868530B1 publication Critical patent/EP3868530B1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27M—WORKING OF WOOD NOT PROVIDED FOR IN SUBCLASSES B27B - B27L; MANUFACTURE OF SPECIFIC WOODEN ARTICLES
    • B27M3/00—Manufacture or reconditioning of specific semi-finished or finished articles
    • B27M3/0013—Manufacture or reconditioning of specific semi-finished or finished articles of composite or compound articles
    • B27M3/0073—Manufacture or reconditioning of specific semi-finished or finished articles of composite or compound articles characterised by nailing, stapling or screwing connections
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27F—DOVETAILED WORK; TENONS; SLOTTING MACHINES FOR WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES
    • B27F7/00—Nailing or stapling; Nailed or stapled work
    • B27F7/02—Nailing machines

Definitions

  • the present invention relates to machines for the automatic assembly of pallets.
  • the present invention relates to an automatic assembly system for pallets formed of a plurality of runners and a deck, which are connected together by nailing which connects each runner to the deck by means of nails.
  • the deck of pallets is usually formed of a plurality of planar, elongate boards arranged with their longitudinal axes parallel, forming a planar outer surface of the pallet and another planar inner surface of the pallet. These elements are connected together by means of connection elements arranged perpendicular to the previous ones along said inner surface. Furthermore, each runner of the pallet is usually formed of a planar, elongate board connected to one or more prismatic elements or blocks. In the final assembled position, the runners are connected to the deck in such a way that the blocks of said runners are in contact with the connection elements of the deck and parallel to the plurality of planar elements that form the deck of the pallet.
  • the invention is not limited to a specific pallet construction, also referred in the industry as "skid".
  • Machines exist in the prior art which comprise rigid nailing bases on which nailing is carried out using a robotic arm which controls a unit of nailers. Said machines position the elements of the assembly on the nailing bases by moving robotic positioning arms based on pre-established three-dimensional coordinates. Moreover, said machines hold all the runners simultaneously, which results in a substantial reduction in overall positioning accuracy, owing to the existence of irregularities on the surfaces thereof. These machines are slow and have low productivity. Adapting the machine to pallets of different sizes is also slow.
  • An object of the present invention is to provide a pallet assembly machine that allows automatic, versatile and accurate assembly, such that the end product does not have imperfections at its periphery that could affect adjacent items, such as other pallets or delicate items that could be torn.
  • the pallet assembly system comprises a framing device so as to be able to align the runners with the deck of the pallet prior to a nailing operation, and this is carried out using a structure that allows a positioning system to move the deck and the runners during assembly. More particularly, the present invention allows the framing action, which is preferably maintained during nailing, to apply to just one runner and the deck - preferably only in the area of the deck close to said runner. Assembly may continue with the framing of the next runner in the same area in which the previous runner was framed. By only framing one runner at a time, accurate nailing is achieved but it also allows for streamlined assembly.
  • the present invention also discloses a novel automatic pallet assembly method. Furthermore, the present invention also comprises a clamp for the runner, which ensures the accurate position and gripping thereof throughout the nailing process, ensuring stability and preventing unwanted misalignments.
  • the framing system is responsible for the positioning and framing of the deck on a first outer runner, on inner runners and on a second outer runner.
  • the framing system ensures accurate framing of the unit around the entire periphery of the pallet for assembly.
  • the framing system according to the present invention is positioned around the nailing unit and comprises movable elements for the front, rear and lateral framing in order to ensure the correct relative position between the deck and said outer and inner runners.
  • an automatic assembly system for pallets formed of a plurality of runners and a deck which comprises:
  • the assembly system comprises control means which synchronise the movement of the deck and the runners of the pallet with the actuation of the nailing unit and the framing system to allow the framing system to act sequentially on different runners of the pallet.
  • the movable actuation elements are arranged around the framing and nailing area and comprise pressure surfaces to frame the deck of the pallet on a single runner at a time separately from the rest of the runners.
  • the supply and positioning system of the automatic pallet assembly system comprises control means, such as position sensors and electric or hydraulic actuators, or actuators of any other known type, which synchronise the movement of the deck and the runners of the pallet with the actuation of the nailing unit and the framing system, so that the deck and the runners of the pallet move through the assembly system in unison as assembly thereof takes place.
  • the movable actuation elements comprise a longitudinal framing system and a transverse framing system with respect to the runner for assembly, in order to apply pressure to the runner and/or deck of the pallet longitudinally and/or transversely to said runner for assembly, respectively.
  • the movable actuation elements can be actuated independently of one another.
  • the longitudinal framing system comprises two dual heads, in which an upper unit moves along a first guide and comes in contact at least with the deck of the pallet and a lower unit moves along a second guide and comes in contact with the runner of the pallet, in order to apply pressure along a longitudinal axis of a runner on which framing is carried out.
  • the upper and lower units of the longitudinal framing system comprise independent control means.
  • the transverse framing system comprises movable actuation elements with independent control means which allow actuation thereof on the runner, on the deck and/or on the runner and the deck independently.
  • the transverse framing system comprises movable actuation elements with planar contact surfaces and with curved contact surfaces which act on the runner, on the deck and/or on the runner and the deck.
  • the transverse actuation elements follow a curved travel path from the position in which said elements are not actuated to the position in which said elements act on the runner, on the deck and/or on the runner and the deck.
  • Other types of translation/rotation are also possible. Rectilinear translation, for example, is also possible.
  • the transverse framing system is arranged on positioning guides and comprises means for adjusting the position thereof along said guides.
  • the supply and positioning system for the components of the pallet comprises a robotic system, in which a first robotic arm is configured to manipulate the deck of the pallet and a second robotic arm is configured to manipulate the runners of the pallet.
  • the robotic arm responsible for manipulating the runners of the pallet comprises a clamp having a plurality of pairs of gripper fingers for securing the runners of the pallet.
  • the pairs of gripper fingers comprise a first self-adjusting gripper finger which is movable and a second gripper finger which is fixed.
  • the fixed gripper finger can move from a reception position to a gripping position to facilitate reception of the runners of the pallet.
  • the movable front framing and rear framing elements press the runner and the deck in the framing steps for the outer runners.
  • the framing system may comprise lower pusher elements for positioning the inner runners, and also lateral framing elements which are automatically adjusted depending on the morphology of the pallet for assembly. Said lateral pushers on both sides of the unit for assembly ensure lateral alignment between the deck and the runners of the pallet; and, having independent heads, allow the selective positioning of said runners, including configurations that comprise projecting runners and/or sections of the deck.
  • said lateral framing elements may be configured to have different travel paths, in order to apply the corresponding pressure to elements arranged at a different distance. This allows assembly of a large number of pallets having different morphologies and dimensions.
  • the framing elements and the pusher elements can be adjusted either manually or automatically using control elements associated with special software in which different pallet morphologies can be predefined.
  • the assembly system according to the present invention also comprises a clamp suitable for picking up and manipulating the runners of the pallet.
  • Said clamp may be installed on a robotic arm responsible for manipulating the runners.
  • Said clamp comprises two rigid parallel elements separated from each other by a distance that is less than the length of the runner, on which a plurality of pairs of gripper fingers are arranged, which are adapted to the components of the pallet for assembly.
  • Said pairs of fingers in turn comprise a fixed finger having a dual position (a pick-up position and a gripping position) and a self-adjusting movable finger which is adapted to the width of the runners to be picked up and secured.
  • the framing elements and the pusher elements are made of a mechanically strong material, so as to be able to apply pressure to the components of the pallet for assembly without being deformed.
  • an assembly system that comprises a framing system and a clamp for picking up and manipulating the runners according to the present invention substantially improves the final alignment of the assembled unit, and is also versatile with regard to pallet morphology, allowing assembly with high productivity.
  • the present invention also comprises an automatic pallet assembly method using an automatic pallet assembly system as described, which comprises the following steps:
  • the automatic pallet assembly method also comprises the following steps:
  • the automatic pallet assembly method also comprises the following additional steps:
  • the automatic pallet assembly method comprises the actuation of front and lateral framing elements and of lower rear pusher elements to frame the deck and a first runner, in which said first runner is a first outer runner, using said movable actuation elements in the longitudinal direction and the transverse direction thereof.
  • the automatic pallet assembly method comprises the actuation of lateral framing elements and of the lower front and lower rear pusher elements to frame the deck and a second runner, in which said second runner is an inner runner, using said movable actuation elements in the longitudinal direction and in the transverse direction thereof.
  • the automatic pallet assembly method includes the use of rear and lateral framing elements and of lower front pusher elements to frame the deck and a third runner, in which said third runner is a second outer runner, using said movable actuation elements in the longitudinal direction and in the transverse direction thereof.
  • the automatic pallet assembly method includes an additional step of removing the assembled pallet by means of the supply and positioning system.
  • Fig. 1 is a perspective view of a runner of the pallet.
  • Fig. 2 is a perspective view of a deck of the pallet.
  • Fig. 3 is a perspective view of an assembled pallet.
  • Fig. 4 is a front view of the automatic pallet assembly system of the present invention.
  • Fig. 5 is a perspective view of the automatic pallet assembly system of the present invention.
  • Fig. 6 is a view from above of the framing system of the present invention with the framing elements not actuated.
  • Fig. 7 is a perspective view of the framing system of the present invention with the framing elements not actuated.
  • Fig. 8A is a perspective view of the framing system of the present invention in the framing position for a first outer runner.
  • Fig. 8B is a view in cross section through the plane A-A' shown in Fig. 4 of the framing system as shown in Fig. 8A .
  • Fig. 8C is an enlarged perspective view of a connection area between the deck and a first outer runner.
  • Fig. 9A is a perspective view of the framing system of the present invention in the framing position for an inner runner.
  • Fig. 9B is a view in cross section through the plane A-A' shown in Fig. 4 of the framing system as shown in Fig. 9A .
  • Fig. 9C is an enlarged perspective view of a connection area between the deck and an inner runner.
  • Fig. 10A is a perspective view of the framing system of the present invention in the framing position for a second outer runner.
  • Fig. 10B is a view in cross section through the plane A-A' shown in Fig. 4 of the framing system as shown in Fig. 10A .
  • Fig. 10C is an enlarged perspective view of a connection area between the deck and a second outer runner.
  • Fig. 11 is a perspective view of the clamp suitable for securing runners of the present invention.
  • the term “framing area” or “nailing area” refers to the area comprised between the support pillars, in which both the framing and the nailing of the runners for assembly takes place.
  • the term “outer runner” refers to a runner in which one of the longitudinal sides thereof is aligned with the periphery of the deck of the pallet.
  • the term “inner runner” refers to a runner that has both longitudinal sides arranged within the periphery of the deck of the pallet.
  • front, rear and lateral refer to the relative arrangement of the devices to which they are connected; these terms should not be understood as limiting the arrangement of said devices with respect to the general orientation of the assembly system.
  • the term “nailing” refers to the act of nailing.
  • Fig. 1 shows, as an example, a runner 6 of the pallet which comprises a planar, elongate board 61 and a plurality of prismatic blocks 62 arranged on said board.
  • Fig. 2 shows, as an example, a deck 5 of the pallet which is formed by a plurality of planar, elongate boards 51 arranged with the longitudinal axes thereof parallel, which comprise a planar outer surface of the pallet and another planar inner surface of the pallet; and said elements are connected together by connection elements 52 arranged perpendicular to the previous ones along said inner surface.
  • Fig. 3 shows, as an example, an assembled pallet which comprises a deck 5 having two assembled runners 6, such that the runners are connected to the deck with the prismatic blocks 62 of said runners in contact with the connection elements 52 of the deck and parallel to the plurality of planar boards 51 that form the deck of the pallet.
  • Fig. 4 and 5 show a fixed station belonging to the automatic pallet assembly system 100 of the present invention, which comprises a framing system 20 and a nailing unit 30.
  • An assembled pallet 1 has been included for reference.
  • no pallet supply and positioning system has been shown.
  • the supply and positioning system in the example consists of two robots, for example two commercially available, programmable robotic arms, one responsible for supplying and positioning the deck and the other responsible for supplying and positioning the runners of the pallet.
  • Fig. 6 to 10C show the framing system of the fixed station shown in Fig. 4 and 5 , although the supply and positioning system, the nailing station and other secondary components have been omitted to make it easier to see.
  • FIG. 6 and 7 the components of the framing system 20 of the example shown can be seen, with the framing elements 21, 22, 23, 24, 25, 26, 21', 22', 23', 24', 25', 26' not actuated.
  • These figures also show the longitudinal adjustment means 28 on which the front and rear framing elements 21, 22, 24, 26, 21', 22', 24', 26' are arranged, and also the support means 29 on which the runner rests, on which the framing and assembly action is carried out.
  • the lateral framing elements 23, 25, 23', 25' are arranged on guides which allow movement thereof in a direction parallel to a longitudinal direction of the runner.
  • Fig. 8A , 8B and 8C show the framing system of the present invention in the same framing step, corresponding to the framing of a first outer runner.
  • Fig. 8A shows the framing system of the present invention carrying out a framing action on a first outer runner 2 and the deck 5 of the pallet, with the object of being able to produce accurate nailing.
  • the front framing elements 21, 21', the lateral framing elements 23, 25, 23', 25' and the lower rear pushers are actuated and therefore in contact with the outer runner 2 and/or the deck 5.
  • the lower rear pusher elements are hidden behind the outer runner 2.
  • This figure shows how the front framing elements 21, 21' press both the runner 2 and the deck 5 simultaneously.
  • the lateral framing elements 23, 23' also press both the runner 2 and the deck 5 but in a direction aligned with the longitudinal axis of the runner, that is, orthogonal to the pressure applied by the front framing elements. This will become clear following the description of the figures below.
  • Fig. 8B is a view in cross section through the plane A-A' shown in Fig. 4 of the framing system as shown in Fig. 8A .
  • This figure also shows the arrangement of the lower rear pusher elements 26', which apply pressure to the runner 2 in the same trajectory as the pressure applied by the front framing elements 21', but in the opposite direction.
  • the outer runner 2 is held and arranged perfectly relative to the deck 5 on which said runner will be assembled.
  • Fig. 8C shows a framing area of the first outer runner and the deck of the pallet. This figure shows some of the faces of a first outer runner 2 and of the deck 5 to which the different framing elements apply pressure.
  • the front framing element 21 acts on the faces A, A' of the runner and of the deck, respectively
  • the lower rear pusher element 26 acts on the hidden face D
  • the lateral framing element 23 on the faces B and C of the deck and of the runner, respectively
  • the lateral framing element 25 on the face of the runner C.
  • Fig. 9A , 9B and 9C show the framing system of the present invention in the same framing step, corresponding to the framing of a first inner runner.
  • Fig. 9A shows the framing system of the present invention applying framing between a first inner runner 3 and the deck 5 of the pallet, in which the lower front pusher elements 22, 22', the lateral framing elements 23, 25, 23', 25' and the lower rear pushers are actuated and therefore in contact with the inner runner 3 and/or the deck 5.
  • the lower rear pusher elements are hidden behind the inner runner 3.
  • This figure shows how the lower front pusher elements 22, 22' press the runner 3.
  • the lateral framing elements 23, 23' press both the runner 3 and the deck 5 in a direction aligned with the longitudinal axis of the runner, that is, orthogonal to the pressure applied by the front and rear pusher elements.
  • Fig. 9B is a view in cross section through the plane A-A' shown in Fig. 4 of the framing system as shown in Fig. 9A .
  • This figure also shows the arrangement of the lower rear pusher elements 26', which apply pressure to the runner in the same trajectory as the pressure applied by the lower front pushers 22', but in the opposite direction.
  • the inner runner 3 is held and arranged perfectly relative to the deck 5 on which said runner will be assembled.
  • Fig. 9C shows a framing area of the first inner runner and the deck of the pallet. This figure shows some of the faces of an inner runner and of the deck to which the different framing elements apply pressure.
  • the lower front pusher element 22 acts on the face H of the runner
  • the lower rear pusher element 26 acts on the hidden face G
  • the lateral framing element 23 on the faces E and F of the deck and of the runner, respectively
  • the lateral framing element 25 on the face F of the runner.
  • Fig. 10A , 10B and 10C show the framing system of the present invention in the same framing step, corresponding to the framing of a second outer runner.
  • Fig. 10A shows the framing system of the present invention applying framing to a second outer runner 4 and the deck 5 of the pallet, in which the lower front pusher elements 22, 22', the lateral framing elements 23, 25, 23', 25' and the rear framing elements 24, 24' are actuated and therefore in contact with the outer runner 4 and/or the deck 5.
  • the rear framing elements are hidden behind the outer runner 4.
  • This figure shows how the lower front pusher elements 22, 22' press the runner 4.
  • the lateral framing elements 23, 23' press both the runner 4 and the deck 5 but in a direction aligned with the longitudinal axis of the runner, that is, orthogonal to the pressure applied by the lower front pushers.
  • Fig. 10B is a view in cross section through the plane A-A' shown in Fig. 4 of the framing system as shown in Fig. 10A .
  • This figure also shows the arrangement of the lower front pusher elements 22', which apply pressure to the runner in the same trajectory as the pressure applied by the rear framing elements 24', but in the opposite direction.
  • the outer runner 4 is held and arranged perfectly relative to the deck 5 on which said runner will be assembled.
  • Fig. 10C shows a framing area of the first outer runner and the deck of the pallet. This figure shows some of the faces of a first outer runner 4 and of the deck 5 to which the different framing elements apply pressure.
  • the rear framing element 24 acts on the hidden faces I, I' of the runner and of the deck, respectively
  • the lower front pusher element 22 acts on the face L
  • the lateral framing element 23 on the faces J and K of the deck and of the runner, respectively
  • the lateral framing element 25 on the face K of the runner.
  • Fig. 11 shows a clamp 10 which comprises two rigid, elongate elements 101, 102 along the longitudinal axes of which pairs of gripper fingers 11-12, 13-14, 15-16, 11'-12', 13'-14', 15'-16' are arranged.
  • the clamp is provided with three pairs of fingers on each rigid, elongate element and said pairs of gripper fingers on a first rigid element 101 are aligned with the pairs of fingers of a second, opposite, rigid element 102.
  • each pallet runner can be gripped by a set of two pairs of fingers, for example the set formed by the pairs 11-12 and 11'-12'.
  • This clamp may be attached to a robotic arm.
  • the robotic arm can simultaneously hold the different runners of a pallet for assembly.
  • the pallet assembly method begins by picking up the components for assembly, that are, the deck 5 and the runners 2, 3, 4 of the pallet.
  • the deck 5 is picked up by a supply and positioning system, such as a conveyor belt system, a robotic system or other known supply and positioning systems.
  • a supply and positioning system such as a conveyor belt system, a robotic system or other known supply and positioning systems.
  • the system is robotic, it may be provided with a conventional clamp, which may be either mechanical, suction or combined. It is preferable that the clamp should be able to take hold mechanically.
  • the runners 2, 3, 4 of the pallet are picked up by a second supply and positioning system, such as a conveyor belt, robotic or other known supply and positioning system.
  • the system is robotic, it may be provided with a clamp 10 as detailed in the present invention, which allows said clamp to hold all the runners simultaneously with great positioning accuracy.
  • Said system which comprises a clamp 10, picks up the runners such that the longitudinal axis thereof is arranged transversely to a longitudinal axis of the elements 101, 102 of the clamp 10.
  • This arrangement allows the fixed fingers 11, 11', 13, 13', 16, 16' and the self-adjusting movable fingers 12, 12', 14, 14', 15, 15' to press the sides of the runners.
  • three runners have been shown, but another larger or smaller number of runners may be used to form the pallet. Similarly, not all the runners need necessarily be the same length or width.
  • the fixed fingers 11, 11', 13, 13', 16, 16' arranged on the clamp 10 move slightly with respect to the gripping position to allow faster positioning of the robot on picking up the runners.
  • the fixed finger 11, 11', 13, 13', 16, 16' moves to the gripping position, and the self-adjusting movable finger 12, 12', 14, 14', 15, 15' is actuated to press the runner against the fixed finger.
  • the self-adjusting nature of the movable finger allows a wide range of runner widths to be encompassed, which ensures that said range of runner widths are held accurately during the assembly process. Accordingly, the runners are gripped by two pairs of gripper fingers, one pair arranged above the rigid element 101 and the other pair arranged above the rigid element 102.
  • the framing system and the nailing device Prior to positioning the runners and the deck of the pallet in the framing area, the framing system and the nailing device have been configured to perform the assembly operation based on the morphology of the pallet to be assembled.
  • This configuration comprises the specification of the nailing points, the adjustment of the position of the framing elements and pushers on the positioning guides 28, the travel path of the lateral pusher elements and the travel path of the front and rear pusher elements, among others.
  • the positioning system secures the deck 5 and the first outer runner 2 against the front framing elements 21, 21' which have been actuated.
  • the lateral framing elements 23, 23', 25, 25' are actuated and then the lower, rear pushers 26, 26' are actuated to press and secure the first outer runner 2 between said pushers and the front framing elements 21, 21'.
  • the actuation of the framing elements need not necessarily follow the proposed order. With all the elements actuated, the alignment between the components of the pallet is ensured, and said components are prevented from being exposed to unintended movements during nailing.
  • the nailing unit 30 performs the nailing operation.
  • the nailing unit 30 performs the nailing operation as previously configured.
  • the lower front 22, 22' and lower rear 26, 26' pusher elements are deactuated, the lateral framing elements 23, 23', 25, 25' are deactuated and the same procedure is repeated for each of the inner runners of the pallet to be assembled.
  • the framing elements and pushers are deactuated, and the positioning system removes the assembled pallet 1.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Wood Science & Technology (AREA)
  • Forests & Forestry (AREA)
  • Automatic Assembly (AREA)
EP20382951.0A 2020-11-02 2020-11-02 Automatisches palettenmontagesystem und verfahren Active EP3868530B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP20382951.0A EP3868530B1 (de) 2020-11-02 2020-11-02 Automatisches palettenmontagesystem und verfahren
ES20382951T ES2927898T3 (es) 2020-11-02 2020-11-02 Sistema y método de ensamblado automático de palés

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20382951.0A EP3868530B1 (de) 2020-11-02 2020-11-02 Automatisches palettenmontagesystem und verfahren

Publications (2)

Publication Number Publication Date
EP3868530A1 true EP3868530A1 (de) 2021-08-25
EP3868530B1 EP3868530B1 (de) 2022-09-07

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EP (1) EP3868530B1 (de)
ES (1) ES2927898T3 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114800734A (zh) * 2022-04-28 2022-07-29 重庆佳利乐包装有限公司 一种木材免钉固定装置

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2005181A (en) * 1977-06-04 1979-04-19 True Bros Mfg Ltd Automatic production line for nailing wooden frames
US4489819A (en) * 1968-06-27 1984-12-25 Perrin Lloyd E Pneumatic gripper for a nailing machine

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4489819A (en) * 1968-06-27 1984-12-25 Perrin Lloyd E Pneumatic gripper for a nailing machine
GB2005181A (en) * 1977-06-04 1979-04-19 True Bros Mfg Ltd Automatic production line for nailing wooden frames

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114800734A (zh) * 2022-04-28 2022-07-29 重庆佳利乐包装有限公司 一种木材免钉固定装置

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EP3868530B1 (de) 2022-09-07
ES2927898T3 (es) 2022-11-11

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