EP4029815B1 - Handhabungssystem für blattartige elemente - Google Patents

Handhabungssystem für blattartige elemente Download PDF

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Publication number
EP4029815B1
EP4029815B1 EP22151606.5A EP22151606A EP4029815B1 EP 4029815 B1 EP4029815 B1 EP 4029815B1 EP 22151606 A EP22151606 A EP 22151606A EP 4029815 B1 EP4029815 B1 EP 4029815B1
Authority
EP
European Patent Office
Prior art keywords
sheet
needles
conveyor
suction
gripping devices
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.)
Active
Application number
EP22151606.5A
Other languages
English (en)
French (fr)
Other versions
EP4029815A1 (de
Inventor
Roberto TROVI
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.)
Quarrata Forniture Srl
Original Assignee
Quarrata Forniture Srl
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 Quarrata Forniture Srl filed Critical Quarrata Forniture Srl
Publication of EP4029815A1 publication Critical patent/EP4029815A1/de
Application granted granted Critical
Publication of EP4029815B1 publication Critical patent/EP4029815B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • B65H5/14—Details of grippers; Actuating-mechanisms therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B65H3/0883—Construction of suction grippers or their holding devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B65H3/0891—Generating or controlling the depression
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/16—Separating articles from piles using magnetic force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/22—Separating articles from piles by needles or the like engaging the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/50—Gripping means
    • B65H2405/57—Details of the gripping parts
    • B65H2405/571—Compliant material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/50—Gripping means
    • B65H2405/57—Details of the gripping parts
    • B65H2405/572—Retractable parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/60—Penetrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/34—Suction grippers
    • B65H2406/343—Details of sucking member
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/36—Means for producing, distributing or controlling suction
    • B65H2406/362—Means for producing, distributing or controlling suction adjusting or controlling distribution of vacuum transversally to the transport direction, e.g. according to the width of material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/36—Means for producing, distributing or controlling suction
    • B65H2406/363—Means for producing, distributing or controlling suction adjusting or controlling distribution of vacuum for a plurality of suction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/17—Nature of material
    • B65H2701/174—Textile, fibre

Definitions

  • This invention relates to a handling system of sheet-like elements.
  • sheet-like elements means all those elements, which are porous or not, such as, for example, mattresses and the sheet-like elements which make them up or other layered elements which have a substantially flat extension and are at least partly soft to touch and/or are made with a body the continuity of which is interrupted by the presence of small empty spaces or, if, for example, made of closed cell materials, they are not, if not minimally, porous.
  • roller conveyors or conveyor belts make particular use of roller conveyors or conveyor belts in order to transport the sheet-like element from one processing station to another.
  • These plants are also provided with further types of means for handling the sheet-like element which allow it to be transferred from one line to another as a function of the movement path to be followed to reach a specific processing station (or storage station for the sheet-like element).
  • the handling means may comprise lifts or other types of lifting devices designed to move vertically to perform specific movements which would otherwise not be achievable by means of the simple roller conveyors or belts.
  • the handling means are bulky and limited in terms of movements, thus being "bottlenecks" from a point of view of the design of the production line and therefore from the point of view of the paths which the sheet-like element must follow.
  • these plants, and in particular the handling means are known to perform a transport which is not entirely safe for the sheet-like element which, usually resting on the roller conveyors, on a platform or more often suspended from it, could be subjected to undesired vibrations, causing the element to move relative to an optimum transport position (with the possibility of falling from the line or unsuitable infeeding into the processing station with incorrect machining and/or possibly harmful for the element or for the operators).
  • the Applicant had identified as particularly advantageous, in order to overcome the above-mentioned drawback, the use of handling means provided with particular grippers (in particular in the form of suction cups) operating according to the principle of the Bernoulli effect, as described in document IT102018000009365 .
  • the grippers use a radial flow of air which allows the lifting of the sheet-like element without using the means described above.
  • these grippers do not allow the retaining of the sheet-like element to be guaranteed in an optimum transport position.
  • the above-mentioned grippers are able to lift the sheet-like element but are not able to guarantee the precise positioning of it.
  • the low friction which is created with the Bernoulli effect between the gripper and the sheet-like element in combination with the speeds and the radial accelerations of the air flow with a negative pressure generated by the Bernoulli effect cause a movement of the sheet-like element relative to an initial coupling position of the gripper.
  • this unguaranteed positioning may result in undesired disconnection of the sheet-like element from the gripper, as well as incorrect positioning in the respective processing station or roller conveyor.
  • safe movement means a secure gripping of the sheet-like element by the gripper and the total absence of relative movement between the sheet-like element and the gripper.
  • a first major drawback is due to the fact that since all the suction cups are connected to a single power source, if, for example, one or more suction cups are not occupied by the sheet-like element to be moved, there is a suction flow continuously through this which tends to reduce and worsen the efficiency of the suction system as a whole.
  • a further drawback of this prior art type of suction system is due to the fact that since there is no possibility of individually modulating the suction power of the suction cups the field of use of the system is reduced.
  • the technical purpose of the invention is therefore to provide a handling system of sheet-like elements which is able to overcome the above-mentioned drawbacks in the prior art.
  • the aim of the invention is therefore to provide a handling system of sheet-like elements which allows the positioning of the sheet-like element to be guaranteed.
  • a further aim of the invention is to provide a handling system of sheet-like elements which allows any type of material and/or thickness and/or geometrical shape of a sheet-like element to be handled.
  • the numeral 1 denotes in its entirety a handling system of sheet-like elements which, for simplicity of description, will hereafter be referred to as the system 1.
  • Figure 1 schematically illustrates a plant 100 comprising a system 1 according to the invention.
  • the plant 100 comprises respective lifting members 101 operatively connected to the system 1 in such a way as to lift it with or without a sheet-like element retained by it.
  • the plant 100 comprises a conveyor belt 102 or a roller conveyor for suitably positioning a sheet-like element in such a way as to be then handled by the system 1.
  • sheet-like elements means all those elements, which are porous or not, such as, for example, mattresses or other layered elements, which have a flat extension and are at least partly soft to touch.
  • the handling system 1 of sheet-like elements comprises a plurality of gripping devices 60 positioned in a matrix fashion on a lying plane 10 as shown in Figure 2 .
  • Each gripping device 60 comprises a suction machine 6 which is designed to apply a negative pressure (by means of an air suction) on a sheet-like element to be handled.
  • the system 1 also comprises a command and control unit (not illustrated in the drawings) configured to control and control the operation of the suction machines 6.
  • command and control means the capacity of the unit to activate also individually the various suction machines 6 as well as individually modulating the suction power.
  • the modulation of the power of each single suction machine 6 allows the system 1 to be also used with sheet-like elements having small thicknesses and/or made of very breathable materials.
  • the suction machine 6 comprises a conveyor 2 having a working mouth 3 configured to move towards the sheet-like element so as to move it thanks to the force generated by the suction air.
  • the conveyor 2 is substantially frustoconical in shape with the smaller base positioned at the working mouth 3.
  • the suction machine 6 comprises an impeller 4 connected to a respective electric motor 7.
  • the impeller 4 and the electric motor 7 are therefore located entirely inside the conveyor 2.
  • the command and control unit selectively and independently controls each of the suction machines 6 both in terms of enabling (ON/OFF) and in terms of modulation of the suction power.
  • the conveyor 2 comprises, at the mouth 3, an annular support portion 11 configured to approach and deform the material of the sheet-like element.
  • the conveyor 2 also comprises a portion 13 positioned outside the mouth 3 and comprising a plurality of pins 12.
  • the pins 12 are positioned parallel to the main axis of extension of the conveyor 2 and are designed to retain, relative to transversal forces, the sheet-like element being processed.
  • the pins 12 are configured to be inserted inside the sheet-like element without, however, adversely affecting the quality.
  • the pins 12 allow an excellent grip of the sheet-like element to be guaranteed even when subjected to accidental translations, for example during the steps of handling at high speeds or overturning of the sheet-like elements.
  • the support portion 13 has a plurality of fixing means 14, for example threaded connections or rivets, configured for stably fixing the suction machine 6 to the lying plane 10.
  • the plurality of gripping devices 60 is not connected to a single air supply source, but each single suction machine 6 has its own air suction source (motor and impeller).
  • the system 1 also comprises a plurality of needles 5 configured to emerge directly from the lying plane 10.
  • the needles 5 emerge from the lying plane with different inclinations.
  • Both the gripping devices 60 and the needles 5 can be operated selectively in such a way as to obtain an operation of the system 1 which alternatively:
  • system 1 also comprises magnetic means distributed also distributed on the lying plane 10.
  • the magnetic means allow the system 1 to move in an optimised manner, for example, mattresses comprising metal springs inside since the latter are attracted by the magnetic means.
  • the needles 5 are also positioned in a matrix fashion on the lying plane 10.
  • the needles 5 are also advantageously distributed interposed between themselves in an equidistant fashion and interposed between the gripping devices 6.
  • the needles 5 are actuated by an air supply source.
  • the needles 5 are arranged according to respective rows 8a, 8b each of which comprises a plurality of needles 5 having the same inclination to each other.
  • each gripping device 60 is interposed between a first row of needles 8a (having the same inclination to each other) and a second row of needles 8b (having the same inclination to each other but different from that of the row 8a).
  • the system 1 also advantageously comprises an actuator, not illustrated in the drawings, configured to simultaneously activate an entire row 8a or 8b of needles 5.
  • the actuator may be made in the form of a rigid bar also moved by the source of compressed air.
  • the lying plane 10 of the system 1 comprises a plurality of gripping devices 60 as described above and located in such a way as to guarantee the gripping of a sheet-like element as a function of its weight and/or dimensions.
  • this comprises a plurality of gripping devices 60 positioned according to a distribution in a matrix fashion.
  • the distribution in a matrix fashion allows the system 1 to act in a homogeneous manner on the sheet-like element, guaranteeing a secure gripping of the sheet-like element.
  • a porous sheet-like element is positioned below the system 1.
  • the plant 100 moves the system 1 towards the sheet-like element which, by means of the suction generated by each single suction machine 6, allows the movement.
  • the command and control unit of the suction machines 6 allows only those which are actually in contact with the sheet-like element to be handled to be enabled.
  • the system 1 is able to move the sheet-like element between the various operating positions, guaranteeing the correct transport and perfect positioning of the sheet-like element.
  • the system 1 is able to handle the sheet-like element in such a way that it can be moved from a flat configuration to a vertical configuration or vice versa as it is able to move the sheet-like element whilst maintaining the flat or vertical configuration.
  • the gripping device 60 is able to create a vacuum which allows the coupling for handling the sheet-like element.
  • a further embodiment of the system 1 according to the invention also comprises active or passive means for reducing the operating noise of the gripping devices 60.
  • a first embodiment comprises a generator of one or more sound waves designed to interfere with the sound waves generated by the individual suction machines 6 in such a way as to eliminate or in any case reduce the acoustic emissions in an appreciable manner.
  • the above-mentioned generator comprises, for example, an acoustic loudspeaker.
  • a further embodiment of the means for reducing the noise of an active type comprises a generator of a flow of a fluid, for example air, designed to move the sound waves generated by the suction machines 6 "mechanically".
  • the means for reducing the noise of an passive type comprise sound-absorbent materials constituting parts of the suction machine 6 (for example, the body of the conveyor) and/or ducts for discharging the sucked air to be applied to the conveyor 2 in such a way that they obstruct the propagation of the noise generated.
  • One solution involves the use of an outfeed duct made of sound-absorbent material and having a labyrinth-shaped cross section.
  • the suction source consists of a single vacuum pump or in any case a pump designed to control a plurality of gripping points.
  • This speed of entry into operation is due to the fact that the volume of the suction cup (gripping points) in which the vacuum is generated by the pump is minimal and there are no head losses thanks to the characteristics of the materials to be lifted, which are substantially flat and not breathable or porous.
  • the sheet-like elements have or may have a high planar discontinuity in the gripping surface or even breathability and/or porosity of the material. Therefore, it is not possible, for these types of material, to generate a high level of vacuum which is able to guarantee an adequate grip since the contact between the gripping points and the sheet-like element is often anything but hermetically sealed.
  • this invention describes a high volume system with a low vacuum level unlike what is applied with the prior art systems (for example for smooth materials such as glass or metals) where a low volume and high vacuum level is used.
  • the high number of gripping points (a possible configuration is shown in Figure 2 ) for a system 1 according to the invention is as follows: in a lying plane 10 having dimensions 2 metres x 2 metres (4 square metres) there are 49 gripping points (according to a 7x7 matrix).
  • the suction machines 6 are very small components which only require an electrical power supply cable for a correct operation.
  • the handling system 1 according to the invention is able to overcome the drawbacks of the prior art.
  • a first important advantage consists in the fact that the system 1 according to the invention is able to retain the sheet-like element in an optimum manner thanks to the suction force generated by each single suction machine 6 thus guaranteeing a safe transport of the sheet-like element.
  • the system 1 allows different types of material, different thicknesses as well as different geometrical shapes of the sheet-like element to be handled, enabling in a predetermined manner the actuation of only the gripping devices 60 which are actually covered by the area of the sheet-like element to be handled.
  • a further advantage consists in the possibility of modulating the suction power of each single gripping device 60 in such a way as to optimise the overall suction force as a function of the specific sheet-like element to be handled.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
  • Supporting Of Heads In Record-Carrier Devices (AREA)
  • Manipulator (AREA)
  • Press Drives And Press Lines (AREA)

Claims (8)

  1. Handhabungssystem (1) für blattartige Elemente, umfassend:
    eine Vielzahl von Greifvorrichtungen (60), die matrizeartig auf einer Liegeebene (10) angeordnet sind,
    wobei eine jede Greifvorrichtung (60) der Vielzahl eine Saugmaschine (6) umfasst, die dazu ausgestaltet ist, einen Unterdruck auf ein zu handhabendes blattartiges Element auszuüben, wobei die Saugmaschine (6) einen Förderer (2) mit einer Betriebsmündung (3) umfasst, die dazu ausgelegt ist, sich in Richtung des blattartigen Elements zu bewegen, wobei der Förderer (2) eine im Wesentlichen kegelstumpfförmige Form mit der kleineren Basis an der Betriebsmündung (3) aufweist, wobei das System (1) auch eine Befehls- und Steuereinheit umfasst, die dazu ausgelegt ist, die Saugmaschinen (6) zu steuern, wobei das System (1) dadurch gekennzeichnet ist, dass die Saugmaschine (6) ein Gebläse (4) umfasst, das mit einem jeweiligen Elektromotor (7) verbunden ist, wobei das Gebläse (4) und der Elektromotor (7) innerhalb des Förderers (2) positioniert sind.
  2. System (1) nach Anspruch 1, wobei die Befehls- und Steuereinheit eine jede der Saugmaschinen (6) selektiv und unabhängig steuert.
  3. System (1) nach Anspruch 1, wobei der Förderer (2) einen ringförmigen Stützabschnitt (11) an der Betriebsmündung (3) umfasst, der so ausgelegt ist, dass er sich dem blattartigen Element nähert und es bei dessen Abstützen verformt.
  4. System (1) nach einem der vorhergehenden Ansprüche, wobei der Förderer (2) einen Abschnitt (13) aufweist, der außerhalb der Mündung (3) positioniert ist und eine Vielzahl von Stiften (12) umfasst, die parallel zur Hauptausdehnungsachse des Förderers (2) positioniert sind, wobei die Stifte (12) so ausgestaltet sind, dass sie relativ zu Querkräften das blattartige Element halten, das verarbeitet wird.
  5. System (1) nach dem vorhergehenden Anspruch, wobei der Abschnitt (13) eine Vielzahl von Befestigungsmitteln (12) aufweist, die zum stabilen Befestigen der Saugmaschine (6) an der Liegeebene (10) ausgelegt sind.
  6. System (1) nach einem der vorhergehenden Ansprüche, das auch eine Vielzahl von Nadeln (5) umfasst, die so ausgelegt sind, dass sie aus der Liegeebene (10) austreten, wobei die Nadeln (5) mit unterschiedlichen Neigungen austreten, wobei die Greifvorrichtungen (60) und die Nadeln (5) selektiv so betrieben werden können, dass ein Betrieb des Systems (1) mit abwechselnd nur den Greifvorrichtungen (60), nur den Nadeln (5) oder sowohl den Greifvorrichtungen (60) als auch den Nadeln (5) erreicht wird.
  7. System (1) nach Anspruch 1, das ferner eine Vielzahl von Magnetmitteln umfasst, die matrizeartig auf der Liegeebene (10) positioniert sind und gleichmäßig beabstandet verteilt und zwischen den Greifvorrichtungen (60) und den Nadeln (5) angeordnet sind.
  8. System (1) nach einem der vorhergehenden Ansprüche, das auch Mittel zum Reduzieren des von den Saugmaschinen (6) erzeugten Geräuschs umfasst, die ausgestaltet sind, die Ausbreitung der während ihres Betriebs emittierten Schallwellen zu behindern.
EP22151606.5A 2021-01-18 2022-01-14 Handhabungssystem für blattartige elemente Active EP4029815B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102021000000755A IT202100000755A1 (it) 2021-01-18 2021-01-18 Sistema di movimentazione di elementi lastriformi

Publications (2)

Publication Number Publication Date
EP4029815A1 EP4029815A1 (de) 2022-07-20
EP4029815B1 true EP4029815B1 (de) 2023-05-31

Family

ID=75252725

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22151606.5A Active EP4029815B1 (de) 2021-01-18 2022-01-14 Handhabungssystem für blattartige elemente

Country Status (2)

Country Link
EP (1) EP4029815B1 (de)
IT (1) IT202100000755A1 (de)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO327504B1 (no) * 2007-10-26 2009-07-27 Ntnu Technology Transfer As En ejektor for fluider
DE102014204293B4 (de) * 2014-03-10 2024-06-06 Bayerische Motoren Werke Aktiengesellschaft Greifvorrichtung und Verfahren zum Handhaben einer Fasermatte
CN108851369B (zh) * 2017-05-15 2021-11-05 耐克创新有限合伙公司 用于拾取及定位物品与移动物品的设备及方法
DE102018114373B4 (de) * 2018-06-15 2020-03-26 Bundesdruckerei Gmbh Handhabungsvorrichtung und verfahren zum einlegen von dokumententeilen in eine weiterverarbeitungsvorrichtung
IT201800009365A1 (it) 2018-10-11 2020-04-11 Quarrata Forniture Srl Pinza di aspirazione di Bernoulli per il trattenimento di elementi lastriformi ed un dispositivo di movimentazione per elementi lastriformi

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IT202100000755A1 (it) 2022-07-18
EP4029815A1 (de) 2022-07-20

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