EP4115436A1 - Dispositif de détection pour détection de position d'objet mobile - Google Patents

Dispositif de détection pour détection de position d'objet mobile

Info

Publication number
EP4115436A1
EP4115436A1 EP21710897.6A EP21710897A EP4115436A1 EP 4115436 A1 EP4115436 A1 EP 4115436A1 EP 21710897 A EP21710897 A EP 21710897A EP 4115436 A1 EP4115436 A1 EP 4115436A1
Authority
EP
European Patent Office
Prior art keywords
arm
detection device
base
rotation
axis
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.)
Pending
Application number
EP21710897.6A
Other languages
German (de)
English (en)
Inventor
Steffen Siegelin
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.)
Framatome GmbH
Original Assignee
Framatome 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 Framatome GmbH filed Critical Framatome GmbH
Publication of EP4115436A1 publication Critical patent/EP4115436A1/fr
Pending legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H21/00—Switches operated by an operating part in the form of a pivotable member acted upon directly by a solid body, e.g. by a hand
    • H01H21/02—Details
    • H01H21/18—Movable parts; Contacts mounted thereon
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H21/00—Switches operated by an operating part in the form of a pivotable member acted upon directly by a solid body, e.g. by a hand
    • H01H21/02—Details
    • H01H21/18—Movable parts; Contacts mounted thereon
    • H01H21/22—Operating parts, e.g. handle
    • H01H21/24—Operating parts, e.g. handle biased to return to normal position upon removal of operating force
    • H01H21/28—Operating parts, e.g. handle biased to return to normal position upon removal of operating force adapted for actuation at a limit or other predetermined position in the path of a body, the relative movement of switch and body being primarily for a purpose other than the actuation of the switch, e.g. door switch, limit switch, floor-levelling switch of a lift
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H21/00—Switches operated by an operating part in the form of a pivotable member acted upon directly by a solid body, e.g. by a hand
    • H01H21/02—Details
    • H01H21/18—Movable parts; Contacts mounted thereon
    • H01H21/22—Operating parts, e.g. handle
    • H01H21/24—Operating parts, e.g. handle biased to return to normal position upon removal of operating force
    • H01H21/28—Operating parts, e.g. handle biased to return to normal position upon removal of operating force adapted for actuation at a limit or other predetermined position in the path of a body, the relative movement of switch and body being primarily for a purpose other than the actuation of the switch, e.g. door switch, limit switch, floor-levelling switch of a lift
    • H01H2021/287—Operating parts, e.g. handle biased to return to normal position upon removal of operating force adapted for actuation at a limit or other predetermined position in the path of a body, the relative movement of switch and body being primarily for a purpose other than the actuation of the switch, e.g. door switch, limit switch, floor-levelling switch of a lift with adjustable head, e.g. the actuator head can have different positions in relation to the limit switch itself
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H21/00—Switches operated by an operating part in the form of a pivotable member acted upon directly by a solid body, e.g. by a hand
    • H01H21/02—Details
    • H01H21/04—Cases; Covers
    • H01H21/08—Dustproof, splashproof, drip-proof, waterproof, or flameproof casings
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H36/00—Switches actuated by change of magnetic field or of electric field, e.g. by change of relative position of magnet and switch, by shielding
    • H01H36/0006—Permanent magnet actuating reed switches
    • H01H36/0046—Limit switches, also fail-safe operation or anti-tamper considerations

Definitions

  • Detection device for detecting a position of a movable one
  • the present invention relates to a detection device for detecting a position of a moving object and the use thereof.
  • the present invention further relates to a system for sterilizing at least one moving object by irradiation, the system having at least one conveyor system for transporting the at least one moving object and a detection device.
  • the invention relates to a detection device which is set up in such a way that it withstands high levels of radioactive radiation, in particular a high gamma dose, and / or high temperatures.
  • EP 0 843 329 A2 discloses a position switch with a pivot lever.
  • the positions of the objects are detected by detection devices which, due to their design, have only a low resistance to high temperatures or a high radiation dose.
  • detection devices which, due to their design, have only a low resistance to high temperatures or a high radiation dose.
  • sensing devices often include a large number of polymer elements which are degraded by the sustained radiation.
  • detection devices also often include electronic elements which are also decomposed by prolonged radiation. It is therefore necessary to frequently exchange the known detection devices. This leads to an increased maintenance effort.
  • this object is achieved by a detection device for detecting a position of a moving object, the detection device comprising:
  • a sensor which is set up to detect a rotation of the arm relative to the base, the sensor having a first part and a second part, the first part rotating with the arm, and the second part being attached to the base.
  • the first part is a first element of a magnet-switch pair, the switch being an electrical switch which is adapted to be operated by the magnetic field of the magnet, and the second part is the other element of the magnet-switch pair wherein the electrical switch is in a first rotational position of the arm in a first state, and wherein the electrical switch is in a second rotational position of the arm that is different from the first rotational position of the arm.
  • the detection device has a high resistance to radioactive radiation and a high resistance to high temperatures.
  • the sensor which includes the magnet and the electrical switch, achieves a high level of radiation resistance and resistance to high temperatures.
  • the electrical switch is set up to be actuated by the magnetic field of the magnet and thus enables reliable detection of the position of the moving object even with high radiation exposure or high temperature.
  • the detection device comprises one, several or all of the following features, in all technically possible combinations:
  • the arm is rotatably mounted on the base via a shaft and at least one bearing, in particular two bearings, each bearing being in particular a sliding bearing.
  • the arm, shaft and bearing are made of metal.
  • the first part of the sensor is attached to the shaft.
  • the detection device comprises at least one reset device, in particular a spring, which is set up to reset the arm from the second rotational position into the first rotational position.
  • the arm comprises a first portion at the free end of the arm which is rotatably mounted on the base, and a second portion extending from the first portion, in particular the second portion being rotatably mounted with respect to the first portion, in particular the second Section is rotatable about a second axis of rotation which is orthogonal to the first axis of rotation.
  • the arm has a roller at the free end, the roller being set up to form a contact point for the movable object, in particular an axis of rotation of the roller being parallel to the first axis of rotation.
  • the detection device is designed to withstand a gamma dosage of 20 kGy / h.
  • the arm is mounted on the base by at least one form-fitting element.
  • the magnet comprises a permanent magnet, in particular the magnet is a permanent magnet.
  • the electrical switch comprises a reed switch, in particular the electrical switch is a reed switch.
  • the first and second parts of the sensor are arranged in a housing that is mounted on the base.
  • the invention also relates to the use of a detection device for detecting a position of an object transported in a sterilization system, the detection device being according to the features described above.
  • the invention also relates to a system for sterilizing at least one moving object by irradiation, the system having at least one conveyor system for transporting the at least one moving object and one
  • the detection device is configured to detect a position of the transported moving object.
  • FIG. 1 is a plan view of a system for sterilization which comprises several detection devices according to the invention according to an exemplary embodiment
  • Figure 2 is a perspective view of the invention
  • Figure 3 is a perspective view of the invention
  • FIG. 4 is a plan view of the detection device according to the invention of FIG. 2, and
  • Figure 5 is a perspective view of the detection device of Figure 2 with a horizontal section of the detection device.
  • FIG. 1 shows a system for the sterilization 1 of objects 2 by exposure to radiation.
  • the system for sterilization 1 comprises a conveyor system 4 for transporting the objects 2 along a conveyor line.
  • the system for sterilization 1 comprises one or more radiation sources 6, which are set up to include a Perform sterilization of objects 2. Each radiation source 6 is set up in particular to expose one or more objects 2 to radioactive radiation in order to achieve sterilization of the object 2.
  • the conveyor system 4 comprises, for example, several floors, for example two floors.
  • the conveyor system 4 is set up, for example, to transport each object 2 starting from an entrance 8 along a conveyor path on a first floor, as symbolized in particular by the arrows 10.
  • the conveyor system 4 includes, for example, an elevator 14 which transports each object 2 from the first floor to a second floor.
  • the second floor is arranged, for example, above or below the first floor.
  • the conveyor system 4 is set up to transport each object 2, starting from the reversing area 12, along a conveyor path on the second floor, as symbolized in particular by the arrows 16.
  • Each object 2 is, for example, a sterilization unit which comprises a medical object.
  • the system for sterilization 1 further comprises one or more detection devices 18.
  • the detection device 18 is set up to detect a position of one or more movable objects 2.
  • the detection device 18 is set up to detect a position of the movable object 2 while the movable object 2 is being transported with the at least one conveyor system 4 along the conveyor path.
  • FIGS. 2 and 3 show an exemplary embodiment of the detection device 18.
  • the detection device 18 comprises a base 20, an arm 22 and a sensor 24.
  • the base 20 includes a metal plate that is configured to support the arm 22 and the sensor 24.
  • the arm 22 is rotatably mounted relative to the base 20.
  • the arm 22 is rotatable about a first axis of rotation 26, in particular between a first rotational position P1 of the arm 22, and a second rotational position P2, as shown in FIG. 4, for example.
  • the first axis of rotation 26 is in particular orthogonal to a plane which comprises the metal plate of the base 20.
  • the arm 22 is in the first rotational position P1.
  • the arm 22 has a longitudinal axis 27.
  • the longitudinal axis 27 of the arm 22 in the first rotational position P1 has an angle W between 10% and 90% with respect to the second rotational position P2.
  • the shaft 39 has an adjusting device 52.
  • the arm 22 can be adjusted with respect to the shaft 39, in particular the alignment of the arm 22 in a plane perpendicular to the first axis of rotation 26.
  • the adjuster 52 is configured to rotate with the shaft 39.
  • the setting device 52 is set up in such a way that the arm 22 can be set in uniform steps with respect to the shaft 39, for example using a grid 50.
  • the steps can have an angle of between 2 and 20 degrees, in particular between 5 and 15 degrees. In the example shown in Figure 3, the steps are at an angle of 9 degrees.
  • the grid 50 is provided via a tooth system.
  • the arm 22 is attached to an internal gear 54 having external teeth.
  • An outer ring 56 with internal teeth is connected to the shaft 39 in a rotationally fixed manner.
  • the external teeth of the internal gear 54 and the internal teeth mesh with each other.
  • the desired grid or step angle can be selected via the number of teeth of the external teeth and the internal toothing.
  • the inner gear 54 can be formed by a shaft section 60 of the shaft 39 or other means which clearly defines the position of the arm 22 relative to the inner gear 54 or the arm 22 only in a certain direction of rotation on the inner gear 54 can be attached.
  • the inner gear 54 is inserted in a corresponding position in the outer ring 56 and then the arm 22 is placed on the inner gear 54 in accordance with the predetermined (rotary) position.
  • the shaft section 60 with the inner gear 54 and outer ring 56 are arranged in such a way that when the arm 22 rotates about the first axis of rotation 26, they also rotate about the first axis of rotation 26.
  • adjustment devices 52 are also conceivable, for example one or more grooves or projections which interact with the arm 22.
  • Triggering of a switch 42 can in particular be set.
  • the setting device 52 is set up to enable a gridless setting between 10 ° to 90 °.
  • the setting for triggering / actuating the switch 42 is possible without a grid between 10 ° to 90 °.
  • the arm 22 has, for example, a longitudinal opening 29 for mounting the arm 22 on the base 20.
  • the arm 22 is in particular displaceable with respect to the base 20 in the direction of the longitudinal axis 27.
  • the arm 22 is designed to be displaced in the direction of the longitudinal axis 27 depending on a size of the object 2 and / or the course of the conveying path of the object 2.
  • the arm 22 has a free end 28 for contact with the movable object 2.
  • the arm 22 has a roller 30 at the free end 28, which roller is designed to form a contact point for the movable object 2.
  • the roller 30 has an axis of rotation 32 relative to the arm 22.
  • the axis of rotation 32 of the roller 30 is, for example, parallel to the first axis of rotation 26, as can be seen in the exemplary embodiment in FIGS.
  • the direction of the axis of rotation 32 of the roller 30 can be varied in a plane which contains the longitudinal axis 27 of the arm 22 and the first axis of rotation 26.
  • the detection device 18 is configured, for example, to detect the position of the movable object 2 when it moves in a horizontal direction, and in particular in a horizontal direction orthogonal to the longitudinal axis 27 in the first rotational position P1 of the arm 22. As a result of this movement of the detection device 18, the arm 22 is set up, for example, to be deflected between the first and the second rotational position P1, P2.
  • the arm 22 has a first section 34 and a second section 36.
  • the first section 34 is rotatably mounted on the base 20, for example.
  • the second section 36 extends the first section 34, for example.
  • the second section 36 extends from the first section 34 in the direction of the free end 28 .
  • the second axis of rotation 38 is in particular orthogonal to the first axis of rotation 26, in particular can be varied around the axis of rotation 32 of the roller 30 in the plane containing the longitudinal axis 27 of the arm 22 and the first axis of rotation 26.
  • the roller 30 is set up to come into contact with the moving object 2.
  • the arm 22 is designed in particular to be deflected upon contact with the movable object 2 and to be rotated about the first and / or second axis of rotation 26, 38.
  • the arm 22 is set up, for example, to carry out a multi-axis movement, in particular through the second section 36, which is rotatable with respect to the first section 34.
  • the arm 22 Upon contact with the movable object 2, the movable object 2 moving in a direction that includes a vertical component, the arm 22 is configured, for example, to be deflected in accordance with the movement of the object 2.
  • “Vertical component” is understood to mean a component in a direction parallel to the first axis of rotation 26.
  • the arm 22 is mounted on the base 20 by means of at least one form-fitting element.
  • the arm 22, and in particular the first section 34 of the arm 22, is rotatably mounted on the base 20 via a shaft 39.
  • the shaft 39 is connected to the arm 22 in a form-fitting manner.
  • the shaft 39 is arranged in a form-fitting manner in the longitudinal axis 27 of the arm 22.
  • the shaft 39 is positively connected to the arm 22 in such a way that the arm 22 can only be displaced in the direction of the longitudinal axis 27.
  • the shaft 39 has a shaft section 60 which, for example, comprises the inner gear 54.
  • the shaft section 60 is particularly suitable for producing a form-fitting connection between the arm 22 and the shaft 39, as can be seen, for example, in FIG.
  • the shaft section 60 has in particular a complementary surface 61 to at least one surface 62, in particular two, preferably parallel, surfaces 62, of the arm 22.
  • the longitudinal opening 29 has the at least one surface 62 on its inside.
  • the complementary surface 61 in particular forms a so-called key surface for the arm 22.
  • the arm 22 can provide surfaces 62 on its outer side which interact with a corresponding section of the shaft 39.
  • the shaft section 60 forms an attachment of the shaft 39, which is positively connected to a shaft 63 of the shaft 39.
  • a positive connection between the arm 22 and the shaft 39 makes it possible in particular to meet a requirement of the EN ISO 13849 standard relating to the safety requirements of safety-related parts of control systems.
  • the detection device 18 is therefore suitable for being used as a safety-relevant device.
  • the detection device 18 also has, for example, at least one bearing (not shown in the figures), in particular two bearings, for mounting the shaft 39 on the base.
  • Each bearing is, for example, a plain bearing, which in particular has a plain bearing bush.
  • each bearing is a dry sliding bearing without lubrication.
  • the sensor 24 of the detection device 18 is set up to detect a rotation of the arm 22 relative to the base 20, and thus in particular to detect the position of the movable object 2.
  • the sensor 24 has a first part and a second part.
  • the first part is arranged to rotate with the arm 22 and the second part is attached to the base 20.
  • the first part is attached to the shaft 39.
  • the first part is a first member of a magnet (40) switch (42) pair
  • the second part is the other member of the magnet (40) switch (42) pair.
  • the first part is a magnet 40 and the second part is an electrical switch 42.
  • the first part is the electrical switch 42 and the second part is the magnet 40.
  • the magnet 40 is in particular a permanent magnet.
  • the magnet 40 is any type of magnet which is a passive component without an intended energy supply and which is set up to generate a magnetic field.
  • the electrical switch 42 is set up to be actuated by the magnetic field of the magnet 40.
  • the electrical switch 42 is in a first state when the arm 22 is in the first rotational position P1 and in a second state when the arm 22 is in the second rotational position P2.
  • the axis 39 is in a first predefined position when the arm 22 is in the first rotational position P1 and in a second predefined position when the arm 22 is in the second rotational position P2.
  • the position of the axis 39 is in particular independent of an angular fixation of the arm 22 with respect to the shaft 39 by means of the adjustment device 52.
  • the electrical switch 42 In the first predefined position, the electrical switch 42 is in the first state and in the second predefined position the electrical switch 42 is in the second state .
  • the first state is, for example, an “off” state of the electrical switch 42, the electrical switch 42 not detecting the moving object 2.
  • the second state is, for example, an “on” state of the electrical switch 42, wherein the electrical switch 42 detects the movable object 2. For example, if the arm 22 is rotated through the angle W, the electrical switch 42 trips.
  • the electrical switch comprises a glass tube and a contact tongue made of metal, for example made of an iron-nickel alloy, which is fused into the glass tube.
  • the contact tongue is designed to be actuated by the magnetic field.
  • the electrical switch 42 comprises, for example, a reed switch.
  • the electrical switch 42 is set up, for example, to be connected to a control or monitoring device via ceramic terminals and / or fiberglass-insulated cables. This allows, for example, the temperature and radiation resistance of the detection device to be increased further.
  • At least the arm 22, the shaft 39 or the bearing are at least partially made of metal.
  • both the arm 22 and the shaft 39 and the bearing are at least partially, preferably completely, made of metal. This increases in particular the resistance of the detection device to radioactive radiation, since the metal is not decomposed by radioactive radiation, for example in comparison to polymers.
  • the detection device 18 further comprises at least one reset device, in particular a spring (not shown), which is set up to reset the arm 22 from the second rotary position P2 into the first rotary position P1.
  • at least one reset device in particular a spring (not shown), which is set up to reset the arm 22 from the second rotary position P2 into the first rotary position P1.
  • the detection device 18 further comprises a housing 44, which is mounted in particular on the base 20, for example as shown in FIG. 3.
  • the housing 44 is designed to cover in particular the magnet 40 and the electrical switch 42.
  • the first and the second part of the sensor 24 are therefore arranged in particular in the housing 44.
  • the arm 22 extends, in a direction orthogonal to the first axis of rotation 26, beyond an extension of the housing 44 in this direction.
  • the detection device 18 is set up, for example, to withstand a gamma dosage of up to 20 kGy / h.
  • “To withstand a gamma dosage of 20 kGy / h” is to be understood as meaning that the detection device 18 is able to detect the position of the moving object 2 up to such a dosage.
  • the detection device 18 is set up, for example, to withstand a temperature of up to 200 ° C. on a permanent basis. “A permanent temperature of at least 200 ° C.” is to be understood as meaning that the detection device 18 is able to detect the position of the movable object 2 after such a temperature exposure, in particular after such a temperature exposure for a period of one year.
  • the present invention has a number of advantages.
  • a movement of the movable object 2 along the detection device 18 causes the arm 22 to rotate and thus enables the position of the movable object 2 to be detected.
  • the detection device 18 has a high resistance to radiation and / or a high resistance to high temperatures, in particular thanks to the sensor 24, which comprises the magnet 40 and the electrical switch 42, the electrical switch 42 being set up to be activated by the magnetic field of the magnet 40 to be operated.
  • the detection device 18 When using a detection device 18, the detection device 18 detects a position of the movable and / or transported object 2 in a sterilization system 1.

Landscapes

  • Geophysics And Detection Of Objects (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

L'invention concerne un dispositif de détection (18) pour détecter la position d'un objet mobile comprenant : une base (20) ; un bras (22), qui est monté pour une rotation par rapport à la base (20), le bras (22) pouvant tourner autour d'un premier axe de rotation (26) et ayant une extrémité libre (28) pour mettre en contact l'objet mobile ; et un capteur (24), qui est conçu pour détecter la rotation du bras (22) par rapport à la base (20), le capteur (24) ayant une première partie et une seconde partie La première partie tourne avec le bras (22), et la seconde partie est fixée à la base (20). La première partie est un premier élément d'un aimant (40)-commutateur (42), le commutateur étant un commutateur électrique (42) conçu pour être actionné au moyen du champ magnétique de l'aimant (40), et la seconde partie est l'autre élément de la paire d'aimants (40)-commutateur (42).
EP21710897.6A 2020-03-05 2021-03-03 Dispositif de détection pour détection de position d'objet mobile Pending EP4115436A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020105990.6A DE102020105990A1 (de) 2020-03-05 2020-03-05 Erfassungsvorrichtung zum Erfassen einer Position eines beweglichen Objekts
PCT/EP2021/055375 WO2021175943A1 (fr) 2020-03-05 2021-03-03 Dispositif de détection pour détection de position d'objet mobile

Publications (1)

Publication Number Publication Date
EP4115436A1 true EP4115436A1 (fr) 2023-01-11

Family

ID=74867505

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21710897.6A Pending EP4115436A1 (fr) 2020-03-05 2021-03-03 Dispositif de détection pour détection de position d'objet mobile

Country Status (5)

Country Link
US (1) US11862413B2 (fr)
EP (1) EP4115436A1 (fr)
CA (1) CA3170022A1 (fr)
DE (1) DE102020105990A1 (fr)
WO (1) WO2021175943A1 (fr)

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3247342A (en) 1963-01-18 1966-04-19 Vivian L Ott Permanent magnetic switch
JPS505557Y1 (fr) 1970-11-11 1975-02-17
JPS55171938U (fr) 1979-05-29 1980-12-10
DE3532839A1 (de) * 1985-09-14 1987-03-26 Overbeck Gmbh & Co Verfahren zum anbringen von trinkhalmen an verpackungsbehaeltern, sowie vorrichtung zur durchfuehrung des verfahrens
DE3729303A1 (de) 1987-09-02 1989-03-16 Licentia Gmbh Schaltgeraet
KR930006769A (ko) 1991-09-14 1993-04-21 다테이시 요시오 리미트 스위치
JP3553680B2 (ja) 1995-03-27 2004-08-11 富士写真フイルム株式会社 ラベル貼着方法及び装置
DE19635159A1 (de) 1996-08-30 1998-03-05 Zahnradfabrik Friedrichshafen Drehwinkelsensor
EP0843329B1 (fr) 1996-11-15 2005-06-01 Siemens Aktiengesellschaft Interrupteur de position
DE202006011039U1 (de) 2006-07-14 2007-12-06 Alfit Ag Vorrichtung zum Bewegen von zueinander bewegbaren Möbelteilen und Möbel
DE102008058154A1 (de) 2008-11-20 2010-05-27 Dr.Ing.H.C.F.Porsche Aktiengesellschaft Reparaturvorrichtung für einen Industrieroboter
DE202010012232U1 (de) 2010-09-06 2011-12-08 Wälischmiller Engineering GmbH Vorrichtung mit einer Antriebseinheit zum Antrieb eines Manipulatorarms eines Manipulators und Manipulator
JP6111562B2 (ja) 2012-08-31 2017-04-12 セイコーエプソン株式会社 ロボット
DE102014103159A1 (de) 2014-03-10 2015-09-24 Krones Ag Vorrichtung und Verfahren zum Umformen von Kunststoffvorformlingen zu Kunststoffbehältnissen mit automatischer Wechseleinrichtung für Garniturenteile
DE102015102238A1 (de) 2015-02-17 2016-08-18 Battenberg Robotic Gmbh & Co. Kg Verfahren und Anordnung zum Überprüfen einer Fläche
JP2017055723A (ja) 2015-09-17 2017-03-23 住友ベークライト株式会社 細胞培養容器用包装袋

Also Published As

Publication number Publication date
DE102020105990A1 (de) 2021-09-09
CA3170022A1 (fr) 2021-09-10
WO2021175943A1 (fr) 2021-09-10
US11862413B2 (en) 2024-01-02
US20230091585A1 (en) 2023-03-23

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