FR2579190A1 - Device for lifting loads in layers formed of objects which are independent of one another and arranged side by side - Google Patents

Device for lifting loads in layers formed of objects which are independent of one another and arranged side by side Download PDF

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Publication number
FR2579190A1
FR2579190A1 FR8504197A FR8504197A FR2579190A1 FR 2579190 A1 FR2579190 A1 FR 2579190A1 FR 8504197 A FR8504197 A FR 8504197A FR 8504197 A FR8504197 A FR 8504197A FR 2579190 A1 FR2579190 A1 FR 2579190A1
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Prior art keywords
load
vacuum
lifting device
lateral
directed downwards
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Granted
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FR8504197A
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French (fr)
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FR2579190B1 (en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B66C1/0218—Safety measures, e.g. sensors, duplicate functions
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B66C1/0293—Single lifting units; Only one suction cup

Abstract

The invention relates to a device for lifting loads in layers for the depalletising or palletising of these layers. The lifting device, working by partial vacuum, and with sealing means directed downwards and providing lateral clamping, is characterised in that it comprises an upper enclosure 11 with an openworked plate 5 and sealing means directed downwards 2-6 and controlled mechanically 8 in order to clamp laterally the load B independently of the source 4 of partial vacuum, which partial vacuum acts, in addition, on the said load and on any separating element A-C placed under the load, it being possible to produce a modulation between the said partial vacuum which is exerted from above and the mechanical clamping which is exerted laterally. The invention applies to handling equipment.

Description

L'invention se rapporte à un dispositif de levage de charges en couches pour la dépalettisation ou la palettisation de ces couches formées d'objets indépendants les uns des autres et disposés côte à côte, par exemple des bouteilles. The invention relates to a device for lifting loads in layers for depalletizing or palletizing these layers formed of objects independent of each other and arranged side by side, for example bottles.

Les bouteilles neuves vides sortant des verreries sont livrées en palettes, composées de couches de bouteilles jointives, en général en quinconce, entre les couches, des intercalaires en carton, en plastique, ou en tout autre matériau, ou même des barquettes, c es-à-dire des contenants avec bords relevés. New empty bottles coming out of glassware are delivered in pallets, made up of layers of adjoining bottles, generally staggered, between layers, cardboard, plastic, or any other material, or even trays, these are ie containers with raised edges.

On connait des appareils pour palettiser ou dépalettiser ces bouteilles (ces appareils peuvent etre d'ailleurs utilisés aussi bien pour des récipients vides que pour des récipients pleins). Certains de ces appareils utilisent un cadre permettant de serrer les quatre cotés d'une couche en exerçant des pressions sur les quatre côtés et dépalettisent ou palettisent en soulevant ce cadre par le dessus. Apparatuses are known for palletizing or depalletizing these bottles (these apparatuses can also be used both for empty containers and for full containers). Some of these devices use a frame to tighten the four sides of a layer by exerting pressure on the four sides and depalletize or palletize by lifting this frame from above.

Lorsque les bouteilles ne sont pas bien cylindriques ou qu'un lot de bouteilles ayant des tolérances minimums sur le diamètre sont enfermées dans un lot de bouteilles ayant des tolérances maximums, au moment du levage ou pendant le transfert dans l'espace, une partie de ces bouteilles constituées par le lot ayant des tolérances minimums, n'est pas serré. Il se forme un "pont", et les bouteilles tombent sans etre serrées. When the bottles are not well cylindrical or a batch of bottles with minimum tolerances on the diameter are enclosed in a batch of bottles with maximum tolerances, at the time of lifting or during transfer into space, a part of these bottles constituted by the batch having minimum tolerances, is not tight. A "bridge" forms, and the bottles fall without being tightened.

On connaît par le brevet français 69.19966 un dispositif de levage par dépression comprenant une partie supérieure à évidement et plaque perforée et des parties latérales montées en charniére et dirigées vers le bas qui, par effet d'application de la dépression, sont en prise sur les côtés de la charge, des garnitures d'étanchéité étant prévues dans le bas de ces parties latérales pour établir l'étanchéité nécessaire par rapport à l'atmosphère environnante.  French patent 69.19966 discloses a vacuum lifting device comprising an upper part with recess and perforated plate and lateral parts mounted in a hinge and directed downward which, by the effect of application of the vacuum, are engaged on the sides of the load, seals being provided at the bottom of these side parts to establish the necessary seal with respect to the surrounding atmosphere.

On connait également par le brevet français 72.00028 un dispositif de levage par dépression comprenant une enceinte supérieure à plaque ajourée et des volets de préhension articules opposés, à butées élastiques vers le bas. French patent 72,00028 also discloses a vacuum lifting device comprising an upper enclosure with perforated plate and gripping flaps with opposite articulations, with elastic stops downwards.

Le brevet français 72.00028 fait remarquer que lorsque la surface superieure de la charge est non uniforme la dépression obtenue est jugée insuffisante pour réaliser un bon serrage des volets. Pour y pallier un circuit séparé, mais toujours relié à la même source d aspiration, est prévu pour commander les volets. French patent 72,00028 points out that when the upper surface of the load is not uniform, the vacuum obtained is considered insufficient to achieve good tightening of the flaps. To compensate for this, a separate circuit, but always connected to the same suction source, is provided for controlling the shutters.

Une charge constituée par des bouteilles constitue une charge non uniforme, sur le dessus notamment. A charge constituted by bottles constitutes a non-uniform charge, especially on top.

L invention remédie à l'inconvénient ci-dessus, en s'appliquant notamment mais non exclusivement au levage d'une couche de bouteilles pour sa palettisation ou sa dépalettisation. tout en conservant la dépression par le dessus qui permet, par exemple, la retenue d'un intercalaire aussi longtemps que desiré et tout en adoptant la fonction "serrage latéral, mais celle-ci totalement indépendamment du degré de dépression ou de la source de dépression. The invention overcomes the above drawback, by applying in particular but not exclusively to the lifting of a layer of bottles for its palletization or depalletization. while retaining the vacuum from above which allows, for example, the retention of an interlayer as long as desired and while adopting the function "lateral tightening, but this completely independent of the degree of vacuum or the source of vacuum .

D'autres brevets connus font état de rideaux flexibles latéraux assurant une étanchéité brevet des
Etats-Unis d'Amerique 3.404.787; brevet britannique 1.483.952; brevet français 76.20361).Other known patents refer to flexible side curtains ensuring patent tightness of
United States of America 3,404,787; British patent 1,483,952; French patent 76.20361).

La présente invention vise plus particulierement un dispositif de levage à dépression. moyens d'étanchéité dirigés vers le bas et à fonction de "serrage" latéral caractérisé en ce qu'il comprend une enceinte supérieure à plaque ajourée et des moyens d'étanchéité dirigés vers le bas à commande mécanique pour assurer un serrage latéral de la charge independamment de la source de dépression , laquelle dépression agit, par ailleurs, sur ladite charge et tout intercalaire dispose sous la charge. The present invention relates more particularly to a vacuum lifting device. sealing means directed downwards and with lateral "clamping" function characterized in that it comprises an upper enclosure with perforated plate and sealing means directed downwards with mechanical control to ensure lateral clamping of the load regardless of the source of vacuum, which vacuum acts, moreover, on said load and any interlayer disposed under the load.

Une modulation entre la dépression par le des sus et le serrage mécanique latéral permet notamment l'enlèvement aisé de l'intercalaire, a un certain stade du levage. A modulation between the depression by the above and the lateral mechanical tightening allows in particular the easy removal of the interlayer, at a certain stage of lifting.

La modulation peut aller jusqu'à un serrage maximum et une dépression minimum ou nulle et inversement. The modulation can go up to a maximum tightening and a minimum or zero depression and vice versa.

Par ailleurs, l'association de la forme d'action par dépression et de la forme d'action par serrage mécanique apporte une sécurité supplémentaire en cas de défaillance de l'une de ces formes d'action. Furthermore, the combination of the form of action by depression and the form of action by mechanical clamping provides additional security in the event of failure of one of these forms of action.

D'autres caractéristiques et avantages de la présente invention ressortiront de la description qui va suivre faite en regard du dessin annexé sur lequel
- la figure 1 est une vue en élévation avec coupe partielle d'un dispositif de levage par dépression conforme à l'invention, appliqué au levage d'une couche de bouteilles pourvue d'un intercalaire;
- la figure 2 représente de la meme façon une variante de l'invention;
- la figure 3 représente partiellement une couche de bouteilles mais pourvue d'une barquette ou contenant à bords relevés.Other characteristics and advantages of the present invention will emerge from the description which follows, given with reference to the appended drawing in which
- Figure 1 is an elevational view in partial section of a vacuum lifting device according to the invention, applied to the lifting of a layer of bottles provided with an interlayer;
- Figure 2 shows in the same way a variant of the invention;
- Figure 3 partially shows a layer of bottles but provided with a tray or container with raised edges.

Dans la forme de réalisation représentée à la figure 1 un dispositif selon 1 invention comprend, essentiellement, une enceinte supérieure 1 et des moyens dirigés vers le bas 2. In the embodiment shown in FIG. 1, a device according to 1 invention essentially comprises an upper enclosure 1 and means directed downwards 2.

L'enceinte supérieure 1 est reliée, par un tuyau d'aspiration 3 à une turbine 4. Le fond de l'enceinte est constitué par une grille 5 laissant passer l'air aspiré. The upper enclosure 1 is connected, by a suction pipe 3 to a turbine 4. The bottom of the enclosure is constituted by a grid 5 allowing the sucked air to pass.

Les moyens . dirigés vers le bas 2 sont constitués par des parties latérales ou volets 6 montés en charniére sur l'enveloppe extérieure de l'enceinte 1 et pourvu de préférence en extrémité inférieure d'une garniture ou butée 7. Ways . directed downwards 2 are constituted by lateral parts or flaps 6 mounted in a hinge on the outer envelope of the enclosure 1 and preferably provided at the lower end with a lining or stop 7.

Ces moyens dirigés vers le bas 2 offrent la particularité d'être commandés mécaniquement. These downward-directed means 2 have the particularity of being mechanically controlled.

Suivant une forme de réalisation non limitative la commande mécanique est realisée principalement par des leviers 8 articulés, à la fois, sur l'enveloppe extérieure de l'enceinte 1 et sur les volets 6 et sollicités vers l'intérieur (flèches F) par des vérins (non représentés pour la clarté du dessin). According to a nonlimiting embodiment, the mechanical control is carried out mainly by levers 8 articulated, both on the outer envelope of the enclosure 1 and on the flaps 6 and biased inwards (arrows F) by cylinders (not shown for clarity of the drawing).

Les moyens dirigés vers le bas 2 constituent des moyens de serrage à commande purement mécanique exerçant leur action sur les côtes de la charge, formée en l occurencetpar une couche de bouteilles (8).  The means directed downwards 2 constitute tightening means with purely mechanical control exerting their action on the sides of the load, formed in this case by a layer of bottles (8).

Ces moyens diriges vers le bas 2 constituent egalement (de par construction et par des étanchéités adéquates telles que les garnitures 7 qui font office de butées de serrage et de garnitures d'étanchéité) des moyens d'étanchéité des que la dépression s'exerce. These downwardly directed means 2 also constitute (by construction and by suitable seals such as the linings 7 which act as clamping stops and seals) sealing means as soon as the vacuum is exerted.

D'autres moyens d'étanchéité diriges vers le bas (2) constitués par d'autres parties latérales longues flexibles ou d'autres volets (10) flexibles montés egalement en charnière offrent la particularité de se refermer sous l'effet de la dépression entre la charge (B) et les moyens dirigés vers le bas assurant le serrage latéral (2-6) pour établir une étanchéité améliorée par rapport à l'atmosphère environnante. Other downward-directed sealing means (2) constituted by other long flexible lateral parts or other flexible flaps (10) also mounted at a hinge have the particularity of being closed under the effect of the vacuum between the load (B) and the means directed downward ensuring the lateral tightening (2-6) to establish an improved seal compared to the surrounding atmosphere.

Pour enlever l'intercalaire (A) il suffit de réduire ou d'annuler la dépression en continuant d'exercer un serrage latéral mécanique plus ou moins fort. To remove the interlayer (A), it suffices to reduce or cancel the vacuum by continuing to exert a more or less strong mechanical lateral tightening.

L'enlèvement de l'intercalaire peut se faire à un certain stade du levage, par exemple à une faible hauteur par rapport à un plan horizontal quelconque (aire de dépose, de réception ou d'évacuation) par simple retrait latéral de l'intercalaire qui n'est plus aspiré, ou plus suffisamment aspiré et qui tombe alors de lui-môme.  The removal of the interlayer can be done at a certain stage of the lifting, for example at a low height relative to any horizontal plane (area of deposit, reception or evacuation) by simple lateral removal of the interlayer which is no longer sucked, or no longer sufficiently sucked and which then falls by itself.

Le retrait latéral peut se faire manuellement ou par un moyen de poussée ou de traction. The lateral withdrawal can be done manually or by a means of pushing or pulling.

On peut envisager, dans certaines conditions, le retrait de l'intercalaire après la dépose de la couche elle-même. One can consider, under certain conditions, the removal of the interlayer after the removal of the layer itself.

Sur la figure 3 est représentée une barquette (C) à cotés relevés (cri) qui peut etre retirée, par réduction ou absence d'aspiration, après avoir coupés les côtés (C1) de la barquette. In Figure 3 is shown a tray (C) with raised sides (cry) which can be removed, by reduction or absence of suction, after cutting the sides (C1) of the tray.

L'ensemble du dispositif de levage suivant 1 invention peut etre soulevé, déplacé ou mû de façon autonome ou par tout moyen ou ensemble de moyens appropriés. Le dispositif présente à cet effet, par exemple des crochets, étriers ou manilles d'accrochage 9 prévus à la partie supérieure du dispositif. The entire lifting device according to the invention can be lifted, moved or moved independently or by any suitable means or set of means. The device has for this purpose, for example hooks, stirrups or shackles 9 provided at the top of the device.

Dans la variante représentée à la figure 2 les moyens dirigés vers le bas 2-6 sont des moyens de serrage latéral à commande spécifiquement mécanique (volets 6 à commande 8). In the variant shown in Figure 2 the means directed downwards 2-6 are lateral clamping means with specifically mechanical control (flaps 6 with control 8).

D'autres moyens dirigés vers le bas (2) constitués par d'autres parties latérales longues flexibles ou d'autres volets 10 flexibles montés en charnière sur l'enveloppe extérieure de l'enceinte 1 offrent la particularité de se refermer sur les moyens dirigés vers le bas de serrage latéral mécanique (2-6) sous l'effet de la dépression, pour établir une étanchéité améliorée par rapport à l'atmosphère environnante. Other means directed downwards (2) constituted by other long flexible lateral parts or other flexible flaps 10 hinged on the outer envelope of the enclosure 1 offer the particularity of being closed on the directed means downward mechanical lateral tightening (2-6) under the effect of vacuum, to establish an improved seal compared to the surrounding atmosphere.

Il est bien entendu, enfin, que la présente invention n'a été décrite et représentée qu'à titre d'exemple préférentiel et que l'on pourra apporter des équivalences dans ses éléments constitutifs sans, pour autant, sortir du cadre de l'invention.  It is clearly understood, finally, that the present invention has only been described and shown as a preferred example and that it is possible to provide equivalences in its constituent elements without, however, departing from the scope of the invention.

Claims (4)

REVENDICATIONS i. Dispositif de levage à dépression, à moyens d'étanchéité dirigés vers le bas, et à fonction de serrage latéral notamment pour le levage de charges en couches formées d'objets indépendants les uns des autres et disposés côte à côte caractérisé en ce qu'il comprend une enceinte superieure (1) à plaque ajourée (5) et des moyens d'étanchéité dirigés vers le bas (2-6) à commande mécanique (8) pour assurer un serrage latéral de la charge (B) indépendamment de la source (4) de dépression, laquelle dépression agit, par ailleurs, sur ladite charge et sur tout intercalaire (A-C) disposé sous la charge, une modulation pouvant se faire entre ladite dépression qui s'exerce par le dessus et le serrage mécanique qui s'exerce latéralement. i. Vacuum lifting device, with sealing means directed downwards, and with lateral clamping function in particular for lifting loads in layers formed of objects independent of each other and arranged side by side, characterized in that it includes an upper enclosure (1) with perforated plate (5) and downwardly directed sealing means (2-6) with mechanical control (8) to ensure lateral clamping of the load (B) independently of the source ( 4) depression, which depression acts, moreover, on said load and on any interlayer (AC) placed under the load, a modulation being able to be made between said depression which is exerted from above and the mechanical tightening which is exerted laterally. 2. Dispositif de levage à dépression selon la revendication 1 caractérisé en ce que d'autres moyens dirigés vers le bas (2-10) se referment sous l'effet de la dépression entre la charge (B) et les moyens diriges vers le bas assurant le serrage latéral (2-6).  2. vacuum lifting device according to claim 1 characterized in that other means directed downwards (2-10) are closed under the effect of the vacuum between the load (B) and the means directed downwards ensuring lateral tightening (2-6). 3. Dispositif de levage à dépression selon la revendication 1 caractérisé en ce que d'autres moyens dirigés vers le bas (2-10] se referment sous l'effet de la dépression sur les moyens dirigés vers le bas assurant le serrage latéral (2-6).  3. vacuum lifting device according to claim 1 characterized in that other means directed downward (2-10] are closed under the effect of depression on the means directed downward ensuring the lateral tightening (2 -6). 4. Dispositif de levage à dépression selon l'une quelconque des revendications 1 à 3 caractérisé en ce que les moyens (2-10) et les moyens (2-6) sont des volets montés en charnière sur l'enceinte supérieure (1).  4. Vacuum lifting device according to any one of claims 1 to 3 characterized in that the means (2-10) and the means (2-6) are flaps hinged on the upper enclosure (1) .
FR8504197A 1985-03-21 1985-03-21 DEVICE FOR LIFTING LOADS IN LAYERS FORMED FROM OBJECTS INDEPENDENT FROM ONE ANOTHER AND ARRANGED SIDE BY SIDE Expired FR2579190B1 (en)

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FR8504197A FR2579190B1 (en) 1985-03-21 1985-03-21 DEVICE FOR LIFTING LOADS IN LAYERS FORMED FROM OBJECTS INDEPENDENT FROM ONE ANOTHER AND ARRANGED SIDE BY SIDE

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FR8504197A FR2579190B1 (en) 1985-03-21 1985-03-21 DEVICE FOR LIFTING LOADS IN LAYERS FORMED FROM OBJECTS INDEPENDENT FROM ONE ANOTHER AND ARRANGED SIDE BY SIDE

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0351571A2 (en) * 1988-07-16 1990-01-24 Focke & Co. (GmbH & Co.) Device for lifting tray-packages
EP0415210A1 (en) * 1989-08-31 1991-03-06 Owens-Brockway Glass Container Inc. Lehr loader pickup arm
US6860531B2 (en) 2001-12-20 2005-03-01 Abb Inc. Gripping and vacuum end effector for transferring articles
EP2032441A2 (en) * 2006-06-29 2009-03-11 Smart Motion Robotics, Inc. Robotic packaging device and method
US7637711B2 (en) 2005-02-08 2009-12-29 Meadwestvaco Corporation Apparatus with suction head for moving envelopes
US7789226B2 (en) 2004-09-13 2010-09-07 Meadwestvaco Corporation Packaged banded envelopes
WO2011135031A1 (en) * 2010-04-28 2011-11-03 Autefa Automation Gmbh Layer gripping device and handling device
DE102010006785B4 (en) * 2010-02-04 2016-09-22 Hermann Müller Method and device for the deposed depalletization of products of a product stack, if necessary with separation of the intermediate layer
CN107934580A (en) * 2017-12-27 2018-04-20 浙江龙文精密设备股份有限公司 Food cans stacking machine catching plate

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US2783078A (en) * 1952-03-07 1957-02-26 Vacuum Concrete Inc Handling apparatus
US2841433A (en) * 1956-06-22 1958-07-01 Ballantine & Sons P Apparatus for handling materials
FR1429540A (en) * 1965-02-22 1966-02-25 Entwicklungs Und Musterbau Bau Vacuum lifting device
US3404787A (en) * 1966-12-27 1968-10-08 American Chain & Cable Co Suction lift for article distribution and storage system
FR1570574A (en) * 1968-03-29 1969-06-13
GB1188782A (en) * 1968-06-12 1970-04-22 Keramikmaschinen Goerlitz Veb Grab apparatus for Picking up Cylindrical or Conical Articles.
US3747784A (en) * 1972-03-14 1973-07-24 Dean Res Corp Material handling system
DE2263615A1 (en) * 1972-12-27 1974-07-04 Heinz Berlin Luft Und Waermete METHOD AND DEVICE FOR TRANSPORTING FRESH MOLDINGS
GB2062577A (en) * 1979-11-01 1981-05-28 Rockware Glass Ltd A suction head for lifting a plurality of articles
EP0084479A1 (en) * 1982-01-11 1983-07-27 Carnaud Emballage Process and device for gripping by means of air suction

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2783078A (en) * 1952-03-07 1957-02-26 Vacuum Concrete Inc Handling apparatus
US2841433A (en) * 1956-06-22 1958-07-01 Ballantine & Sons P Apparatus for handling materials
FR1429540A (en) * 1965-02-22 1966-02-25 Entwicklungs Und Musterbau Bau Vacuum lifting device
US3404787A (en) * 1966-12-27 1968-10-08 American Chain & Cable Co Suction lift for article distribution and storage system
FR1570574A (en) * 1968-03-29 1969-06-13
GB1188782A (en) * 1968-06-12 1970-04-22 Keramikmaschinen Goerlitz Veb Grab apparatus for Picking up Cylindrical or Conical Articles.
US3747784A (en) * 1972-03-14 1973-07-24 Dean Res Corp Material handling system
DE2263615A1 (en) * 1972-12-27 1974-07-04 Heinz Berlin Luft Und Waermete METHOD AND DEVICE FOR TRANSPORTING FRESH MOLDINGS
GB2062577A (en) * 1979-11-01 1981-05-28 Rockware Glass Ltd A suction head for lifting a plurality of articles
EP0084479A1 (en) * 1982-01-11 1983-07-27 Carnaud Emballage Process and device for gripping by means of air suction

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0351571A2 (en) * 1988-07-16 1990-01-24 Focke & Co. (GmbH & Co.) Device for lifting tray-packages
EP0351571A3 (en) * 1988-07-16 1990-12-19 Focke & Co. (Gmbh & Co.) Device for lifting tray-packages
EP0415210A1 (en) * 1989-08-31 1991-03-06 Owens-Brockway Glass Container Inc. Lehr loader pickup arm
US6860531B2 (en) 2001-12-20 2005-03-01 Abb Inc. Gripping and vacuum end effector for transferring articles
US7789226B2 (en) 2004-09-13 2010-09-07 Meadwestvaco Corporation Packaged banded envelopes
US7637711B2 (en) 2005-02-08 2009-12-29 Meadwestvaco Corporation Apparatus with suction head for moving envelopes
EP2032441A2 (en) * 2006-06-29 2009-03-11 Smart Motion Robotics, Inc. Robotic packaging device and method
EP2032441A4 (en) * 2006-06-29 2009-07-22 Smart Motion Robotics Inc Robotic packaging device and method
DE102010006785B4 (en) * 2010-02-04 2016-09-22 Hermann Müller Method and device for the deposed depalletization of products of a product stack, if necessary with separation of the intermediate layer
WO2011135031A1 (en) * 2010-04-28 2011-11-03 Autefa Automation Gmbh Layer gripping device and handling device
CN107934580A (en) * 2017-12-27 2018-04-20 浙江龙文精密设备股份有限公司 Food cans stacking machine catching plate

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FR2579190B1 (en) 1988-10-14

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