US3743340A - Vacuum lifting device - Google Patents

Vacuum lifting device Download PDF

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Publication number
US3743340A
US3743340A US00220207A US3743340DA US3743340A US 3743340 A US3743340 A US 3743340A US 00220207 A US00220207 A US 00220207A US 3743340D A US3743340D A US 3743340DA US 3743340 A US3743340 A US 3743340A
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United States
Prior art keywords
bellows
load
negative pressure
valve
suction box
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.)
Expired - Lifetime
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US00220207A
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English (en)
Inventor
F Williamann
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.)
GIS AG
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GIS AG
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Publication date
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    • 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
    • B66C1/0212—Circular shape
    • 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
    • B66C1/0231—Special lip configurations
    • 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

Definitions

  • Another and more specific object of the present invention is directed to a new and improved construction of suction lifting device incorporating a bellows suspended at its upper end and provided at its lower end with a load lifting mechanism, a valve mechanism serves to connect the upper region of the bellows with a vacuum pump.
  • Still a further significant object of the present invention relates to a novel construction of vacuum load lifting device which is relatively simple in design, easy to operate, economical to manufacture, not readily subject to breakdown, and requires a minimum of servicing and maintenance.
  • Yet a further object of this invention relates to a load lifting device employing suction lifting forces which can be selectively generated for the purpose of hoisting and lowering a load, the suction action possessing sufficient intensity to positively secure the load in raised position, and when it is desired to again release the load for deposit at a given locality such suction force can be quickly and easily released.
  • the inventive vacuum lifting device is manifested by the features that there is provided a bellows which is suspended'at its upper end and carrying a load holding mechanism at its lower end.
  • a valve member serves to connect the upper end of the bellows with a negative pressure or vacuum pump.
  • this valve mechanism Through the opening and closing of this valve mechanism it is possible to selectively connect and disconnect the bellows with the negative pressure pump.
  • the bellows when the bellows is subjected to the action of the suction of the pump and the pressure of the ambient air it collapses, i.e., its lower end is moved towards its upper end. In this way a load held by the load holding mechanism can be raised.
  • any optional suitable means for securing and retaining the load and which can be mounted at the lower end of the bellows.
  • such means may be in the form of automatically controlled means, such as electromagnets, actuatable claws and hooks or equivalent constructions.
  • the internal vacuum or negative pressure acting at the bellows as well as the external ambient pressure can not only be used for lifting the load, rather also for clamping and holding the load.
  • the valve mechanism between the bellows and the vacuum pump is open and, on the other hand, the valve mechanism between the bellows and the suction box is open, the suction box applied to the load, for instance a plate to be hoisted, is evacuated.
  • the load securely adheres to such evacuated suction box, and upon obtaining a sufficient pressure differential between the interior compartment or inside of the bellows and the ambient air, the bellows itself will be upwardly collapsed together and the load adhering to such suction box will be raised.
  • control means permitting actuation of both suction box valves in a manner that only one is open when the other is closed or both are simultaneously closed.
  • the hoisted load can be horizontally displaced in elevated position, and at the new locality there can occur lowering of the load in that the valve connecting the bellows with the negative pressure pump is closed and at the same time the valve connecting the bellows with the surrounding or ambient air is opened.
  • the simultaneous closing of all four valves can be carried out as an automatic safety operation in the event that upon breakdown of the pump, for instance because of power failure, the danger of dropping of the load exists. Even in the case of a leak arising the load will only be slowly lowered and ejected so that persons who are in danger can, if necessary, rescue themselves.
  • FIG. 1 is a side perspective view of a preferred embodiment of inventive vacuum lifting device prior to lifting of a platform-shaped or plate-shaped load;
  • FIG. 2 illustrates the load lifting device of FIG. 1 following complete hoisting of a platform-shaped load
  • FIG. 3 is a simplified, fragmentary schematic vertical sectional view through the inventive apparatus of FIG. 1 directly prior to lifting of the load;
  • FIG. 4 is a circuit diagram of a possible form of electrical control for the vacuum lifting device of FIGS. 1 to 3.
  • FIGS. 1 the exemplary embodiment of vacuum lifting device depictedin FIGS. 1
  • a collapsible bellows 12 connected through the agency of a valve box or cabinet 14 with the housing 16 of a blower arrangement 18 and is conveniently suspended thereat in any suitable manner.
  • a suspension eyelet 20 or equivalent structure At the top of the suction blower housing 16 there is shown a suspension eyelet 20 or equivalent structure by means of which the load lifting device 10 can be connected via the phantom line illustrated chain 22 or the like to the travelling trolley or carriage 24 moving along the rails 26.
  • a travelling carriage or trolley 24 it would be possible to use some other form of suspension and travelling support mechanism, such as a crane, fork-lift device or the like.
  • the suction box 30 At the lower end of the bellows 12 there is connected through the agency of a lower valve box 28, similar to the upper valve box 14, the suction box 30. At the lower edge of the suction box 30 there is provided a sealing lip means 32 against which bears, owing to suetion, a load L, for instance a steel plate, as clearly depicted in FIG. 2.
  • the suction box or cabinet 30 raises such load L whereas, as clearly shown in FIGS. 1 and 2 further such loads L remain in the load stack.
  • the suction box 30 could be provided at its lower open end with any suitable load holding means, such as conventional electromagnets, hook means or load grippers, merely schematically referenced at 33.
  • valve 34 here shown in the form of a slide valve or gate, this valve 34 communicating the bellows 12 with the blower arrangement 18 during such time as a valve 36 is closed, this valve 36 being capable of connecting the bellows 12 with the surrounding or ambient air. Since generally the valve 34 is only then open when the valve 36 is closed and vice versa, both valves 34 and 36 are conveniently interconnected by the connecting rod 42.
  • the valve 34 can be actuated through the intermediary of the rod 44 by the electromagnetic relay 46 of the control circuit of FIG. 4, upon actuating the control or main switch 48 (FIGS. 1 and 2), actuation of the valve 34 then being transmitted via the connecting rod 42 to the other valve 36.
  • valve 38 which connects the suction box 30 with the interior of the bellows 12 and the valve unit 40 which can connect this suction box 30 with the surrounding air could be conceivably interconnected by a connecting rod with one another, as explained for the valves 34 and 36 above, and by means of the rod 50 with an electromagnetic relay 52. In that event the valves 38 and 40 are only opened and closed in opposed relationship. Operation again takes place through the agency of the switch 48 depicted in FIGS. 1 and 2.
  • an appropriate control element for instance a further respective electromagnetic relay respectively at the rod 42 and/or the rod interconnecting valves 38 and 40, it would be possible to carry out separate operation of the valve units 34, 36 and 38, 40.
  • an appropriate control element for instance a further respective electromagnetic relay respectively at the rod 42 and/or the rod interconnecting valves 38 and 40
  • valve units 38 and 40 are independently controlled.
  • a further electromagnetic relay 54 connected by a suitable operating rod 56 with the valve 40 communicating the suction box 30 with the surrounding atmosphere.
  • valves 34 and 36, as well as the valves 38 and 40, are generally controllable through the agency of the switch 48.
  • Table given hereinafter there will be indicated in conveniently discernible form a possible mode of operation of the illustrated exemplary embodiment:
  • stiffening ribs 70 are advantageously provided within the bellows R2 in order to safeguard against laterally pushing together or collapsing of the bellows by virtue of the prevailing vacuum or negative pressure.
  • Such guides could also be equipped with a brake, for instance, of the type which automatically responds to power failure and which prevents lowering of the bellows.
  • a brake for instance, of the type which automatically responds to power failure and which prevents lowering of the bellows.
  • suitable not particularly illustrated holding pawls for preventing undesired lowering of the bellows 12 upon collapse of the suction.
  • stroke-limit switches could be associated with such type guide arrangement.
  • slide valves of the type illustrated depicted in FIG. 3 which, while possessing increased friction during vacuum operation, nonetheless still cannot be either closed or opened by the momentarily prevailing differential inpressure.
  • This has the advantage that the regulated or set valve position, i.e., open or closed, cannot be changed by the pressure, rather only through positive actuation of the valve, for instance by means of the associated electromagnetic relay.
  • valve 34 is depicted to possess a considerably larger through-flow cross-section than the valve 36, and similarly the valve 38 possesses a considerably larger throughflow cross-section than the valve 40.
  • This relationship is not absolutely necessary; however it is generally advantageous for the reason that vacuum or suction operations familiarly respond much more sensi tively to throughflow cross-sections than overpressure conditions, and therefore, there should be present as large as possible free flow cross-sections for the valves 34 and 38.
  • the differences in size of the valve units 34 and 38 as depicted in FIG. 3 are not shown on an accurate scale and should not be considered as drawn to scale.
  • a larger valve 3% has the advantage that evacuation of the suction box 30 does not trail evacuation of the bellows 12 so that there will not occur collapse of the bellows 12 before there is built-up a sufficient vacuum for holding the load L. r
  • valves 36 and 4b which have been schematically illustrated within the boxes 14 and 30, respectively, in practice would be advantageously externally arranged so that better sealing conditions can be realized.
  • valve units 34 and 38 can be appropriately arranged in accordance with the pressure conditions.
  • the electrical lines or conduits 72 have only been shown in phantom lines in FIGS. 1 and 2.
  • the switch 48 serves as a central control station for the electromagnetic relays 46, 52 and 54. For automatic operation there could be accommodated a known unit at the region of the blower arrangement 18 instead of the switch 48. At the rail 26 (FIGS.
  • the box 30 can be closed at its lower face or end. In such case it would then be possible to provide this box 30 with a hook, and electromagnet or clamps, as schematically indicated at 33, for attachment to the load L.
  • FIG. 4 an exemplary construction form of control circuitry for use therewith, the operation thereof being considered for a complete exemplary work cycle:
  • the vacuum load lifting device is located in a basic or starting position at the left-side of the rail track 26 in a position preparatory for lowering.
  • the blower arrangement and drive 82 corresponding to blower arrangement 18 and drive M of FIGS. 1 3) are placed into operation.
  • a pair of holding magnets 84 which are arranged parallel to the blower motor 82 release two locking pawls which have not been particularly illustrated but which, as previously explained, serve the purpose of preventing the suction surface of the suction box 30 from lowering when the blower is switched-out.
  • the switch 86 In the basic position of the arrangement the switch 86 is located in a position where it connects the contact points 88 90. Now if a pulse is applied to the switch 92, then, the coil of the relay 94 is energized and switched-in. Consequently, voltage is applied to the valves 34, 36 and 38 which causes lowering of the suction surface of the suction box 30 without load. During this lowering movement there is continuously present in the interior of the bellows 12 a negative pressure.
  • the switch 96 is switchedin and energizes the relay 98.
  • This relay 98 switches-in and is held by the switch 100 bridging the contacts 102 104.
  • the relay 94 is switched-out and as a result the valves 34, 36 and 38 are no longer drawing current, bringing about a lifting movement with load.
  • the switch 106 is activated, and thus the relay 108 is energized. Also this relay 108 is held via the switch 100 and the contacts 102 104. Owing to switching of the relay 108 the motor relay 110 for the travel to the right of the vacuum lifting device is switched-in. Upon completion of this travel the switch 100 is activated, thus opening the connection between contacts 102 104 and closing the connection between contacts 102 105. As a result the relays 98 and 108 are switched-out. Consequently, travel toward the right is terminated. At the same time the current is conducted by means of the switch 100 and via contact connection 102 105 over the closed contacts 112 114 of the relay 116 to the valve unit 34, 36.
  • the relay 122 is switched-out. Consequently, the device is now once more in its basic or starting position for again carrying out this cycle of operations. It now awaits for the reception of a new pulse from the switch 92 with the blower still running in order to carry out a further working cycle. If the main switch is switched-out then the negative pressure in the bellows l2 collapses, since the blower arrangement and drive 82 shuts down. As mentioned above in order to prevent the suction box and its suction surface from falling downwards there are provided the two holding magnets 84 arranged parallel to the blower motor arrangement 82 which open and close, as desired, an associated blocking pawl.
  • a negative pressure lifting apparatus comprising a bellows for load handling suspended at its upper end, a suction box at the lower end of said bellows for holding the load, an upper end wall of the bellows, first valve means in said end wall for directly connecting the bellows with the negative pressure pump to raise the load, a lower end wall of the bellows, second valve means in said lower end wall for establishing direct connection of the negative pressure of said bellows with the suction box to attach the load, third valve means in said upper end wall for the direct connection of the bellows with the surrounding air to lower the load, and fourth valve means in said lower end wall for the direct connection of the suction box with the surrounding air to release the load, whereby said suction box is operated directly from the accumulated negative pressure in said bellows, and the negative pressure in said bellows and said suction box may be released independently.
  • control means are provided in order to alternately open and close the first and third valve means.
  • control means are provided in order to alternately open and close the second and fourth valve.
  • control means are provided for simultaneously closing all four valves.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
US00220207A 1971-02-10 1972-01-24 Vacuum lifting device Expired - Lifetime US3743340A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CH194271A CH526461A (de) 1971-02-10 1971-02-10 Unterdruck-Hebevorrichtung

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US3743340A true US3743340A (en) 1973-07-03

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US00220207A Expired - Lifetime US3743340A (en) 1971-02-10 1972-01-24 Vacuum lifting device

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US (1) US3743340A (cs)
CH (1) CH526461A (cs)
DE (1) DE2152584C3 (cs)
FR (1) FR2124222B1 (cs)
IT (1) IT947259B (cs)

Cited By (53)

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US4006929A (en) * 1975-12-17 1977-02-08 American Chain & Cable Company, Inc. Vacuum pad
US4362461A (en) * 1980-05-27 1982-12-07 Ppg Industries, Inc. Selective vacuum lifting device
US4413853A (en) * 1980-02-04 1983-11-08 Sten Andersson Lifting means for goods
GB2200093A (en) * 1987-01-22 1988-07-27 Bishopbarn Ltd Package handling method and apparatus
US4881770A (en) * 1986-11-10 1989-11-21 Ciba-Geigy Ag Method and apparatus for transporting perforated objects
DE3618704C1 (en) * 1986-06-04 1990-06-21 Kurt Dr Schmalz Lifting device with a suction box
US5035456A (en) * 1990-03-29 1991-07-30 Robert Messinger Vacuum control system for lifting systems
US5039274A (en) * 1988-12-10 1991-08-13 Palamatic Handling Systems Ltd Vacuum lifting apparatus
GB2248223A (en) * 1990-09-06 1992-04-01 Smc Kk Suction pad
US5330314A (en) * 1991-01-03 1994-07-19 Palamatic Handling Systems Limited Vacuum lifting/lowering head
US5388879A (en) * 1992-02-04 1995-02-14 House Food Industrial Co., Ltd. Suction type robot hand
US5431469A (en) * 1992-10-02 1995-07-11 Kabushiki Kaisha Kito Vacuum lift device
US5934723A (en) * 1996-04-12 1999-08-10 J. Schmalz Gmbh Vacuum handling apparatus
US6056500A (en) * 1996-03-29 2000-05-02 Ab Initio Affars- & Teknikutveckling Vacuum hoisting device having a vertically suspended lifting tube
US6076872A (en) * 1997-09-30 2000-06-20 J. Schmalz Gmbh Vacuum manipulating device
US6213528B1 (en) * 1998-10-20 2001-04-10 U.S. Philips Corporation Vacuum cup
US6367855B1 (en) * 1999-06-12 2002-04-09 J. Schmalz Gmbh Vacuum manipulation apparatus
US20030021687A1 (en) * 1999-05-21 2003-01-30 Lewis Illingworth Suction cup vortex attractor
US6527323B2 (en) * 2000-07-31 2003-03-04 Smc Kabushiki Kaisha Suction pad having a patterned attracting surface
US20060102363A1 (en) * 2004-11-15 2006-05-18 Michael Tvetene Sod handler
US20060182607A1 (en) * 2005-01-18 2006-08-17 Clark Jason A Method and apparatus for depalletizing bagged products
DE19812537B4 (de) * 1998-03-21 2006-08-17 J. Schmalz Gmbh Vakuum-Schlauchhebevorrichtung
US20080093371A1 (en) * 2006-10-24 2008-04-24 Tandem Technologies, Llc Delivery system
US20080129062A1 (en) * 2006-03-15 2008-06-05 J. Schmalz Gmbh Underpressure surface gripping device
US20080299245A1 (en) * 2007-05-31 2008-12-04 Sacmi Cooperativa Meccanici Imola Societa'cooperativa Unit for picking up ceramic products or the like
US20100219651A1 (en) * 2009-02-27 2010-09-02 Custom Concrete Creations Vacuum lifting device and method of use
US20100273602A1 (en) * 2009-04-23 2010-10-28 Tandem Technologies, Llc Traction drive system
WO2013062463A1 (en) * 2011-10-25 2013-05-02 Xerex Ab Insert for bellows with non-linear compression / expansion in a vacuum powered tool
US20170057100A1 (en) * 2015-08-25 2017-03-02 The Boeing Company Apparatus and methods for handling composite structures
US9586793B2 (en) 2015-02-09 2017-03-07 Michael Prindiville Multi-port vacuum lifting attachment with remote controlling release
US9808938B2 (en) 2015-04-09 2017-11-07 J. Schmalz Gmbh Lifting tube and handling device
US9950907B2 (en) 2013-10-09 2018-04-24 Columbia Insurance Company Lifting methods, assemblies and systems
US20180126458A1 (en) * 2016-11-10 2018-05-10 Hyundai Motor Company Apparatus of Dividing Working Chamber of 3D Printer
US20190134827A1 (en) * 2017-11-07 2019-05-09 Berkshire Grey, Inc. Systems and methods for providing dynamic vacuum pressure at an end effector using a single vacuum source
US20190193126A1 (en) * 2009-11-12 2019-06-27 Filter Safe Ltd. Filter proximity nozzle
US20190236933A1 (en) * 2017-01-25 2019-08-01 Vacuworx Global, LLC Wireless remote control method for a vacuum material handler
US20190255714A1 (en) * 2018-02-20 2019-08-22 Fanuc Corporation Suction pad and method of suction release of suction pad
US10634243B2 (en) * 2016-05-09 2020-04-28 J. Schmalz Gmbh Method for monitoring functional states a pressure driven actuator and pressure-actuatable actuator
US10723019B2 (en) 2017-08-02 2020-07-28 Berkshire Grey, Inc. Systems and methods for acquiring and moving objects having complex outer surfaces
WO2021145815A1 (en) * 2020-01-14 2021-07-22 Tawi Ab Vacuum lifting arrangement and method for providing a such
US20210308875A1 (en) * 2020-04-01 2021-10-07 Ambidextrous Laboratories, Inc. End effector device and system for suction-based grasping of bagged objects
US20220098007A1 (en) * 2019-02-11 2022-03-31 Fipa Holding Gmbh Device for controlling the function of a vacuum lifting device, and vacuum lifting device having such a control device
US20220297943A1 (en) * 2019-08-29 2022-09-22 Pritec Vaculyft Ab A vacuum lifting device
US20220362947A1 (en) * 2021-05-17 2022-11-17 Ciena Corporation Portable Suction Device Carrier for Assembly Processes
US11554505B2 (en) 2019-08-08 2023-01-17 Berkshire Grey Operating Company, Inc. Systems and methods for providing, in programmable motion devices, compliant end effectors with noise mitigation
US11938618B2 (en) 2020-07-22 2024-03-26 Berkshire Grey Operating Company, Inc. Systems and methods for object processing using a passively folding vacuum gripper
US11964386B2 (en) 2020-07-22 2024-04-23 Berkshire Grey Operating Company, Inc. Systems and methods for object processing using a vacuum gripper that provides object retention by shroud inversion
US12151364B2 (en) 2016-01-08 2024-11-26 Berkshire Grey Operating Company, Inc. Systems and methods for acquiring and moving objects
US12157223B2 (en) 2020-02-05 2024-12-03 Berkshire Grey Operating Company, Inc. Systems and methods for disrupting resonance in vacuum cup assemblies used with programmable motion devices
US12263578B2 (en) 2020-11-19 2025-04-01 Berkshire Grey Operating Company, Inc. End-effector with ridges for processing objects with low pose authority
US12304061B2 (en) 2015-09-08 2025-05-20 Berkshire Grey Operating Company, Inc. Systems and methods for providing high flow vacuum acquisition in automated systems
US12427671B2 (en) 2015-08-26 2025-09-30 Berkshire Grey Operating Company, Inc. Systems and methods for providing contact detection in an articulated arm
US12427546B2 (en) 2020-09-04 2025-09-30 Ambi Robotics, Inc. System and method for robotic horizontal sortation

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SE465773B (sv) * 1990-03-14 1991-10-28 Convacor Ab Manoeveranordning vid vakuumlyftanordning
FR2765203B1 (fr) * 1997-06-25 1999-07-30 Joulin Aero Perfectionnements aux appareils pneumatiques de manutention
DE102013008843A1 (de) * 2013-05-24 2014-11-27 Universität Kassel Saug-Hebevorrichtung zur Manipulation von Gegenständen z. B. in Werkstätten
DE102018114021A1 (de) * 2018-06-12 2019-12-12 J. Schmalz Gmbh Schlauchheber
DE102022201573B3 (de) 2022-02-16 2023-02-02 Volkswagen Aktiengesellschaft Unterdruckgreifer

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Cited By (90)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4006929A (en) * 1975-12-17 1977-02-08 American Chain & Cable Company, Inc. Vacuum pad
US4413853A (en) * 1980-02-04 1983-11-08 Sten Andersson Lifting means for goods
US4362461A (en) * 1980-05-27 1982-12-07 Ppg Industries, Inc. Selective vacuum lifting device
DE3618704C1 (en) * 1986-06-04 1990-06-21 Kurt Dr Schmalz Lifting device with a suction box
US4881770A (en) * 1986-11-10 1989-11-21 Ciba-Geigy Ag Method and apparatus for transporting perforated objects
GB2200093A (en) * 1987-01-22 1988-07-27 Bishopbarn Ltd Package handling method and apparatus
US4850627A (en) * 1987-01-22 1989-07-25 Bishopbarn Limited Package handling method and apparatus
GB2200093B (en) * 1987-01-22 1990-08-29 Bishopbarn Ltd Package handling method and apparatus
US5044868A (en) * 1988-12-10 1991-09-03 Palamatic Handling Systems Ltd Valve system for controlling a vacuum lifting apparatus
US5039274A (en) * 1988-12-10 1991-08-13 Palamatic Handling Systems Ltd Vacuum lifting apparatus
US5035456A (en) * 1990-03-29 1991-07-30 Robert Messinger Vacuum control system for lifting systems
GB2248223A (en) * 1990-09-06 1992-04-01 Smc Kk Suction pad
US5192070A (en) * 1990-09-06 1993-03-09 Smc Kabushiki Kaisha Suction pad
GB2248223B (en) * 1990-09-06 1994-11-23 Smc Kk Suction pad
US5330314A (en) * 1991-01-03 1994-07-19 Palamatic Handling Systems Limited Vacuum lifting/lowering head
US5388879A (en) * 1992-02-04 1995-02-14 House Food Industrial Co., Ltd. Suction type robot hand
US5431469A (en) * 1992-10-02 1995-07-11 Kabushiki Kaisha Kito Vacuum lift device
US6056500A (en) * 1996-03-29 2000-05-02 Ab Initio Affars- & Teknikutveckling Vacuum hoisting device having a vertically suspended lifting tube
US5934723A (en) * 1996-04-12 1999-08-10 J. Schmalz Gmbh Vacuum handling apparatus
US6076872A (en) * 1997-09-30 2000-06-20 J. Schmalz Gmbh Vacuum manipulating device
DE19812537B4 (de) * 1998-03-21 2006-08-17 J. Schmalz Gmbh Vakuum-Schlauchhebevorrichtung
US6213528B1 (en) * 1998-10-20 2001-04-10 U.S. Philips Corporation Vacuum cup
US20030021687A1 (en) * 1999-05-21 2003-01-30 Lewis Illingworth Suction cup vortex attractor
US6881025B2 (en) * 1999-05-21 2005-04-19 Vortex Hc, Llc Suction cup vortex attractor
US6367855B1 (en) * 1999-06-12 2002-04-09 J. Schmalz Gmbh Vacuum manipulation apparatus
US6527323B2 (en) * 2000-07-31 2003-03-04 Smc Kabushiki Kaisha Suction pad having a patterned attracting surface
US20100187071A1 (en) * 2004-11-15 2010-07-29 Trebro Holding, Inc. Sod handler
US20060102363A1 (en) * 2004-11-15 2006-05-18 Michael Tvetene Sod handler
US8118154B2 (en) 2004-11-15 2012-02-21 Trebro Holding, Inc. Sod handler
US20060182607A1 (en) * 2005-01-18 2006-08-17 Clark Jason A Method and apparatus for depalletizing bagged products
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DE2152584B2 (de) 1974-04-04
DE2152584C3 (de) 1974-10-31
FR2124222A1 (cs) 1972-09-22
DE2152584A1 (de) 1972-08-17
CH526461A (de) 1972-08-15
IT947259B (it) 1973-05-21
FR2124222B1 (cs) 1976-03-26

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