US3776393A - Transfer apparatus - Google Patents

Transfer apparatus Download PDF

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Publication number
US3776393A
US3776393A US00255059A US3776393DA US3776393A US 3776393 A US3776393 A US 3776393A US 00255059 A US00255059 A US 00255059A US 3776393D A US3776393D A US 3776393DA US 3776393 A US3776393 A US 3776393A
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Prior art keywords
rocker lever
pivot
lever assembly
drive
rocker
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US00255059A
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English (en)
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G Bargstedt
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
    • B65H29/50—Piling apparatus of which the discharge point moves in accordance with the height to the pile
    • 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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
    • B65H29/24—Delivering or advancing articles from machines; Advancing articles to or into piles by air blast or suction apparatus
    • B65H29/241—Suction 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
    • B65H3/0816—Suction grippers separating from the top of pile

Definitions

  • the apparatus serves to transfer items between two stations.
  • a frame is disposed between said two stations and at its top carries a first pivot.
  • a first rocker lever assembly is pivoted on the first pivot and has a longer portion on one side of the first pivot.
  • a second pivot is carried by the first rocker lever assembly and parallel to and spaced from the first pivot.
  • a second rocker lever assembly is mounted on the second pivot and rotatable in unison with the first rocker lever assembly during a movement of the latter.
  • Connecting drive means connect the first and second rocker lever assemblies and are arranged to impart to the second rocker lever assembly a movement in dependence on the movement of the first rocker lever assembly.
  • Holding means for holding items are carried by the first and second rocker lever assemblies at those ends thereof which are most remote from the associated first and second pivots.
  • the first and second rocker lever assemblies are pivotally movable 'over head and have difierent lengths between the associated first and second pivots and the ends provided with the holding means. Said lengths are selected so that the holding means are equally spaced from the first pivot means when the first and second rocker lever assemblies are angularly spaced 180 apart.
  • This invention relates to a transfer apparatus for I transferring items between two stations, which apparatus Comprises ,two rocker lever assemblies which are movable one in the other between the stations and which are provided at their ends with holding means and are pivotally movable by common drive means about horizontal pivots,
  • Known transfer apparatus which are suitable as stacking means and may also be used as feeders comprise a rocker lever assembly which consists of only two rocker levers, between which a lifting beam is rotatably mounted and carries, e.g., suction grippersln such apparatus it is known to drive the lifting beams by power transmitting means, such as a chain transmission, in such a manner that resulting translatory movements are imparted to the suction grippers so that their absolute orientation is maintained during such movements.
  • S'uch' simple rocker lever assemblies may be provided on both sides of a conveyor belt and may alternatingly cooperate with stacks disposed on both sides of the conveyor belt. In this case, the frequency of the cyclic operation is controlled by the movement of the rocker lever assembly and this movement must not be excessively large. so that the holding at the suction grippers is not endangered.
  • the invention is based on the recognition that a rocker lever assembly provides for the'optimum path of movement because it enables a transfer along the shortest path which is practicable, relatively simple drive means may be used to impart a pivotal movement, there is no need for rail tracks, and a simple bearing ar-' rangement-may be provided for the transfer elements in that a lifting. beam is moved in a defined manner from'above to the delivering or receiving station.
  • the spacing is increased in that the second pivot for the second rocker lever assembly is moved from the path of movement of the lifting beam of the first rocker lever assembly during the movement of the latter.
  • the general concept of the invention also includes an arrangement of the second pivot between the lifting beam of the first rockerlever assembly and the first pivot for said rocker lever assembly.
  • the preferred embodiment has the advantage that the first rocker lever assembly provides for a counterbalancing of the first 'rocker lever assembly and also affords the above-' mentioned advantage that the second pivot is automatically moved away from the path of movement of the first lifting beam during the movement of the first rocker lever assembly so that the second lifting beam is movable along a substantially elliptical path.
  • first rocker lever assembly can be operated at the same frequency as known rocker lever assemblies and that the second rocker lever assembly comprising a second lifting beam enabled-as with a normal, simple rocker lever assembly and the frequency of the cyclic operation of the apparatus is doubled without need for more frame means.
  • the frequency of the cyclic operation is doubled, each item is moved substantially at the same speed from one side, e.g., of aconveyor belt.
  • the known values are also doubled with two-sided arrangements.
  • a rocker lever assembly (which will be referred to hereinafter asthe first rocker lever assembly) is connected to the frame by a first pivot and is provided with a second pivot, which is parallel to and spaced from the first pivot and serves to mount a second rocker lever assembly and is moved in unison with the first rocker lever assembly, that a drive linkage is provided between the two rocker lever assemblies and serves to derive the movement of the second rocker lever assembly from the movement of the first rocker lever assembly, and that the two rocker lever assemblies are pivotally movable over head and have different lengths which are selected so that the holders provided at the ends of the two rocker lever assemblies are spaced equal distances from the first pivot when the rocker levers are angularly spaced [80 apart.
  • This arrangement comprises two rocker lever assemblies having rocker levers which differ in length and which can be moved in opposite directions one in'the other so that the lifting beams are moved one past the other with a suitable spacing between them.
  • the drive means comprise preferably a crank mechanism, which is adjusted so that the lifting beams are disposed over associated delivering and receiving means and the rocker levers of the two rocker lever assemblies are angularly spaced apart when the crank arm extends in the direction of a rack which is driven by the
  • the holders are rotatably 1 mounted and in which their absolute orientation is maintained during the movement of the rocker lever assemblies in that the holders are driven by drive chains having a chain'sprocket which is secured to the holder and another chain sprocket which is carried by the pivot pin for the rocker lever assembly
  • a desirable feature resides in that the other chain sprocket for the first rocker lever assembly is non-rotatably secured to the pivot pin of the first pivot mounted in the frame and the other chain sprocket for the second rocker lever assembly is rotatably mounted on the pivot pin of the pivot means for the second rocker lever assembly and is operatively connected to a chain sprocket which is nonrotatably secured to the first pivot pin.
  • the second rocker lever assembly provides for a counterbalancing of the first rocker lever assembly
  • the rocker levers of the second rocker lever assembly are also extended in length beyond their pivot and provided with a counterweight.
  • first pivot for the first rocker lever assembly may be provided on a certain level and in this case one stack must be provided on a platform which is movable in height. That arrangement also affords the advantage in comparison to known arrangements that the frequency of the cyclic operation is doubled whereas each item is moved at the same speed and'a simple design is used.
  • first pivots for the first rocker lever assembly are mounted in the frame, specifically in a suitably two-part, vertically movable carriage of the frame.
  • the drive crank and its drive motor are carried by a boom, which is pivotally movable about the pivot pin for the first rocker lever assembly and the adjustment of said boom relative to the first pivot bearing determines the direction of the parallel orientation of the two rocker lever assemblies so that the speeds are correctly controlled during their movements.
  • first pivot is adjustable in height
  • continual opposite changes in height will be avoided if the end of the boom is held by a link in a fixed relation to receiving or delivering means and the carriage or the carriage parts aremo-vablein steps in dependence on the change in height, e.g., of a stack.
  • the apparatus performs very small steps
  • the pivot pin of the second pivot for the second rocker lever assembly comprises a shaft, which is non-rotatably connected to the first rocker lever assembly, a bearing bushing is rotatably mounted on said shaft, the second rocker lever assembly is non-rotatably'se-cured to said bushing, a gear element, particularly a spur gear, is carried by said bushing and is operatively connected to another gear element, particularly a spur gear, preferably by a rack, and said other gear element is connected to the rotary drive for the first rocker lever assembly.
  • FIG. 1 is a diagrammatic side elevation showing an apparatus according to the invention.
  • FIGS. 2a to 2e illustrate various phases of the operation of two rocker lever assemblies connected in accordance with the invention, in order to explain the principle. 7
  • FIG. 3 is a side elevation showing another embodiment of the invention comprising delivering and receiv
  • FIG. 7 is a sectional view taken on line VII'VII in FIG. 6.
  • an apparatus accordingto the invention is generally designated 1 and is disposed between a roller conveyor 2 and stack of plates 3, which is mounted on a vertically movable platform 4.
  • the drive means for this platform are not shown and are designed so that the uppermost plate of the stack 3 is always held on the top level of the roller conveyor 2.
  • the apparatus 1 comprises a frame 5, in the top of which the so-called firs-t pivot 6 is mounted exactly in the middle between the vertical center lines 7, 8 of the stack 3 and the roller conveyor 2.
  • the first rocker lever assembly is mounted on the first pivot 6 and comprises rocker levers 9, which at their ends carry a lifting beam 10 provided with suction grippers 11. The lifting beam is moved along the arc of a circle 12 above the center line 8 of the roller conveyor.
  • Rocker levers 14 of a second rocker lever assembly are mounted on the rocker lever 9 of the first rocker lever assembly at a point spacedlfrom the'first pivot 6 and at their ends carry a second lifting beam 15 provided with suction grippers 16.
  • the second'lifting beam 15 is moved along the substantially elliptical line 17 in phase opposition to the first lifting beam 10.
  • rocker levers of the second rocker lever assembly are extended beyond the second pivot 13 and at their free end carry a counterweight 18.
  • a gear 19 is provided on the first pivot and is particularly non-rotatably secured to the first rocker lever assembly and in mesh with a rack 20, which is mounted on a crank arm 21 of a crank mechanism.
  • This mechanism is designed so that the crank 21 and the rack 20 are aligned. when the lifting beams 9, 15 are at their points of reversal. This arrangement results in a desirable movement in which the highest speed is reached in the central portion of the path of movement 12 or 17.
  • FIG. 5 is an enlarged elevation of the apparatus of FIG. 4 and explains the driving elements. Certain elefrom the gear 19, as will be explained more fully hereinafter.
  • FIG. 2 shows the first rocker levers 9, the second rocker levers 14, the first pivot 6 secured to the frame and the second pivot 13 for the second rocker levers 14.
  • the pivot 13 is arranged on an extension of the first rocker levers 9. It is apparent that the lifting beam 10 is moved along an arc of a circle through the positions l0, 10'', 10'', 10" when the-first rocker lever assembly is pivotally moved about the first pivot.
  • Two frame standards 25, 26 are disposed between to the rocker levers carrying-the beam during the movement of said levers so that the'suction grippers 70 and 70' are maintained in their absolute orientation.
  • Each standard comprises two posts 27, 28 or 29, 30 and vertical track rails 3 1-34 mounted on the confronting sides of said posts.
  • Track rollers 36, 37, 38 and 39, 40 of respective carriages 41, 42 are guided in these track rails and carry pivot pins 43, 44 of the first pivot.
  • the carriages By an intermittent energization of the motor, the carriages can be vertically moved in the'frames in an upward or downward direction, depending on the increase or decrease in height of the stack 23.
  • rocker levers 51, 52 of the first rocker lever assembly are freely rotatably. mounted on the pivot pins 43, 44.
  • the bearing bushing 53 of the rocker lever 52 on the input side extends through the frame and has a gear 54 nonrotatably secured to it.
  • the gear 54 isin mesh with a rack 55, which is connected to the crank 56 of a crank mechanism, which is connected to a drive motor 57 (see also FIGS. 6 and 7).
  • a transmission element, such as a chain sprocket 58, is non-rotatably secured to the pivot pin 43. 4 i
  • the two rocker levers 51, 52 are extended beyond the pivot pins 43, 44 and at their ends carry an additional pivot pin 59, on which the second rocker levers 60, 61 of the second rocker lever assembly are freely rotatably mounted.
  • the bearing bushing 62 of the rocker lever 61 on the input side is non-rotatably connected to a chain sprocket 63, which is. thus n'onrotatably connected to the second rocker lever assembly.
  • a chain is trained around the sprocket wheel 63 and the sprocket wheel 58.
  • the first lifting beam 64 is freelyrotatably mounted in the ends of the first rocker levers 51, 52.
  • the second lifting beam 65 is freely rotatably mounted in the ends of the second rocker levers 60, 61.
  • the two lifting beams are non-rotatably connected to a chain sprocket 66 or 67.
  • the other chain sprocket 68 associated with chain 69 istrain edaround the two chain sprockets 66,
  • the carriages are provided with vertically spaced nuts
  • the other chain sprockets 71 associated with the chain sprocket 67 is rotatably mounted on the second pivot pin 59 and together with a second chain sprocket 72 forms a twin sprocket.
  • This second sprocket is associated with a chain sprocket 73, which together with another chain sprocket 68 forms a twin sprocket, which is non-rotatably mounted on the pivot pin 44.
  • a chain is trained around the two chain sprockets 72, 73 and during a pivotal movement of the second rocker lever assembly 60, 61 rotates the other chain sprocket 71 of said rocker lever assembly in such a manner that an endless chain 74 trained around the chain sprockets 67, 71 imparts such an angular movement to the lifting beam 65 that it performs a resulting translation and the orientation of the suction grippers 75 and 75' is maintained throughout their movement.
  • the embodiment shown in FIGS. 3 to 7- is preferred.
  • the level of the stack 70 may be varied without a change of the path of movement of the lifting beams 4 between the stack and the conveyor belt 24.
  • the crank mechanism 56, 57 is mounted on a boom 76, which is shown on an enlarged scale in FIG. I
  • rocker levers 60, 61 are suitably extended in length beyond their pivot pins 59 and at the ends of the extension carry a counterweight 85.
  • a pivot pin corresponding to the second pivot pin 59 may be arranged between the pivot pins 43, 44 and the lifting beam 64 on the rocker levers 51, 52, although this would adversely affect the automatic counterbalancing of the first rocker lever assembly and would reduce the distance between the paths of movement of the lifting beams.
  • the suction grippers may be replaced by magnetic grippers, clamping means or the like.
  • a transfer apparatus for transferring items between two stations which comprises a frame (5, 25, 26) disposed between said two stations,
  • a first rocker lever assembly (9, 51, 52), which is pivoted on the first pivot and has a longer portion on one side of the first pivot,
  • rocker lever assembly (14, 60, 61), which most remote from the associated first and second pivots, the first and second rocker lever assemblies (9, 14;
  • first rocker lever assembly (9, 51, 52) has a shorter portion which extends from the longer portion beyond the first pivot (6, 43, 44), said shorter portion carries the second pivot (13, 59) for the second rocker lever assembly (14, 60, 61), and the second rocker lever assembly (14, 60, 61) provides for a'counterbalancing of the first rocker lever assembly (9, 51, 52).
  • driving means comprise a crank mechanism (20,
  • a bearing bushing (53) of the first rocker lever assembly is non-rotatably connected to a gear (54) in mesh with said rack (55) in such a manner that the holding means consisting of lifting beams (10, 15, 64, 65) are disposed over associated delivering and receiving means (2, 3, 23, 24) at the stations when thecrank arm (21, 56) is aligned with the rack (20, 55) driven by it.
  • said drive means maintain the absolute orientation of the holding means during a movement of the rocker lever assemblies and comprise for each drive chain a first chain sprocket secured to a holding means and also comprise second chain sprockets (68, 71), which are mounted on the pivot pins (44, 59) of the respective rocker lever assemblies,
  • one second chain sprocket (68) for the first rocker lever assembly (51, 52) is non-rotatably secured to the pivot pin (44) of the first pivot, which is carried by the frame,
  • the other second chain sprocket (71) is rotatably mounted on the second pivot pin (59) of the second pivot for the second rocker lever assembly (60,
  • the second rocker lever assembly comprises rocker levers, which have an extension, which extends beyond the second pivot from the portion provided with the holding means and which carries a counterweight the drive crank (56) and the drive motor (57) are carried by a boom (76), which is pivoted on a pivot pin (43) of the first pivot for the first rocker lever assembly (51, 52), and
  • the pivotal movement and adjustment of the boom (76) relative to the first pivot (43, 44) determines the direction of the two rocker lever assemblies (51, 52; 60, 61) when aligned.
  • Another drive chain sprocket (63) is mounted on the pivot pin (59) of the second pivot for the second rocker lever assembly and non-rotatably connected to the latter, and
  • a drive chain is trained around the two drive chain sprockets (58, 63).
  • the other end of the link (82) is pivoted by second bearing means (81) to the free end of the boom (76), and v the direction of the boom (76) varies in dependence on the vertical movement of the carriage (41, 42) as the height of a stack (23) is changed.
US00255059A 1971-05-25 1972-05-19 Transfer apparatus Expired - Lifetime US3776393A (en)

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Application Number Priority Date Filing Date Title
DE2125846A DE2125846B2 (de) 1971-05-25 1971-05-25 Übergabevorrichtung zum Verlagern von Gegenstanden zwischen zwei Platzen

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IT (1) IT956290B (it)

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3991885A (en) * 1975-01-27 1976-11-16 Warren William H Path control means for a swivel operated article transfer device
US4355936A (en) * 1980-08-28 1982-10-26 Diamond International Corporation Egg transfer apparatus
US4735539A (en) * 1986-04-28 1988-04-05 Oy Tampella Ab Apparatus for handling sheets or the like
US5101546A (en) * 1990-11-30 1992-04-07 Hitachi Seiko Ltd. Apparatus for removing printed board
US5112205A (en) * 1989-05-15 1992-05-12 Sony Corporation Optical-disk manufacturing apparatus
US5486081A (en) * 1992-05-26 1996-01-23 G.D Societa' Per Azioni Device for feeding reels on to a user machine
EP0802128A2 (de) * 1996-04-19 1997-10-22 P.E.E.M. Förderanlagen Ges.m.b.H. Kommissioniereinrichtung
US5733101A (en) * 1994-02-02 1998-03-31 Gebr. Van Capelleveen B.V. Apparatus for stacking and unstacking rectangular articles such as for instance griddles, proofing pans, crates, baking pans and the like
US6234745B1 (en) 2000-03-06 2001-05-22 Ergonomic Design Specialties, Inc. Container destacking and transfer apparatus
US6394740B1 (en) 1999-06-04 2002-05-28 Distributed Robotics Llc Material handling device
EP1415803A1 (en) * 2002-11-01 2004-05-06 Fuji Photo Film Co., Ltd. Conveying device
US20050186060A1 (en) * 2004-02-09 2005-08-25 Mcdaniel Vaughn L.Iii Lift-and-place apparatus
US20120121372A1 (en) * 2010-11-15 2012-05-17 Raque Glen F Top unloading tray dispenser
CN102700985A (zh) * 2012-06-18 2012-10-03 浙江美迅机械有限公司 蜂窝纸板机的自动收集装置
CN103287864A (zh) * 2013-05-28 2013-09-11 沈阳市佑铭自动化科技有限公司 板材搬运装置
US20130266414A1 (en) * 2012-04-06 2013-10-10 AMF Automation Technologies, LLC d/b/a AMF Bakery Systems Pan Stacker
US20150147149A1 (en) * 2012-09-10 2015-05-28 Rosendahl Nextrom Gmbh Device for handling plate-shaped objects
US20150321864A1 (en) * 2013-01-25 2015-11-12 Giuseppe Gallucci An apparatus for supplying sheets to a printing machine
CN115609623A (zh) * 2022-12-12 2023-01-17 江苏金元环保科技集团有限公司 电动采光排烟天窗生产用机械手

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2512425A1 (fr) * 1981-09-09 1983-03-11 Cit Alcatel Agencement de manutention de plaquettes a chargeurs verticaux et tapis roulant

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE931460C (de) * 1950-08-05 1955-08-08 Schenck Gmbh Carl Vorrichtung zum Austausch von Gegenstaenden zwischen raeumlich getrennten Plaetzen

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE931460C (de) * 1950-08-05 1955-08-08 Schenck Gmbh Carl Vorrichtung zum Austausch von Gegenstaenden zwischen raeumlich getrennten Plaetzen

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3991885A (en) * 1975-01-27 1976-11-16 Warren William H Path control means for a swivel operated article transfer device
US4355936A (en) * 1980-08-28 1982-10-26 Diamond International Corporation Egg transfer apparatus
US4735539A (en) * 1986-04-28 1988-04-05 Oy Tampella Ab Apparatus for handling sheets or the like
US5112205A (en) * 1989-05-15 1992-05-12 Sony Corporation Optical-disk manufacturing apparatus
US5101546A (en) * 1990-11-30 1992-04-07 Hitachi Seiko Ltd. Apparatus for removing printed board
US5486081A (en) * 1992-05-26 1996-01-23 G.D Societa' Per Azioni Device for feeding reels on to a user machine
CN1034787C (zh) * 1992-05-26 1997-05-07 吉第联合股份公司 向用户机器传送卷盘的装置
US5733101A (en) * 1994-02-02 1998-03-31 Gebr. Van Capelleveen B.V. Apparatus for stacking and unstacking rectangular articles such as for instance griddles, proofing pans, crates, baking pans and the like
EP0802128A2 (de) * 1996-04-19 1997-10-22 P.E.E.M. Förderanlagen Ges.m.b.H. Kommissioniereinrichtung
EP0802128A3 (de) * 1996-04-19 1998-07-22 P.E.E.M. Förderanlagen Ges.m.b.H. Kommissioniereinrichtung
US6394740B1 (en) 1999-06-04 2002-05-28 Distributed Robotics Llc Material handling device
US6234745B1 (en) 2000-03-06 2001-05-22 Ergonomic Design Specialties, Inc. Container destacking and transfer apparatus
EP1415803A1 (en) * 2002-11-01 2004-05-06 Fuji Photo Film Co., Ltd. Conveying device
US20040139874A1 (en) * 2002-11-01 2004-07-22 Fuji Photo Film Co., Ltd. Conveying device
US6964228B2 (en) 2002-11-01 2005-11-15 Fuji Photo Film Co., Ltd. Conveying device
US20050186060A1 (en) * 2004-02-09 2005-08-25 Mcdaniel Vaughn L.Iii Lift-and-place apparatus
US20120121372A1 (en) * 2010-11-15 2012-05-17 Raque Glen F Top unloading tray dispenser
US20130266414A1 (en) * 2012-04-06 2013-10-10 AMF Automation Technologies, LLC d/b/a AMF Bakery Systems Pan Stacker
CN102700985A (zh) * 2012-06-18 2012-10-03 浙江美迅机械有限公司 蜂窝纸板机的自动收集装置
CN102700985B (zh) * 2012-06-18 2015-07-29 浙江美迅机械有限公司 蜂窝纸板机的自动收集装置
US20150147149A1 (en) * 2012-09-10 2015-05-28 Rosendahl Nextrom Gmbh Device for handling plate-shaped objects
US9573774B2 (en) * 2012-09-10 2017-02-21 Rosendahl Nextrom Gmbh Device for handling plate-shaped objects
US20150321864A1 (en) * 2013-01-25 2015-11-12 Giuseppe Gallucci An apparatus for supplying sheets to a printing machine
CN103287864A (zh) * 2013-05-28 2013-09-11 沈阳市佑铭自动化科技有限公司 板材搬运装置
CN103287864B (zh) * 2013-05-28 2015-09-30 沈阳市佑铭自动化科技有限公司 板材搬运装置
CN115609623A (zh) * 2022-12-12 2023-01-17 江苏金元环保科技集团有限公司 电动采光排烟天窗生产用机械手
CN115609623B (zh) * 2022-12-12 2024-01-23 江苏金元环保科技集团有限公司 电动采光排烟天窗生产用机械手

Also Published As

Publication number Publication date
DE2125846B2 (de) 1973-12-06
DE2125846C3 (it) 1974-07-11
DE2125846A1 (de) 1972-11-30
IT956290B (it) 1973-10-10

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