US3884361A - Article transfer apparatus - Google Patents

Article transfer apparatus Download PDF

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Publication number
US3884361A
US3884361A US323717A US32371773A US3884361A US 3884361 A US3884361 A US 3884361A US 323717 A US323717 A US 323717A US 32371773 A US32371773 A US 32371773A US 3884361 A US3884361 A US 3884361A
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Prior art keywords
actuating
location
transfer apparatus
stroke
locations
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US323717A
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English (en)
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Elbert Edward Botterill
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Crown Packaging UK Ltd
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Metal Box PLC
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/20—Feeding, e.g. conveying, single articles by reciprocating or oscillatory pushers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
    • F02B75/00—Other engines
    • F02B75/02—Engines characterised by their cycles, e.g. six-stroke
    • F02B2075/022—Engines characterised by their cycles, e.g. six-stroke having less than six strokes per cycle
    • F02B2075/027—Engines characterised by their cycles, e.g. six-stroke having less than six strokes per cycle four

Definitions

  • novel configuration gives a stroke [58] held of Search 1 55/164 longer than the overall length of the actuating means 53/ ⁇ 65 247 themselves
  • the device is controlled by a control unit which is programmable so that each successive article [56] References cued is moved to and/or from a predetermined location dif- UNIT STATES PATENTS ferent from the corresponding location of the previous 3,273,723 9/1966 Anderson 214/1 BT article,
  • such an apparatus includes an article-engaging member, first actuating means having a first stroke and second actuating means having a second stroke, the said actuating means being arranged to cause the article-engaging member to perform a succession of working strokes alternating with return strokes, such that each stroke so performed by the said member is variable and defined by a said first or second stroke or the vectorial resultant of the said first and second strokes between a predetermined article-engaging location corresponding to a said first location and a predetermined article-disengaging location corresponding to a said second location.
  • the said actuating means comprise telescopic actuators and a series thereof are arranged in a plurality of parallel lines to form an actuating system.
  • a first said actuating system and a second actuating actuating system are so disposed that the directions of the respective strokes of the said systems (which may both be variable) are transverse, and preferably substantially perpendicular, to each other.
  • the said first actuating system may be mounted on a rigid beam and coupled to a movable member which carries the second said actuating system and which is movable by the first actuating system along the said beam through the said first working stroke, the articleengaging member being operatively connected to the second actuating system for movement thereby through the second working stroke with respect to the movable member.
  • the apparatus according to the invention preferably indludes tilt means for tilting a portion of the apparatus including the article-engaging member whereby to vary the orientation of the article-engaging member in relation to the remainder of the apparatus.
  • Apparatus according to the invention may include automatic control means arranged to operate a first said actuating system and a second said actuating system separately or in combination, the control means being adapted to cause the appropriate said actuating system to perform its said variable stroke predetermined for each working stroke alternately with each return stroke, whereby the article-engaging or disengaging position or both may be made to change as between any working stroke and a subsequent working stroke.
  • a method of transferring each of a succession of articles or batches of articles from a first location to a second location comprises successively engaging a said article or batch of articles by an article-engaging member at a first location, moving the said member through a working stroke which is defined by the vectorial resultant of the strokes of at least two actuating means, releasing the said article or batch of articles at a second location corresponding to a said working stroke and moving the said member through a return stroke which is also defined by a said vectorial resultant to engage a further said article or batch of articles.
  • FIG. 1 is a simplified side elevation of apparatus comprising a transfer machine for transferring a succession of batches of plastic bottles from a conveyor into a succession of packing trays, the machine including lateral and vertical actuating systems shown in a fully retracted position;
  • FIG. 2 is a corresponding view of the same vertical actuating system, shown here in a fully extended position;
  • FIG. 3 is a diagrammatic elevation showing the layout of a lateral or vertical actuating system of the machine
  • FIG. 4 is a cross-sectional view taken on the line IVIV in FIG. 1, and showing an article-engaging member of the machine;
  • FIG. 5 is a cross-sectional view taken on the line V-V in FIG. 1;
  • FIG. 6 is a simplified side elevation illustrating the action of a packing tray handling device associated with the machine
  • FIG. 7 is an end elevation of another article-engaging member
  • FIGS. 8 and 9 are diagrams illustrating the packing of small tins in a box by a machine having the articleengaging member of FIG. 7, FIG. 8 being seen in the direction of the arrow VIII in FIG. 9, and FIG. 9 being seen in side elevation;
  • FIG. 10 is a table illustrating actuator settings to give selected working strokes of actuating systems of the machine
  • FIG. 11 is a simplified block diagram showing main elements of an electronic programmable control system suitable for incorporation in apparatus according to the invention.
  • FIG. 12 is a simplified circuit diagram showing an electro-pneumatic control system of the apparatus and connections between the electronic and electropneumatic systems.
  • FIGS. 1 to 5 illustrate apparatus comprising a machine 10 adapted to transfer plastic bottles 11 between a predetermined first location on a conveyor 12 and a succession of predetermined second locations, which are shown in FIG. 1 as being various positions in a packing tray 13 suitably supported to receive the bottles.
  • the conveyor 12 is of any conventional type, and bottles pass side by side in succession along it to the pick-up location at which successive batches of the bottles (in this example each batch consists of four bottles) can be engaged by an article-engaging member of the apparatus, which transfers each batch of bottles in turn to the next vacant position in the tray 13.
  • the machine 10 includes a fixed main frame 16 carrying a control unit 51, and a main beam 14, mounted by means of a pivot 15 on the main frame 16 and having a slide block 17 movable along part of the length of the main beam 14.
  • the main beam is arranged to be more nearly vertical than horizontal; it may indeed be vertical and, although in this example it is shown in an operating position slightly inclined to the vertical, the term vertical will for convenience in this description be used, except where otherwise specified, to denote a direction longitudinal to the main beam, the term horizontal being used to denote directions substantially perpendicular thereto. In the example shown in FIGS. 1 and 2, this vertical direction is in fact lateral or transverse to the axes of the bottles 11 held by the articleengaging member, which is a vacuum shoe shown at 18.
  • the main beam 14 carries a lateral or vertical actuating system 19 comprising a number of pneumatic piston-and-cylinder actuating means in the form of actuators A to F, arranged in two parallel lines and connected in series.
  • the actuator D is fixed at the bottom end of the main beam 14 and its piston is coupled with that of the actuator E by a piston rod 20.
  • the cylinder of the actuator E is fixed to a runner member 21 to which the parallel cylinder of the actuator C is also fixed.
  • the actuator B is double-acting, having two pistons carried by respective piston rods 22, 23 projecting from opposite ends of the cylinder of actuator B and coupling the respective pistons thereof to those of the actuators A and C.
  • the cylinder of the actuator A is fixed to a runner member 24 to which the parallel cylinder of the actuator F is also fixed.
  • the piston of actuator F carries a piston rod which is fixed at its other end to the slide block 17.
  • the runner members 21, 24 are movable along the main beam 14, being guided (as is best seen in FIG. by suitable means such as nylon wheels 25 engaging behind a T-section guide 26 of the main beam 14.
  • the vacuum shoe 18 is shown in FIG. 4 and may be of any convenient form; in the form shown it consists of a body member 27 having a recess 28 closed by a rubber strip 29 having four through holes 30, the recess 28 being in communication with a vacuum pipe 31.
  • the shoe 18 is carried on one end of a shoe bar 32 which extends in the horizontal direction and is slidably mounted through the slide block 17; the other end of the shoe bar 32 carries a support block 33 which is slidable along a fixed longitudinal or horizontal beam 34.
  • the beam 34 is fixed to and projects from the slide block 17.
  • the slide block 17 and shoe bar 32 are coupled together by a horizontal (i.e. longitudinal with respect to the axis of bottles 11 carried by the vacuum shoe l8) actuating system 35, FIGS. 1 and 3, consisting of five actuating means in the form of piston-and-cylinder type actuators G, H, .l, K, L connected in series.
  • Actuators G and H are fixed side by side in guides 36 which are slidable with respect to the beam 34 and shoe bar 32.
  • Actuators K'and L are fixed side by side in similar guides 37.
  • the piston rod 38 of actuator G is fixed to the slide block 17, and the piston rod 39 of actuator L is fixed to the support block 33.
  • Actuator J is doubleacting, its two pistons being coupled by rods 40, 41 to the pistons of actuators H and K respectively.
  • the main frame 16 carries a control unit which supplies pneumatic power to the various actuators A to L, selectively as will now be described, and a vacuum to the vacuum shoe 18.
  • the purpose of the actuating systems 19 and 35 is to move the vacuum shoe 18 through a cycle of operation consisting of working strokes alternating with return strokes, each working stroke taking the vacuum shoe from its pick-up or article-engaging location adjacent the conveyor 12, as seen in full lines in FIG. 1, to a delivery or article-disengaging location wherein a bottle 11 is placed in the tray 13.
  • Each return stroke takes the vacuum shoe back to the pick-up location.
  • the working stroke may be the resultant of horizontal and vertical motion of the shoe; that is to say of horizontal motion of the shoe 18 with respect to the slide block 17 and vertical motion of the slide block 17 with respect to the main beam 14.
  • the horizontal and vertical strokes, respectively defining these motions are provided by the actuating systems 19 and 35.
  • the strokes of the actuating systems 19 and 35 are made variable, independently of each other, so that any desired working stroke within the limits of movement of the actuating systems may be achieved by selecting a suitable stroke of the vertical actuating system 19 (for a purely vertical working stroke) or of the horizontal actuating system 35 (for a purely horizontal working stroke); or by selecting a suitable combination of the strokes of the two actuating systems 19, 35 (each of which is defined by the vectorial resultant in the example illustrated the arithmetic combination of the strokes of the individual actuating means) to define the working stroke, as in the example now described.
  • each actuator is operated by compressed air supplied through air lines 42, FIGS. 2 and 3, and, when operated, moves through its full stroke.
  • the various actuators may be arranged so that there is any desired relationship between their strokes, but in the preferred arrangement shown; the actuator strokes S are given by the expression S A2", where A is the length of the shortest stroke required of the actuating systems concerned, and n is an integer from O to the number of actuators employed, each value of n being unique to one actuator in each actuating systems, and each doubleacting actuator B, J being treated as two actuators B B (FIG. 2) and J J (FIG. 3).
  • FIG. 10 shows a scheme whereby the actuators A to F are selectively energised to give a working or return stroke up to a required maximum of 30 in.
  • the symbol 0 signifies which actuator or actuators are energised for each required length of stroke.
  • the same actuators are then de-energised, that is to say in this case retracted, to return the shoe 18 to the pickup position, where a vacuum is again applied to the shoe to pick up four more bottles.
  • the actuating systems 19 and 35 are operated again; this time, although the horizontal component of the working stroke, and therefore the combination of actuators of the horizontal actuating system 35 energised, remains the same as for the previous stroke, a new combination of the actuators A to F is energised to give a vertical element of the working stroke greater by the diameter of one bottle.
  • the bottles are carried to position 45, FIG. 1, to form a second row in the rear stack 44.
  • the working stroke may be horizontal, defined by operation of the horizontal actuating system only, or vertical, defined by operation of the vertical actuating system only, or a combination of the strokes of both actuating systems.
  • the working stroke may take the shoe 18 downwards, or nearer to the main beam if desired, in either of which cases the combination of the two strokes is subtractive rather than additive.
  • the working stroke need not be obtained by simultaneous operation of the two actuating systems 19, 35 to give a straight line, i.e. the vector sum or difference of the strokes of the two actuating systems.
  • the bottles are moved vertically to clear the rear wall 49 of the conveyor 12 and the side 50 of the tray, and are then moved horizontally into their final position in the tray.
  • a suitable timing device may be incorporated in the control unit 51, arranged in conventional manner so as to supply pneumatic power to one actuating system as soon as the other reaches the end of its stroke or, if desired, when the other actuating system reaches a predetermined point in its stroke.
  • the main beam 14 is preferably pivoted on the main frame 16, its inclination to the vertical being controlled by a tilt actuator 52.
  • FIG. 6 shows a convenient device for receiving bottles or other articles from a machine of the kind shown in FIG. 1.
  • Trays 13 are fed down a chute 60 to a platform 61 on which the trays are filled by the machine, the platform being pivoted backwards as indicated by chain-dotted lines, to bring the filled tray into a horizontal position for subsequent removal.
  • small open-topped tins are to be loaded into a box 71 to form five layers, each consisting of ten rows 72 of 10 tins.
  • the shoe bar 32 of the machine carries a vacuum shoe 73 comprising a manifold 74 having 10 nozzles 75, whereby 1O tins at a time, one to each nozzle 75, can be picked up by the shoe 73 from a conveyor 76.
  • the working stroke of the machine in this case is arranged to have a horizontal component varying by 10 equal steps, each corresponding to the pitch of one row 72 of tins.
  • the downward vertical component of the working stroke varies by five equal steps, each corresponding to the height of one layer of tins.
  • the shoe 73 is for example moved vertically upwards from its pick-up position over the conveyor to a level 77; then horizontally until over the desired position of the row of tins to be placed in the box; then vertically downwards by the appropriate amount to place the tins on the corresponding row of tins in the layer beneath.
  • the machine may be designed purely for a particular function such as placing tins of a particular size in a box as shown in FIGS. 8 and 9. If so, it can be made relatively simple, the actuating systems being arranged to be capable of no more than the few variations in stroke required for the desired operation, and the control system being adapted conventionally to operate to a single programme.
  • control system may be made so that the apparatus can be variably programmed to carry out a wide variety of different operations, between which there may be variations in a number of parameters, for example:
  • the arrangement whereby the strokes of the actuators of each actuating system 19, 35 bear a relationship of the form S 14.2" can be expressed in binary form, and is therefore particularly suitable for use with the control system illustrated, which incorporates elec tronic programme control means including three programme boards or matrices of the pegboard type, which can be set according to a binary notation.
  • One peg-board is part of a primary cycle programme matrix unit 80, and on it there can be set instructions for carrying out, for example, vertical or horizontal movement of the vacuum shoe 18 in stepped sequence, or a pro gramme involving both horizontal and vertical movement.
  • the matrix unit 80 determines the incidence of horizontal or vertical movement per se, the actual pattern of such movement is predetermined by setting the other two peg-boards, of matrix units 81 for horizontal, and 82 for vertical, movement.
  • the machine incorporates a suitable movement detector 83, FIG. 11 (not shown in the other Figures) which passes a digital signal, when each operation in the cycle is completed, to the primary matrix unit 80 via an inhibit gate 84, 4-bit binary counter 85 and four-line to 16-line decoder 86.
  • Cycle time is determined by a timer 87 in a feedback circuit between the matrix unit 80 and gate 84.
  • External control of the cycle is achieved by a suitable device (not shown) passing an inhibit or hold signal to the inhibit gate 84 to stop the cycle.
  • the matrix unit 80 has outputs 88, 89 to the vertical programme matrix unit 82.
  • the output 88 is connected to a 4-bit binary counter 90, the output of which is connected to a four-line to 16-line decoder 91 having 16 connections to the unit 82.
  • the outputs 89 transmit signals from the unit 80 direct to four respective colums 92 in a portion 93 of the matrix unit 82 whereon can be set the vertical movements appropriate to any of the four .programmes basically set on the primary matrix unit 80.
  • Similar outputs 94, 95 are connected similarly with the horizontal programme matrix unit 81, which is not shown in FIG. 12 as its function and connections can readily be deduced from the description, since these are exactly analogous to those of the unit 82.
  • Each of the 16 columns 95 of the unit 82 connected to the decoder 91 can be set for a different vertical working stroke of the machine.
  • the matrix unit 80 also has an output connected to a solid-state driver unit 97, FIG. 12, which controls a solenoid switch 98 in the circuit of a compressor 99 which supplies compressed air for the pneumatic circuits of the machine, and particularly to the various actuators through solenoid valves 100.
  • Further outputs of the matrix unit 80 are connected to a solid-state driver unit 101 which controls a solenoid switch 102 in the circuit of a vacuum pump 103 supplying vacuum to the vacuum shoe l8; and to drivers, diagrammatically represented at 104 in FIG. 11, for any other auxiliary equipment.
  • the outputs of the vertical matrix unit 82 are con nected to seven solid-state driver units 105, each controlling a separate one of the solenoid valves 100 corresponding to the actuators A, B B C, D, E, F respectively.
  • the movement detector 83 transmits a command signal to appropriate column 106 of the primary cycle programme matrix unit 80, which transmits an output signal to the horizontal and vertical programme matrix units 81, 82 according to its setting. If the unit is set to operate a preset programme, this signal will be transmitted along the appropriate lines 89, to the appropriate columns of the units 81, 82.
  • the output signal is transmitted along the line 88, 94 to the decoders 90 which select the appropriate column 96 of the units 81, 82; the settings of the columns 92, 96 of each unit 81 or 82 determine which actuators of the actuating systems 19, 35 are to be operated by transmitting signals to which the drivers 105 corresponding to those actuators are responsive.
  • the drivers 105 energise the corresponding solenoid valves 100, which forthwith admit compressed air to operate the appropriate actuators and so move the vacuum shoe through its predetermined working stroke.
  • the movement detector 83 transmits a further command signal to step the counter 85 on to command the return stroke in the same manner, the various matrix units being set accordingly.
  • control unit is a straightforward system in three stages; an electronic basic control assembly based on the primary cycle programme matrix 80; vertical and horizontal electronic control assemblies in parallel, based on the vertical and horizontal programme matrices 82, 81; and the electropneumatic actuating system comprising the drivers 105 and solenoid valves 100.
  • the electronic assemblies step in serial mode to produce the required sequence of operation, either in simple movements of the vertical and horizontal actuating systems 19, 35 (using the 16 columns 96 of the matrix units 81, 82) or in more complicated programmes for which the col umns 92 of the matrix units 81 and 82 may be used.
  • the electronic units are preferably all in the form of modules using solid state components.
  • a suitable damping device may be provided adjacent the slide block 17 to absorb any shock clue to sudden movement of the actuator.
  • the vacuum shoes 18 and 73 being merely two examples.
  • the device may comprise a gripper, controlled pneumatically or electrically by suitable means responsive to output signals from the primary cycle programme matrix unit to a driver 104, FIG. 1 l; or an electromagnetic pickup controlled in response to output signals from the same source.
  • Any type of article, suitable for being picked up and carried by the particular article-engaging device fitted, may be handled by apparatus according to the invention.
  • Typical applications include packing of a plurality of components into a large container or onto a pallet, and feeding machines with components to be operated on successively by the machines.
  • Another possible application is to use more than one apparatus according to the invention, preferably with linked control systerns, to perform assembly operations, each apparatus handling one type of component.
  • the apparatus may be designed to handle a single article at a time instead of a batch of articles as in the examples described with reference to the drawings.
  • the operation of the actuating systems 19, 35 may be such as to bring the vacuum shoe to a pickup position selected from a plurality of such positions, and not merely always to one position at the conveyor 12 or 76.
  • the programmable control system described with particular reference to FIG. 11 is an electronic one, as will be apparent to those skilled in the art, it could, if desired, take the form of any other control system well known in the art of control engineering to produce the same effect.
  • it could be a fluidics system (using a gaseous or a liquid control medium), or an electro-mechanical system using relays.
  • the system comprising the horizontal actuating means 35, bars 32 and 34 and shoe 18 may be carried at one end of a further actuating system, generally similar to the existing horizontal system but arranged for movement in a said mutually transverse (e.g. perpendicular) horizontal actuating system.
  • the second horizontal actuating system could carry the shoe at one end thereof and be mounted on the free end of the bar 32 in place of the shoe 18.
  • the transfer apparatus embodying the invention of course limited in its application to the charging of containers. It may, for example, also be applied to the transfer of metal or other sheets from, for example, a selected one of a number of positions (e.g. a stack the height of which diminishes as sheets are removed from it) to a single predetermined position such as a power press or print-press infeed conveyor.
  • a vacuum shoe would typically be arranged to engage each sheet with the longitudinal axis of the shoe vertical rather than horizontal.
  • Transfer apparatus for selectively transferring each of a succession of articles or batches of articles from a first location to selected ones of second locations or vice versa, said apparatus comprising a support, an article engaging member, and a plurality of actuating means in excess of two connected to one anotherand between said support and said article engaging member, each of said actuating means being of the type having a positive stroke for moving said article engaging member a predetermined linear distance relative to said support, the individual and cummulative strokes of selected ones of said actuating means corresponding to the spacing of said second locations from said first location, and control means for selectively actuating said actuating means for moving said article engaging member between selected ones of said second locations and said first location, said article engaging member and said plurality of actuating means defining a first actuating system and said support being carried by a second actuating system movable in a direction generally transverse to the general direction of move ment of said first actuating system, and said second actuating system including a further plurality of actuating means connected to one another
  • Apparatus according to claim 1 wherein all of said actuating means are telescopic actuators, and the actuating means of each of said actuating systems are arranged in a plurality of parallel lines.
  • control means includes means for actuating all selected actuating means simultaneously wherein the total time for effecting movement of said article engaging member between a selected one of said second locations and said first location is the time required to actuate only that one of the selected actuating means having the longest stroke.
  • said second actuating system includes a rigid beam defining said generally transverse direction, means on said rigid beam mounting said support for movement therealong, and said actuating means of said second actuating system being operable for moving said support between a first location on said beam and selected ones of a plurality of second locations on said beam.
  • transfer apparatus is particularly constructed for packtrol means including said control means and said automatic control means being operable to cause the appropriate actuating system to perform its variable stroke movement predetermined for each working stroke alternately with each return stroke, whereby selected ones of said article-engaging and dis-engaging positions may be made to change as between any working stroke and a subsequent working stroke.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)
  • Container Filling Or Packaging Operations (AREA)
US323717A 1972-01-19 1973-01-15 Article transfer apparatus Expired - Lifetime US3884361A (en)

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JP (1) JPS4882568A (US20080005853A1-20080110-C00027.png)
AU (1) AU5109073A (US20080005853A1-20080110-C00027.png)
BE (1) BE794252A (US20080005853A1-20080110-C00027.png)
CA (1) CA979934A (US20080005853A1-20080110-C00027.png)
CH (1) CH554794A (US20080005853A1-20080110-C00027.png)
DE (1) DE2302352A1 (US20080005853A1-20080110-C00027.png)
FR (1) FR2168471B1 (US20080005853A1-20080110-C00027.png)
GB (1) GB1356486A (US20080005853A1-20080110-C00027.png)
IT (1) IT978253B (US20080005853A1-20080110-C00027.png)
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US10138074B2 (en) 2015-06-15 2018-11-27 Wipotec Wiege- Und Positioniersysteme Gmbh Grouping of goods

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CN105035394B (zh) * 2015-07-31 2017-03-08 苏州速腾电子科技有限公司 一种瓶类分拣装置
CN107416263B (zh) * 2017-05-23 2022-12-13 晖朗(盐城)电子科技有限公司 盒体侧推式装箱机
EP3406548A1 (en) 2017-05-26 2018-11-28 Vestel Elektronik Sanayi ve Ticaret A.S. System and method for separating and feeding one package of magnetic meterials to a packing machine
CN111547494B (zh) * 2020-05-22 2024-06-04 无锡先导智能装备股份有限公司 下料装置及卷绕设备
CN113386993B (zh) * 2021-07-02 2022-09-02 浙江旭派克智能科技有限公司 护角装置

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US3273723A (en) * 1966-09-20 Packing machine
US3422967A (en) * 1965-10-24 1969-01-21 Peter A Aron Automatic manipulator and positioning system
US3428190A (en) * 1966-07-07 1969-02-18 La Salle Machine Tool Automatic load and unload apparatus
US3620382A (en) * 1969-06-12 1971-11-16 Esab Hebe Ab Device for conveying reinforcing elements to a welding station and for holding and aligning these in relation to a sheet of metal at the welding station

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US3273723A (en) * 1966-09-20 Packing machine
US3422967A (en) * 1965-10-24 1969-01-21 Peter A Aron Automatic manipulator and positioning system
US3428190A (en) * 1966-07-07 1969-02-18 La Salle Machine Tool Automatic load and unload apparatus
US3620382A (en) * 1969-06-12 1971-11-16 Esab Hebe Ab Device for conveying reinforcing elements to a welding station and for holding and aligning these in relation to a sheet of metal at the welding station

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10138074B2 (en) 2015-06-15 2018-11-27 Wipotec Wiege- Und Positioniersysteme Gmbh Grouping of goods

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FR2168471A1 (US20080005853A1-20080110-C00027.png) 1973-08-31
CA979934A (en) 1975-12-16
CH554794A (de) 1974-10-15
IT978253B (it) 1974-09-20
JPS4882568A (US20080005853A1-20080110-C00027.png) 1973-11-05
BE794252A (nl) 1973-05-16
FR2168471B1 (US20080005853A1-20080110-C00027.png) 1977-09-02
AU5109073A (en) 1974-07-18
GB1356486A (en) 1974-06-12
NL7300713A (US20080005853A1-20080110-C00027.png) 1973-07-23
DE2302352A1 (de) 1973-07-26

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