WO2017148553A1 - Contrôle du mouvement d'une bande au moyen d'une image imprimée - Google Patents

Contrôle du mouvement d'une bande au moyen d'une image imprimée Download PDF

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Publication number
WO2017148553A1
WO2017148553A1 PCT/EP2016/080074 EP2016080074W WO2017148553A1 WO 2017148553 A1 WO2017148553 A1 WO 2017148553A1 EP 2016080074 W EP2016080074 W EP 2016080074W WO 2017148553 A1 WO2017148553 A1 WO 2017148553A1
Authority
WO
WIPO (PCT)
Prior art keywords
web
features
feature
trajectory
position detection
Prior art date
Application number
PCT/EP2016/080074
Other languages
German (de)
English (en)
Inventor
Markus Weiss
Original Assignee
Krones Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Krones Ag filed Critical Krones Ag
Priority to EP16816601.5A priority Critical patent/EP3423386A1/fr
Priority to CN201680082966.1A priority patent/CN108778969A/zh
Publication of WO2017148553A1 publication Critical patent/WO2017148553A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/02—Registering, tensioning, smoothing or guiding webs transversely
    • B65H23/0204—Sensing transverse register of web
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/02—Registering, tensioning, smoothing or guiding webs transversely
    • B65H23/032—Controlling transverse register of web
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/30—Orientation, displacement, position of the handled material
    • B65H2301/33—Modifying, selecting, changing orientation
    • B65H2301/331—Skewing, correcting skew, i.e. changing slightly orientation of material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/40—Identification
    • B65H2511/413—Identification of image
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2553/00—Sensing or detecting means
    • B65H2553/40—Sensing or detecting means using optical, e.g. photographic, elements
    • B65H2553/42—Cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/12—Surface aspects
    • B65H2701/124—Patterns, marks, printed information
    • B65H2701/1242—Patterns, marks, printed information printed information
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/13—Parts concerned of the handled material
    • B65H2701/131—Edges
    • B65H2701/1315—Edges side edges, i.e. regarded in context of transport
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/19—Specific article or web
    • B65H2701/192—Labels

Definitions

  • the invention relates to a method specified in the preamble of claim 1. Art and a device specified in the preamble of claim 8 Art.
  • Such a web guide is known, for example, from EP 0 716 998 B1.
  • a disadvantage of the known web guiding regulations is, inter alia, that they are not suitable for all types of material webs.
  • webs e.g. Film webs or label webs
  • webs e.g. Film webs or label webs
  • a method according to the invention for transporting webs may comprise, for example, the following steps:
  • a path feature e.g. a web pattern and / or a web marking and / or a web printing and / or a web label and / or a web painting and / or a web embossing and / or a web recess and / or a label and / or a combination of said web features are understood.
  • trait feature may be e.g. Exclude web edges or parts thereof, i. Web edges or parts thereof may be e.g. not to be construed as a railway feature.
  • webs such as e.g. Film webs or label webs or label carrier webs or label strips, in particular strips of endless labels which are unrolled from a roll and arranged to be understood.
  • Said material webs may also be material web hoses, from which, for example, individual, casing-like, pieces can be cut off and processed.
  • web edge may also mean, for example, a web edge / the web edges.
  • webs with arbitrarily shaped web edges for example, especially webs can be understood, in which all web edges or web edges can not be consistently straight.
  • webs with two edges / two web edges each edge / each edge is not designed consistently straight.
  • This can also be understood as meaning, for example, transparent webs with printed web edges, for example web edges printed with a wavy shape and printed on a transparent web.
  • non-continuous straight web edges it can be understood, for example, that the web edges along the entire length of the web or along the majority of the entire length of the web are not straight, and / or that the web edges or web edges along Web sections / web segments, for example, over the length or the majority of the length of a label of a Etikettenbahn- strip, are not straight.
  • non-continuous straight web edges can also be understood that web edges are only piecewise straight.
  • web edges which can not be described along the entire length of the web or along most of the entire length of the web with a single straight line (per web edge) or which does not span the length or most of the length of a label a label web strip with a single straight line (per web edge) can be described.
  • the webs are label webs or label strip webs
  • Such labels with arbitrarily shaped label edges, for example, with wavy or jagged edges, for example, can also be referred to as contoured shape labels.
  • the web guiding of a label web or a label carrier web provided with labels can, for example, also be based on position detections of the current web position, which can be determined from a position detection of labels or label features on the web by the position detection device.
  • the geometry of a label can serve as a basis for detecting the position of the current web position by the position detection device.
  • the geometry of a label can be understood as meaning not only the contour of the label margins or the outer contour of the label, but also recesses in the label, eg round or other shaped recess in the label. Such optional recesses may be used, for example, to apply a label in accordance with the position via an embossing on an article to be labeled, eg a bottle.
  • the web can have cut marks which can mark predetermined cut positions at which the web is to be cut, for example in order to cut off individual labels from a label strip web.
  • Said exemplary cutting markings can also be understood as web features whose detection by a position detecting device can be used to determine the current position of the web and thus can provide a basis for belt tension regulation.
  • the transport or the web By detecting the current position of a web alone from at least one position detection of a railway feature or features by at least one position detection device, for example, the transport or the web run any web shape or any label shape completely independent of the shape of the web edges or regardless of the Shape of the web edges are regulated.
  • the web control or the alignment of the web can be carried out without requiring a position detection of any web edge / web edge.
  • the detection of the current position of a web from a position detection of web features can be carried out continuously, so, for example, the resolution and accuracy of the determination of the current position of a web can be increased.
  • Detected current positions of trajectory features and / or trajectory feature parts may be compared to predetermined / stored reference positions of trajectory features and / or trajectory feature parts.
  • a predetermined tolerance threshold or an exemplary position detection accuracy can be ⁇ 1 mm, or ⁇ 3 mm or ⁇ 5 mm.
  • deviations of current positions of trajectory features and / or trajectory feature portions from reference positions of trajectory features and / or trajectory feature portions may be measured / determined, for example, which substantially offset position deviations of the trajectory transverse to a transport direction of the trajectory, e.g. transverse to a main transport direction.
  • the change in position of the web by means of a rotating unit e.g. take place as a rotating frame or as a swing frame, running web guiding device.
  • the at least one track feature or the web features which can be detected by a position detection device can, for example, be spaced apart from the web edges.
  • the web features are not objected to by the web edges, but, for example, only a part of the web features, which is spaced for example from the web edges, is used for the basis of detecting the current position of the web by a position detection device.
  • a position detection device exclusively detects only positions of track features / track feature parts which are spaced apart from web edges.
  • the position detection of trajectory features can be effected by means of a position detection device designed as a camera.
  • the position detection device may be implemented as a line array, e.g. as a line scan camera and its different forms of expression, for example, with two or more lines or as an area camera working in double line mode and thus can also recognize 3D information.
  • a line array e.g. as a line scan camera and its different forms of expression, for example, with two or more lines or as an area camera working in double line mode and thus can also recognize 3D information.
  • the position detection device and the web guiding device in a closed loop with the control of the transport device stand, so as to enable a better positional accuracy of the web guiding.
  • a device for transporting webs e.g. Film webs or label webs, in particular for the transport of webs with arbitrarily shaped web edges, in particular with non-continuous straight web edges, may comprise, for example, the following components:
  • At least one position detection device configured to detect the position of a web
  • At least one web guiding device configured to perform changes in position of a web
  • the at least one position detection device for detecting the position of a web can be configured to be able to determine the position of the web from at least one position detection of at least one path feature.
  • the at least one position detection means for detecting the position of a web may further be configured to determine the position of the web from at least one of the trajectory features, and wherein the trajectory features include a web pattern and / or a web mark and / or a web imprint and / or Web label and / or a train painting and / or a web embossing and / or a combination of said track features may include.
  • the at least one position detecting means for detecting the position of a web may be further configured to determine the position of the web from at least one web feature, wherein the web feature (s) may be spaced from the web edges.
  • the at least one position detection device can be designed as a camera, for example as a 2-D camera.
  • the position detection device may be implemented as a line array, e.g. as a line scan camera and its different forms of expression, for example, with two or more lines or as an area camera working in double line mode and thus can also recognize 3D information.
  • a line array e.g. as a line scan camera and its different forms of expression, for example, with two or more lines or as an area camera working in double line mode and thus can also recognize 3D information.
  • the position detection device can also have a light source for illuminating the web features from which the position of the web can be determined. This can further enhance the accuracy with which the position of the web can be determined from at least one track feature.
  • the light source can emit, for example, any type of wavelength that can be processed by the position detection device or by the camera, that is, for example. UV, visible light and their combinations as well as near and far infrared.
  • the illumination can be embodied as incident light, as well as transmitted light and other embodiments known to the person skilled in the art.
  • polarization filters can be used for reflection suppression, as well as by means of linear polarization filters, the rotation of the polarization direction can be exploited by most plastics.
  • the position detection may include determining and propagating fixed or absolute coordinates, or determining relative coordinates, e.g. with respect to a reference marking, which can be arranged, for example, transversely to a scan area or position detection area, and wherein said reference mark can also be located, for example, in the image area or in the position detection area of the position detection facility.
  • the web guiding device may be configured to perform the web guiding control of the web based on the detected or measured current position and / or a previous measured position of the web.
  • the at least one position detection device may be configured to compare detected current positions of trajectory features and / or trajectory feature parts with predetermined / stored reference positions of trajectory features and / or trajectory feature parts For example, if discrepancies between the detected current positions of trajectory features and / or trajectory feature parts and said reference positions, which may exceed a predetermined tolerance threshold, may cause the trajectory controller to change the position of the trajectory to compensate for the detected deviations.
  • the web guiding device may comprise a rotary unit, e.g. a rotating frame or a swing frame.
  • the position detection device may be configured to be able to measure deviations of current positions of trajectory features and / or trajectory feature parts from reference positions of trajectory features and / or trajectory feature parts, which may substantially comprise position deviations of the trajectory transverse to the transport direction of the trajectory.
  • Said device and said method make it possible to transport webs within a small position tolerance window, irrespective of the design of the web edges or web edges.
  • Fig. 1 Exemplary device for transporting webs
  • Fig. 2 Exemplary web
  • FIG. 1 illustrates an exemplary device 100 according to the invention for transporting webs 108, which comprises, among other things, via web rollers 105, 106 of a transport device 13, a web 100, e.g. a film web or labels web, can transport, and with high position accuracy of a processing station, such as a cutting station (not shown), can perform.
  • a processing station such as a cutting station (not shown)
  • the transport path of the web 108 may be effected, for example, substantially along the illustrated transport direction 12.
  • the web 108 to be transported may include a plurality of web features 109.
  • Said trajectory features 109 may be, for example, web imprints, such as imprinted imprints as illustrated, which may serve as the basis for a current position determination of the web 108 and thus may be used to control web guiding.
  • the apparatus 100 may include an exemplary position detector 101, which may be e.g. as a camera can be executed.
  • the position detection device 101 can take place, for example, along a scan region or position detection region 102, which can extend essentially transversely to the transport direction 12 of the web 108.
  • the scanning region or position detection region 102 can extend over the entire width 209 of the web 201, or only over part of the web width of the web 201 as illustrated.
  • the position detection device 101 can be configured to be able to compare detected current positions of a path feature or trajectory features 109 and / or trajectory feature parts with predetermined / stored reference positions of trajectory features and / or trajectory feature parts and detected deviations between the detected current positions of Track features 109 and / or track feature parts and said reference positions, which may exceed a predetermined tolerance threshold, eg a web guiding device 103, for example by means of a control unit 107, to cause the position of the web 108 to change in order to compensate for the detected deviations can.
  • a predetermined tolerance threshold eg a web guiding device 103
  • Control unit 107 can stand both in communication with the web guiding device 103 and the transport device 1 13, and e.g. form a control loop, so as to enable a better positional accuracy of the web guiding.
  • the web guiding device 103 can, as shown, be designed as a rotating frame or pivoting frame, for example, pivoting movements and / or tilting movements (not shown) about an axis parallel to a perpendicular to the transport direction 1 12 and / or about an axis not parallel to a vertical Transport direction 1 12 can perform so as to change the position of the web 108 can.
  • the web guiding device 103 may comprise a plurality of sliding elements, which may for example also comprise deflection rollers 106.
  • FIG. 2 illustrates an exemplary web geometry 200 of a web 201 to be transported, for example a film web or label web, which is transported along the transport direction 208, for example.
  • the web 201 has, by way of example, wavy web edges / web edges 202, 203 on both sides.
  • the web edges 202, 203 of the web 201 can be of any shape, for example the web edges can not be designed to be straight on both sides.
  • the web width 209 of the web 201 may, for example, be either constant (as shown) or variable along the web 201 (not shown).
  • the web 201 may include a plurality of web features 207, wherein the web features 207 include a web pattern and / or a web mark and / or a web print and / or a web label and / or a web painting and / or a web embossing and / or a web recess and / or may include a label and / or a combination of said web features.
  • exemplary cut marks 21 1, 210 are shown which may serve, for example, to define the boundary of a label, i. the web 201 can be cut at said cutting marks 21 1, 210 by a cutting station (not shown) in order, for example, to be able to provide a label 212.
  • the position or orientation of the web features 207 or of parts 204, 205 of the web features can be measured or detected, for example, via a scan area or position detection area 206 of a position detection device (not shown), as an example, and used as a basis for the determination or detection of the current position of the web 201, eg with respect to a given transport path serve.
  • the scan area or position detection area 206 may, for example, be oriented essentially transversely to the transport direction.
  • the detection of the current position of the web 201 from a position detection of web features 207 or of web feature parts 204, 205 in the scan area or position detection area 206 can take place continuously.
  • the detected current positions or orientations of trajectory features 207 and / or trajectory feature portions 204, 205 may be compared to predetermined / stored reference positions or predetermined / stored reference orientations of trajectory features 207 and / or trajectory feature portions 204, 205.
  • the position of the web may be changed by web guiding means (not shown) to detect the detected deviations compensate and to achieve an improved positional accuracy of the web transport guide.
  • deviations of current positions of trajectory features 207 and / or trajectory feature portions 204, 205 from reference positions of trajectory features and / or trajectory feature portions may be measured / determined, for example, which substantially offset position deviations of trajectory 201 transverse to a transport direction 208, e.g. a main transport direction, may include the web 201.
  • Figures 1, 2, 3a, 3b, 3c, 3d illustrate further examples of possible geometries of webs, e.g. Label webs, or labels, 300, 400, 500, 600 with non-continuous straight edges 301, 302, 401, 402, 501, 502, 601, 602, which can be processed or transported by way of example according to the invention.
  • Label webs or labels, 300, 400, 500, 600 with non-continuous straight edges 301, 302, 401, 402, 501, 502, 601, 602, which can be processed or transported by way of example according to the invention.
  • the webs or labels 300, 400 of FIG. 3 a and FIG. 3 b represent geometries which do not have a continuous straight line or a continuous horizontal course of the web edges or label edges 301, 302, 401, 402.
  • the webs or labels 300, 400 also have a varying, ie not constant, width or height.
  • the web or label 300 has a width that varies between a minimum width 303 and a maximum width 304.
  • the web or label 400 has a varying width or height that varies between a minimum width 404 and a maximum width 403.
  • a position detecting device For position detection of the current position of the webs 300, 400 by a position detecting device (not shown), as exemplarily illustrated various web features 306, 307 or 406, 410, 407 or parts 305, 308, 309 and 405, 41 1, 412, 409, 408 of said railway features are detected and used.
  • the webs or labels 500, 600 of FIG. 3c and FIG. 3d represent exemplary geometries which likewise do not have a continuous straight-line or continuous horizontal course of the web edges or label margins 501, 502, 601, 602.
  • the web labels 500, 600 each have a constant constant width or height 503, 603.
  • various web features 505, 506 or 604, 606 or parts 504, 507, 508 and 605, 607, 608 of said ones can be used to acquire the position of the webs 500, 600 by position detecting means (not shown) Track features are recorded and used.
  • FIGS. 1, 2, 3a, 3b, 3c and 3d Two sheets follow with the FIGS. 1, 2, 3a, 3b, 3c and 3d.
  • the reference numerals are assigned as follows.
  • Exemplary position detecting device e.g. camera
  • Exemplary optional pulleys e.g. attached to the web guiding device
  • control unit e.g. in communication with position sensing device and / or in communication with web guiding device
  • Exemplary railway characteristic exemplary railway printing (First) exemplary web edge, exemplary (first) web edge
  • Exemplary transport direction example in the main transport direction along an exemplary web transport path
  • Exemplary web with non-consistently straight formed web edges exemplary web with wavy formed web edges
  • Exemplary trajectory feature exemplary (second) part of a trajectory feature
  • Exemplary cutting mark for example for defining the delimitation of a label
  • Exemplary cutting mark for example for defining the delimitation of a label
  • Exemplary web or exemplary label First) exemplary web edge / label edge, exemplary (first) web edge / label edge

Landscapes

  • Length Measuring Devices By Optical Means (AREA)
  • Registering, Tensioning, Guiding Webs, And Rollers Therefor (AREA)
  • Controlling Sheets Or Webs (AREA)
  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)

Abstract

L'invention concerne un procédé de transport de bandes (201), par exemple de bandes de feuilles ou de bandes d'étiquettes, comprenant des bords de bandes de forme quelconque, en particulier des bords de bandes (202, 203) non rectilignes en continu, le long d'un trajet de transport prédéfini. Le procédé consiste à : détecter la position instantanée d'une bande à partir d'au moins une détection de position d'au moins une caractéristique de bande telle qu'un motif de bande, une impression de bande, une mise en couleur de bande, une empreinte de bande (207) au moyen d'au moins un dispositif de détection de position (caméra), et un contrôle du mouvement de bande (201) sur la base de la position instantanée détectée de la bande (201) au moyen d'au moins un dispositif de contrôle de mouvement de bande.
PCT/EP2016/080074 2016-03-03 2016-12-07 Contrôle du mouvement d'une bande au moyen d'une image imprimée WO2017148553A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP16816601.5A EP3423386A1 (fr) 2016-03-03 2016-12-07 Contrôle du mouvement d'une bande au moyen d'une image imprimée
CN201680082966.1A CN108778969A (zh) 2016-03-03 2016-12-07 借助印刷图进行的幅面运行调节

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016203463.4 2016-03-03
DE102016203463.4A DE102016203463A1 (de) 2016-03-03 2016-03-03 Bahnlaufregelung mittels Druckbild

Publications (1)

Publication Number Publication Date
WO2017148553A1 true WO2017148553A1 (fr) 2017-09-08

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EP (1) EP3423386A1 (fr)
CN (1) CN108778969A (fr)
DE (1) DE102016203463A1 (fr)
WO (1) WO2017148553A1 (fr)

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Publication number Priority date Publication date Assignee Title
CN117902379B (zh) * 2024-03-14 2024-05-24 天达防水建材有限公司 一种融合瓦加工带纠偏收卷系统

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US4959040A (en) * 1989-04-21 1990-09-25 Rastergraphics Inc. Method and apparatus for precisely positioning and stabilizing a continuous belt or web or the like
US5460312A (en) * 1992-10-28 1995-10-24 Erhart + Leimer Gmbh Method of and apparatus for controlling lateral deviations of a travelling fabric web
EP0716998B1 (fr) 1994-12-13 1999-11-03 FIFE GmbH Dispositif pour le guidage latéral d'une bande matériau en cours de défilement
WO2011099562A1 (fr) * 2010-02-12 2011-08-18 株式会社ニコン Dispositif de traitement et dispositif de transfert pour substrat de feuille en forme de bande
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JP4841416B2 (ja) * 2006-12-13 2011-12-21 花王株式会社 搬送ウエブの位置制御方法
EP2093173B1 (fr) * 2008-02-19 2013-06-12 Texmag GmbH Vertriebsgesellschaft Dispositif et procédé de détection de caractéristiques d'orientation sur une bande de matériau
EP2163499A1 (fr) * 2008-09-12 2010-03-17 Uhlmann Pac-Systeme GmbH & Co. KG Dispositif destiné à la commande de rebords de bande
CN204549583U (zh) * 2015-04-09 2015-08-12 元品包装（芜湖）有限公司 一种用于薄膜传输的旋转式纠偏机
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Publication number Priority date Publication date Assignee Title
EP0376357A1 (fr) * 1988-12-23 1990-07-04 Vmi Epe Holland B.V. Dispositif de centrage
US4959040A (en) * 1989-04-21 1990-09-25 Rastergraphics Inc. Method and apparatus for precisely positioning and stabilizing a continuous belt or web or the like
US5460312A (en) * 1992-10-28 1995-10-24 Erhart + Leimer Gmbh Method of and apparatus for controlling lateral deviations of a travelling fabric web
EP0716998B1 (fr) 1994-12-13 1999-11-03 FIFE GmbH Dispositif pour le guidage latéral d'une bande matériau en cours de défilement
EP2447071A1 (fr) * 2009-06-25 2012-05-02 Mitsubishi Heavy Industries Printing & Packaging Machinery, Ltd. Dispositif de correction d'alignement en largeur, imprimante et procédé de correction d'alignement en largeur
WO2011099562A1 (fr) * 2010-02-12 2011-08-18 株式会社ニコン Dispositif de traitement et dispositif de transfert pour substrat de feuille en forme de bande
EP2762430A2 (fr) * 2013-01-30 2014-08-06 Fife Corporation Dispositif de commande de capteur pour interpréter un capteur d'interaction naturelle pour manutention de bande

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Publication number Publication date
CN108778969A (zh) 2018-11-09
DE102016203463A1 (de) 2017-09-07
EP3423386A1 (fr) 2019-01-09

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