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WO2009113945A1 - Procédé et dispositif pour enlèvement d’un groupe supérieur de produits s’étendant sur une surface de type classeur d’une pile de tels groupes - Google Patents

Procédé et dispositif pour enlèvement d’un groupe supérieur de produits s’étendant sur une surface de type classeur d’une pile de tels groupes Download PDF

Info

Publication number
WO2009113945A1
WO2009113945A1 PCT/SE2009/000141 SE2009000141W WO2009113945A1 WO 2009113945 A1 WO2009113945 A1 WO 2009113945A1 SE 2009000141 W SE2009000141 W SE 2009000141W WO 2009113945 A1 WO2009113945 A1 WO 2009113945A1
Authority
WO
WIPO (PCT)
Prior art keywords
group
gripping device
lower jaw
top group
jaw
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.)
Ceased
Application number
PCT/SE2009/000141
Other languages
English (en)
Inventor
Bo Starby
Göte Svensson
Börje WALL
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.)
IDAB WAMACINTERNATIONAL AB
Original Assignee
IDAB WAMACINTERNATIONAL AB
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 IDAB WAMACINTERNATIONAL AB filed Critical IDAB WAMACINTERNATIONAL AB
Publication of WO2009113945A1 publication Critical patent/WO2009113945A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • B65G59/023—De-stacking from the top of the stack by means insertable between the stacked articles or layers
    • 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
    • B65H3/00—Separating articles from piles
    • B65H3/32—Separating articles from piles by elements, e.g. fingers, plates, rollers, inserted or traversed between articles to be separated and remainder of the pile
    • 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
    • B65H2301/40—Type of handling process
    • B65H2301/42—Piling, depiling, handling piles
    • B65H2301/422—Handling piles, sets or stacks of articles
    • B65H2301/4224—Gripping piles, sets or stacks of articles
    • B65H2301/42242—Gripping piles, sets or stacks of articles by acting on the outermost articles of the pile for clamping the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2555/00—Actuating means
    • B65H2555/30—Multi-axis

Definitions

  • the invention relates to a method and a device for removing of a top group of surface-extending products of folder-type from a stack of such groups of the kind that is evident from the preamble of the annexed independent method claim and the independent device claim.
  • a method of the kind in question is known, where one starts out from groups of elongated rectangular between themselves equal surface-extended products, which groups are displaceably stacked to form a stack on a pallet, so that each short side edge area of the top group protrudes out past the respective long side edge of the second topmost group in the stack.
  • a robot controlled gripper thereby grips the top group at its said protruding short side edge area which flares out over the long side edge of the second topmost group, for transport of the gripped group to a station, for further processing of the products.
  • the gripper thereby has two vertically in relation to each other movable jaws which are set against the top and the bottom product or sheet of the group.
  • US 5 169 284 shows a method and a device of the kind in question, where elongated rectangular between themselves equal groups are stacked abreast of and above each other in layers on a pallet and where a sheet substantially corresponding to the extension of the pallet separates each layer of groups from each other. The sheet protrudes out past the outmost groups in each layer.
  • an arm may press down the sheet whereafter a gripper may grip around the groups in the top layer one at a time for transport of the gripped group to a station.
  • the gripper thereby has two vertically in relation to each other movable jaws that are set against the top and bottom surface of the group.
  • surface-extending products meant a thin flat product such as a sheet of paper or a folder.
  • folder meant a thin flat folded product with a back such as e.g. a newspaper or a booklet .
  • group of surface-extending products meant a stack of surface-extending products which products have between themselves substantially equal format and size and substantially completely overlap each other in vertical direction.
  • Such a group is also called a “lay” in that case where all the products in the group are oriented in such a way that all equal side edges are placed on top of each other, which for a group of folders means that all folders shall be oriented with the back in the same direction.
  • the group which is to be gripped with a gripper and thereafter to be transported as quickly as possible from the stack to a destination station, e.g. an after-treatment station, using a transportation device which carries the gripper should have a limited thickness because if the groups have a large mass there is a risk for that the products in the group are displaced between themselves and/or that the products in the group are damaged by the gripper, if this must be set with high force against the group in order to prevent displacement of the products therein.
  • the transportation device which may be a robot, is limited. How large a thickness a group may have depends thus among other things on products surface-extension, thickness, weight and the strength of the material from which the products are made.
  • One object of the invention is to provide a technique to remove the momentary topmost group from a stack of vertically adjacent groups of surface-extending products of folder type in such a way that one or more of the above mentioned problems are completely or partly removed.
  • the invention is also specified in the annexed independent device claim.
  • Figure 1 shows schematically a stack formed by groups of folders with sheets lying between on each other lying groups in the stack, and a gripping device for gripping of the top group of the stack.
  • Figure 2 shows a schematic view of a gripping device for gripping of the top group of the stack.
  • Figure 3 shows a schematic view of a second embodiment of gripping device for gripping of the top group of the stack.
  • Figure 4 shows schematically a system for depalletizing.
  • Figure 1 shows schematically a pallet 2 on which stacks 4 formed of groups 6, 6' of folders are placed. Sheets 8 are arranged between on each other lying groups 6, 6' in a stack 4. The figure further shows a gripping device 10 for gripping of the top group 6 of the stack 4.
  • Each group 6, 6' consists of surface-extending products 12 of folder type, e.g. printed products such as e.g. newspapers or booklets, which between themselves are substantially equally oriented and which are rectangular, elongated and substantially completely overlapping in the respective group 6, 6'.
  • the products 12 of folder type show in practice depending on their folded backs 14 somewhat different thicknesses at the backs 14 and the to the back edge 15 opposite edge 16 of the product 12, which e.g. is the case for newspapers .
  • Vertically adjacent groups 6, 6' may be rotated between themselves e.g. 90 or 180 or 270 degrees around the vertical axis A of the stack, and horisontally adjacent groups 6 respectively 6 ' that are placed on the one and the same sheet 8 may also be rotated between themselves e.g 90 or 180 or 270 degrees around the vertical axis A of the stack, this in order to be able to make use of the surfaces of the pallet 2 and the sheet 8 in the best way and to fill the pallet 2 as surface- efficiently as possible with the smallest possible surface that is not covered by groups 6, 6' of products.
  • the gripping device 10 for gripping of the top group 6 of the stack 4 comprises at least an upper jaw 18 and at least an lower jaw 20 that are movable in relation to each other by that the upper jaw 18 is arranged to be able to move upwards and downwards in the vertical direction A of the stack and by that the lower jaw 20 is arranged pivotable in relation to the upper jaw 18 and arranged to be able to be pivoted in under a group 6 of products 12 of folder type from the back edge 15 of the group 6.
  • the groups 6, 6' may be placed on the pallet 2 and the sheet 8, respectively, in orientations rotated between themselves , e.g.
  • the gripping device 10 is thus movable in both the horizontal plane and the vertical plane and also able to rotate in both the horizontal plane and in the vertical plane by a transporting device (not shown) which will be described more in detail below.
  • Figure 2 shows a schematic view over a gripping device 10 for gripping of the top group 6 of the stack 4.
  • the gripping device 10 comprises at least an upper jaw 18 and at least an lower jaw 20 that are movable in relation to each other by that the upper jaw 18 is arranged to be able to move upwards and downwards in the vertical direction A of the stack and by that the lower jaw 20 is arranged pivotable in relation to the upper jaw 18 and arranged to be able to be pivoted in under a top group 6 of products 12 of folder type from the back edge 15 of the group as will be described in more detail below.
  • the gripping device also comprises a holder 22 for a transportation device (not shown) .
  • the group 6 is pressed together using the upper jaw 18 whereby the lower jaw 20 is prevented from displacing the top group 6 in the insertion direction B of the lower jaw 20 in the stack 4 at the same time as the separate products 12 in the group 6 are prevented from being displaced in relation to each other.
  • the gripping device 10 preferably further comprises a stop device 24 which temporarily may be placed in contact with the top product 12 of the top group 6.
  • the gripping device 10 is prevented from displacing the top group 6 in the insertion direction B of the lower jaw 20 in the stack 4 at the same time as the separate products 12 in the group 6 are prevented from being displaced in relation to each other.
  • the lower jaw 20 is preferably shaped as a substantially flat plate 28 which is pivotally arranged to the housing 30 of the gripping device 10 using a pivoting arm 32.
  • the lower jaw 20 has such a length that it does not reach all the way to a position directly below the upper jaw 18 whereby the lower jaw 20 thus may be inserted to a position between the back edge 15 of the group 6 and a position directly below the upper jaw 18.
  • the clamping force with which the upper jaw 18 and the lower jaw 20 clamps the group 6 is of moderate size.
  • a further upper jaw 26 placed in a position directly above the lower jaw 20 may, when the lower jaw 20 is completely inserted below the top group 6, be arranged to press the group 6 with products 12 against the lower jaw 20 whereby the clamping force with which the group 6 is clamped together may be substantially increased.
  • the housing 30 is in two pieces and comprises two to each other pivotally arranged housing parts 29, 31.
  • the pivotable arm 32 preferably comprises two profiled parts 34, 36 for increased stability.
  • the movement of the pivotable arm 32 is preferably controlled with a control cylinder 38 arranged between the housing 30 of the gripping device 10 and the arm 32.
  • At least one, but preferably two, distance devices 40, 42 are arranged on the housing 30 of the gripping device 10, where the distance devices protrude downwards from the housing 30.
  • the distance devices 40, 42 are at their lower ends 44, 46 provided with contact sensors 48, 50 which may be of e.g. mechanical, electronic or other kind.
  • contact sensors 48, 50 may be of e.g. mechanical, electronic or other kind.
  • at least one, but preferably two, laser sensors 41, 43 may be arranged for detection of the vertical distance down to the sheet 8.
  • the gripping device 10 When the gripping device 10 is to grip a group 6, the gripping device 10 is firstly moved using the transportation device (not shown) to a starting position above the group 6 which position e.g. may be detected using a vision system (not shown) according to what will be described below in more detail, or as an alternative to be detected using the laser sensors 41, 43. After the gripping device has been moved to the starting position above the group 6 which is to be gripped, the gripping device 10 is moved downwards until the contact sensors 48, 50 at the lower ends 44, 46 of the distance devices 40, 42 detect that the distance devices 40,42 have reached down to the upper surface 52 of the sheet 8 whereby the gripping device 10 is in a vertical position where the lower jaw 20 may be inserted between the group 6 and the sheet 8.
  • both the contact sensors 48, 50 and the laser sensors 41, 43 are vertical distance detection devices for detection of the distance which the gripping device 10 shall keep to the sheet 8 in order for the lower jaw 20 to be able to be inserted between the group 6 and the sheet 8.
  • the gripping device 10 stops whereafter the upper jaw 18, and a possible stop 24, is pressed down against the top product 12 of the group 6 at a distance from the back edge 15 of the group.
  • the upper jaw 18 is an elongated body with the longitudinal axis parallel with the backs 14 of the products 12, the group 6 with products 12 is stiffened at the following movement.
  • the lower jaw 20 is inserted under the group 6 with a pivotal movement, whereafter a possible further upper jaw 26 is pressed down against the top product 12 of the group 6.
  • the group 6 is moved to a destination device (not shown) using the transportation device (not shown) .
  • the gripping procedure above is repeated with the next group on the sheet until all groups on the sheet have been moved. Thereafter, the sheet is removed, whereafter the same procedure is repeated with the next layer of groups until the pallet has been emptied.
  • the lower jaw 20 has a width which is less than the distance between the distance devices
  • the pallet may be depalletized in an efficient way by that the lower jaw 20 of the gripping device 10 may be inserted under the group along the upper surface 52 of the sheet 8.
  • the sheet 8 may be of any material that allows for detection of the sheet 8 using the contact sensors 48, 50 at the lower ends 44, 46 of the distance devices 40, 42 and that allow the lower jaw 20 to be able to be inserted between the sheet 8 and the group 6 of products 12.
  • Suitable sheet materials are e.g. cardboard, kraft paper and stiff plastics.
  • Figure 3 shows a schematic view over a second embodiment of a gripping device 10 for gripping the top group of the stack, which differs from the one shown in figure 2 by that a detection devive 54 in the form of a vision system 54 for detection of said starting position is shown. As is evident from the figure, only the lower housing part 29 of the two- part housing 30 is shown.
  • the gripping device is carried by a transportation device (not shown) which moves the gripping device 10 to the above described engagement with the top group 6 in question in the stack 4.
  • the vision system 54 comprises suitably a camera 56 which may be carried in the vicinity of the gripping device 10 and which with a suitable processor, software and technics of measurement controls the gripping device 10 at the final phase of its mentioned engagement with the top group 6 of the stack 4, so that the gripping device 10 reaches said starting position above the group 6.
  • Figure 4 shows schematically a system for depalletizing, where the gripping device 10 is shown during depalletizing of a pallet 2 where several stacks 4 are placed side by side, whereby the camera, processor and software are arranged to identify the respective stack 4 in order to piece by piece remove the groups 6, 6' from the upper end of the respective stack 4 and move the groups 6, 6' in a preferably in advance defined order to a destination device 58 such as a receiving station or an after-treatment station.
  • a destination device 58 such as a receiving station or an after-treatment station.
  • the above described gripping device 10 may also be used at emptying of pallets 2 which do not have sheets between vertically adjacent groups 6, 6 ' of products, as long as an upper surface of an underlying group 6 ' may be used for identifying the lower edge of the upper group 6 according to what has been described above, i.e. that the contact sensors 48, 50 at the lower ends 44, 46 of the distance devices 40, 42 come into contact with the upper surface 53 of the lower group 6' instead of the upper surface of the sheet.
  • the groups 6, 6' which normally are printed products have usually been produced in advance, and are temporary stored in stacks 4 e.g. on pallets 2 which facilitate transport of products 12 between e.g. different printing works or different machines in one and the same printing works .
  • the groups 6 , 6 ' are often a supplement to a paper and shall then be moved to a destination device in the form of a feeding pocket in which they are inserted in the same orientation, and where the edges are levelled, jogged up, in order to obtain the same position between themselves. Then the groups 6, 6' are moved one at a atime to an inserter in which such a group is inserted in a passing pocket, possibly in an opened folder which is received in the pocket and kept open.
  • the group 6, 6' itself may of course in itself be one single folder, possibly with therein inserted further supplement.
  • the groups 6, 6' may as mentioned above be placed on the pallet 2 (respectively the sheet) in orientations rotated in relation to each other at angular positions from 0 to 360 degrees, why the gripping device 10 is arranged pivotable 360 degrees around a vertical axis 60 whereby the gripping device 10 may be pivoted in under a group 6 of products 12 of folder type from the back edge 15 of the group 6 irrespective of in which angular position the group 6 has been oriented on the pallet 2 (respectively the sheet) .
  • the gripping device 10 is thus movable in both the horizontal plane and the vertical plane and also pivotable in both the horizontal plane and the vertical plane using a transportation device 62.
  • the transportation device 62 comprises preferably a guiding beam 64 along which a travelling carriage 66 may be moved back and forth. At the travelling carriage 66 is arranged a vertically movable profiled section 68 at which an horisontally pivotable arm 70 is arranged, at the end of which the gripping device 10 is mounted pivotable at 360 degrees.
  • the transportation device 62 may optionally be a traditional industrial robot on the arm of which the gripping device 10 has been mounted.
  • the invention thus relates to a method for removing a top group 6 of surface-extended products 12 from a stack 4 of on each other stacked groups 6, 6' of surface-extended products 12 where vertically adjacent groups 6, 6' in the stack 4 are separated by a sheet 8, where a gripping device 10 comprises two in relation to each other movable jaws 18, 20 where the lower jaw 20 is arranged to be inserted under the lower side 7 of the top group 6 and where the upper jaw 18 is arranged to be moved above the upper side 5 of the top group 6 whereby the gripping device 10 is arranged to be able to grip around the top group 6 of the stack 4 and to move this group 6 to a destination device 58, where the surface-extended products 12 are folders with backs 14, and further comprising the steps, to:
  • the invention also relates to a device for removing a group 6 of surface-extended products 12 from a stack 4 of on each other stacked groups 6, 6' of surface-extended products 12, where the on each other stacked groups 6, 6' are stacked in such a way that a limiting surface 52, 53 protrudes outside the lower edge 11 of the top group 6,
  • the device comprising a gripping device 10 and a transportation device 62
  • the gripping device 10 comprises two in relation to each other movable jaws 18, 20 where the lower jaw 20 is arranged to be inserted under the lower side 7 of the top group 6 and where the upper jaw 18 is arranged to be moved above the upper side 5 of the top group 6 whereby the gripping device 10 is arranged to be able to grip around the top group 6 of the stack 4 and to move this group 6 to a destination device 58 using the transportation device 62, where the surface-extended products 12 are folders with backs 14, and that the gripping device 10 comprises a detection device 54, 41, 43 arranged to detect a starting
  • the device is adapted to a method as mentioned above, and also a similar method where a protruding underlying group 6', insted of a sheet 8, provides a outside the lower edge 11 of the top group 6 protruding limiting surface 52, 53.
  • Vertical distance detection devices are on distance devices 40, 42 arranged contact sensors 48, 50 arranged to detect when the distance devices 40,42 have reached down to the outside the lower edge 11 of the top group 6 protruding limiting surface 52, 53, or as an alternative on the gripping device 10 arranged laser sensors 41, 43 arranged to detect when the gripping device 10 is at a vertical position where the lower jaw 20 may be inserted under the top group 6.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Abstract

L’invention concerne un procédé et un dispositif pour enlever un groupe supérieur (6) de produits s’étendant sur une surface (12) de type classeur avec des dos (14) d’une pile (4) de tels groupes (6, 6’) par pressage vers le bas d’une mâchoire supérieure (18) contre le produit supérieur (12) du groupe supérieur (6), puis déplacement d’une mâchoire inférieure (20) sous le groupe (6) au niveau du bord de dos (15) du groupe (6) avec un mouvement pivotant ce qui pince et serre le groupe entre la mâchoire supérieure (18) et la mâchoire inférieure (20), puis déplacement du groupe (6) vers le dispositif de destination (58) en utilisant le dispositif de transport (62), le dispositif de préhension (10) comprenant en outre un dispositif de détection (54, 41, 43) conçu pour détecter une position de départ au-dessus du groupe supérieur (6) où des dispositifs de détection de distance verticale (48, 50, 41, 43) du dispositif de préhension (10) sont positionnés à l’extérieur du bord de dos (15) du groupe (6), et où en outre les dispositifs de détection de distance verticale (48, 50, 41, 43) sont conçus pour détecter quand le dispositif de préhension (10) a atteint la position verticale où la mâchoire inférieure (20) peut être insérée sous le groupe (6).
PCT/SE2009/000141 2008-03-14 2009-03-13 Procédé et dispositif pour enlèvement d’un groupe supérieur de produits s’étendant sur une surface de type classeur d’une pile de tels groupes Ceased WO2009113945A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0800607A SE0800607L (sv) 2008-03-14 2008-03-14 Förfarande och anordning för att avlägsna en översta grupp av ytutbredda alster av foldertyp ur en stapel av sådana grupper
SE0800607-4 2008-03-14

Publications (1)

Publication Number Publication Date
WO2009113945A1 true WO2009113945A1 (fr) 2009-09-17

Family

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Family Applications (1)

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PCT/SE2009/000141 Ceased WO2009113945A1 (fr) 2008-03-14 2009-03-13 Procédé et dispositif pour enlèvement d’un groupe supérieur de produits s’étendant sur une surface de type classeur d’une pile de tels groupes

Country Status (2)

Country Link
SE (1) SE0800607L (fr)
WO (1) WO2009113945A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103600867A (zh) * 2013-12-03 2014-02-26 铜陵浩荣电子科技有限公司 覆铜板打包装置
FR3060547A1 (fr) * 2016-12-20 2018-06-22 M. Xavier Maisonnave-Couterou, Agissant Au Nom Et Pour Le Compte De Robocob, Societe A Responsabilite Limitee En Cours De Formation Appareil et procede de transfert, vers une ligne de traitement, d'imprimes initialement conditionnes en liasse
CN110371368A (zh) * 2019-07-31 2019-10-25 建滔电子材料（江阴）有限公司 一种覆铜板板材自动搬运称重输送机
WO2019243674A1 (fr) 2018-06-18 2019-12-26 Robocob Appareil et procédé de transfert, vers une ligne de traitement, d'imprimés initialement conditionnés en liasse

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4000262A1 (de) * 1990-01-03 1991-07-04 System Gmbh Greifvorrichtung
US5102292A (en) * 1988-10-14 1992-04-07 Niepmann Traylift Transportsysteme Gmbh & Co. Kg Apparatus for unloading blocks of blanks stacked on pallets
US5169284A (en) 1991-09-02 1992-12-08 Fabriques De Tabac Reunies, S.A. Grasping and transfer claw
US20040022619A1 (en) 2000-06-16 2004-02-05 Mario Spatafora Method and device for picking up stacks of blanks
US20070248448A1 (en) * 2006-04-21 2007-10-25 Reiner Starz Apparatus and process for the automatic palletising and/or depalletising of containers

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5102292A (en) * 1988-10-14 1992-04-07 Niepmann Traylift Transportsysteme Gmbh & Co. Kg Apparatus for unloading blocks of blanks stacked on pallets
DE4000262A1 (de) * 1990-01-03 1991-07-04 System Gmbh Greifvorrichtung
US5169284A (en) 1991-09-02 1992-12-08 Fabriques De Tabac Reunies, S.A. Grasping and transfer claw
US20040022619A1 (en) 2000-06-16 2004-02-05 Mario Spatafora Method and device for picking up stacks of blanks
US20070248448A1 (en) * 2006-04-21 2007-10-25 Reiner Starz Apparatus and process for the automatic palletising and/or depalletising of containers

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103600867A (zh) * 2013-12-03 2014-02-26 铜陵浩荣电子科技有限公司 覆铜板打包装置
FR3060547A1 (fr) * 2016-12-20 2018-06-22 M. Xavier Maisonnave-Couterou, Agissant Au Nom Et Pour Le Compte De Robocob, Societe A Responsabilite Limitee En Cours De Formation Appareil et procede de transfert, vers une ligne de traitement, d'imprimes initialement conditionnes en liasse
WO2019243674A1 (fr) 2018-06-18 2019-12-26 Robocob Appareil et procédé de transfert, vers une ligne de traitement, d'imprimés initialement conditionnés en liasse
CN110371368A (zh) * 2019-07-31 2019-10-25 建滔电子材料（江阴）有限公司 一种覆铜板板材自动搬运称重输送机

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