EP0167138A2 - Procédé et dispositif pour le remplissage de cartons - Google Patents

Procédé et dispositif pour le remplissage de cartons Download PDF

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Publication number
EP0167138A2
EP0167138A2 EP85108101A EP85108101A EP0167138A2 EP 0167138 A2 EP0167138 A2 EP 0167138A2 EP 85108101 A EP85108101 A EP 85108101A EP 85108101 A EP85108101 A EP 85108101A EP 0167138 A2 EP0167138 A2 EP 0167138A2
Authority
EP
European Patent Office
Prior art keywords
objects
carton
lifting
box
base
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.)
Withdrawn
Application number
EP85108101A
Other languages
German (de)
English (en)
Other versions
EP0167138A3 (fr
Inventor
Alfons Güldenring
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of EP0167138A2 publication Critical patent/EP0167138A2/fr
Publication of EP0167138A3 publication Critical patent/EP0167138A3/fr
Withdrawn legal-status Critical Current

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Classifications

    • 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
    • B65B39/00—Nozzles, funnels or guides for introducing articles or materials into containers or wrappers
    • B65B39/007—Guides or funnels for introducing articles into containers or wrappers
    • 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
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/36—Arranging and feeding articles in groups by grippers
    • 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

Definitions

  • the invention relates to a method for filling boxes with elongated objects, in particular with rods made of stacked plastic cups.
  • the invention further relates to a device for filling boxes with elongated objects lying parallel to one another, in particular rods of plastic cups stacked one inside the other, between a first conveyor for the transport of empty boxes and a second conveyor for the transport of the filled boxes.
  • Elongated objects such as sticks of cups stacked one inside the other
  • cardboard boxes at the manufacturer of these objects. This is labor and time consuming.
  • the carton When packing bars from stacked plastic cups at the manufacturer and printer of these cups, which are used for packaging food, e.g. To serve yogurt and milk drinks, the carton must be lined with a foil bag so that the beaker sticks can be quickly and easily removed from the carton later.
  • the insertion of the cup rods into cardboard boxes lined with a film bag is particularly difficult because the film bag does not lie flat against the cardboard box, but instead forms folds, air cushions and the like, which hinder the insertion of the cup rods.
  • the invention has for its object to provide a method for filling cardboard boxes with elongated objects, in particular columns stacked plastic cups, by which the cardboard boxes can be filled quickly and trouble-free by a sequence of steps.
  • the method should in particular be able to be adapted to different dimensions of the carton to be filled and the elongated objects, especially the diameter of the cup columns.
  • the device is designed to fill un Allow differently sized boxes with elongated objects of different transverse dimensions (diameter). Further objects and advantages of the invention will become apparent from the description below.
  • the object is achieved in that a) the carton is moved into a base position, b) the carton is raised from the base position by at least the carton height into a lifting position, c) a number corresponding to the inner carton base area Receiving position of objects lying next to one another in parallel is detected by holding forces acting on one another at their ends, d) moving the detected objects from the receiving position into a lifting position above the box, e) lowering these objects from their lifting position into a release position in the box and releasing the holding forces, f) repeating the sequence of steps c) to e) until the carton is completely filled, either lowering the carton after each sequence of steps c) to e) by the thickness of the objects or the release position of the objects in each sequence of steps c) to e) by this Thickness increases, and g) lowers the filled box into its base position and au s this comes out.
  • the carton for example driven into the base position by a conveyor chain and lifted from there into the lifting position, is filled with the objects in layers by the step sequences c) -e).
  • step c) the number of objects corresponding to a layer is recorded, which e.g. were promoted to the receiving position on a conveyor.
  • the sequence of process steps is triggered by limit switches, optical signal transmitters, etc., so that manual control is not required.
  • the carton is centered when it is lifted into the lifting position. This ensures that the raised carton is oriented exactly at an angle to the row of objects lying next to one another in parallel, so that it hits the carton opening exactly when it is lowered.
  • the carton is lined with a foil bag before moving into the base position and the foil bag is placed against the carton walls when the objects are lowered into the release position. This avoids that the lowering of the objects in the carton is hindered by the arbitrary position of the film bag, folds, air cushions.
  • the objects are grasped in their receiving position by separate elastic holding forces.
  • Objects with limited length differences which can be caused by manufacturing tolerances, temperature differences or, in the case of cups stacked one inside the other, by a different number of cups in the rod, are held securely in this way.
  • the detected objects are lifted vertically from the receiving position into a first lifting position, then shifted horizontally into a second lifting position above the box and lowered into the box from the second lifting position.
  • the objects are expediently lowered into a release position in which they are at a distance of 5 to 60 mm from the bottom of the box or from the uppermost layer of the objects already in the box.
  • a lifting table between a base position on the level of this conveyor and a lifting position lying at least one carton height above it is vertical is arranged displaceably and a gripping device which is horizontally and vertically displaceable above the lifting position of the lifting table has a carrier, on one side of which a row of individually movable gripping jaws projecting below the plane of its base and on its opposite side at least one projecting below the plane of the carrier base, to the row of gripping jaws substantially parallel counter jaw is attached.
  • the empty carton is driven onto the lifting table by the first conveyor, in particular a conveyor chain.
  • the lifting table with the carton can be moved vertically into an upper lifting position and then gradually lowered by distances corresponding to the thickness or height of a layer of the objects or cup columns.
  • the gripping device With the gripping device, the objects or cup columns lying one on the other in one plane can be picked up and transferred into the carton, a complete layer being inserted into the carton in each case. Due to the separate mobility of the gripping jaws, objects with limited length tolerances can be safely picked up.
  • a centering frame with four separate walls is attached at least one carton height above the base position of the lifting table, which is pivotally mounted in its upper region about horizontal axes and is held in positions inclined in the lowering direction to the frame axis.
  • the open carton standing on the lifting table, into which a film bag may be inserted, is pushed onto the centering frame, especially its four frame walls, during the stroke.
  • the carton walls come to rest against the upwardly divergent frame walls when the angular or horizontal position of the carton is offset from the centering frame.
  • the box may be centered when it is lifted into the lifting position, ie brought into a position so that the gripping device can be lowered into the box without hitting its wall.
  • the gripping device comes into contact with the inclined frame walls when lowered into the box and causes the frame walls to pivot towards the box wall due to the lowering, as a result of which the film bag is attached to the box wall is placed and the formation of film folds between the individual layers in the carton is avoided.
  • the frame walls are preferably held in the inclined positions by elastic means.
  • the elastic means can be, for example, two helical compression springs per wall, which absorb the moment of the inclined walls caused by gravity.
  • the forces exerted by the elastic means on the walls and thus also the inclinations of the walls are expediently adjustable by means of adjusting screws.
  • the frame walls can be pivoted about their horizontal axes by means of compressed air-actuated piston / cylinder units.
  • the swiveling out of the walls for the purpose of the film sack resting against the cardboard wall is not effected directly by the gripping device or the objects gripped by it, but by the controlled piston / cylinder units.
  • Each wall preferably consists of two overlapping wall parts which are pivotable about the same axis and horizontally displaceable relative to one another.
  • the dimension of the centering frame can be changed and adapted to the format of the carton to be filled.
  • One wall part is expediently guided in the other double-walled wall part.
  • the support frame, on which the four frame walls are pivotally mounted, is designed to be extendable or adjustable in a similar manner.
  • the gripping device for vertical displaceability is connected to a vertically operating pneumatic piston / cylinder unit, which in turn can be moved horizontally for horizontal displaceability by a pneumatic piston / cylinder unit.
  • the gripping jaws can preferably be moved by compressed air-actuated piston / cylinder unit (s) with interposed elastic means. Due to the preferably single-acting piston / cylinder unit (s), the gripping jaws are moved into contact with the objects to be held.
  • the elastic means are the holding forces acting on the objects determined. Objects with small differences in length are held securely without undesirably large pressing forces acting on them.
  • the intermediate elastic means can be a coil spring, which is at least partially housed in the piston / cylinder unit.
  • the gripping jaws are expediently articulated on the carrier and are designed, for example, in the form of a two-armed lever, one arm of which protrudes below the carrier and comes into engagement with the object to be held, and the other arm of which is connected to the piston / cylinder unit.
  • the counter jaw is preferably connected to at least one pneumatic piston / cylinder unit and its distance from the row of gripping jaws can be changed by the piston / cylinder unit.
  • the adjustable counter jaw allows adjustment to objects of different lengths.
  • the carrier of the gripping device can be a plate-shaped body which is detachably attached to the base plate of the vertically operating piston / cylinder unit of the gripping device.
  • the carrier is designed as a frame adjustable in length and width. In this case, only the frame has to be adjusted to adapt to the cardboard format.
  • the boxes 1, which are laid out with a film bag 2 are cyclically driven onto a lifting table 5 with an electric motor-driven conveyor chain 4.
  • the foil bag 2 folded outwards around the edge of the carton 1 is prevented by an elastic band 3 folded outside from slipping inward, for example when the carton is being filled.
  • the lifting table 5 can be moved by means of chain belts 6 driven by an electric motor between the base position shown in FIG. 1 and a lifting position, not shown, in which the raised carton assumes the dot-dash position.
  • the lifting table 5 is described in more detail below with reference to FIGS. 3 and 4.
  • centering frame 7 which is essentially formed from four inclined walls. This frame has a dual function: it should align the box 1 towards the end of its stroke on the table 5 at an angle to the gripping device 9 and furthermore through its pivotable walls the foil bag 2 when inserting the objects into the box lay against the cardboard wall. Further details of the centering frame 7 are described below with reference to FIGS. 5 and 6.
  • the crossbar 8 b of the machine frame 8 carries a pneumatically actuated gripping device 9, which is described in more detail below with reference to FIGS. 7 to 9.
  • the gripping means 9 can be prepared by a vertically operating pneumatic piston / cylinder unit 10 and lowered, wherein the vertical guide is through the columns 10 a supplied to the pairs of rollers 11a of the roller mill. 11
  • the piston / cylinder unit 10 with the gripping means 9 is further moved horizontally by the horizontal working piston / cylinder unit 12, the guide by the roller pairs 11 b on the guide column 12 a takes place.
  • the bars 13 to be packed into one another are conveyed by an electromotive driven conveyor belt 14 so far under the gripping device 9 that the full gripping width of the bar bars 13 can be received.
  • the conveyor belt 14 carries cross bars 14 a , on which the cup rods 13 rest, and conveys the cup rods from the station in which the cups are printed and stacked, in the system according to the invention.
  • a short drive-less roller conveyor 15 is arranged below the chain conveyor belt 14 approximately at the level of the base position of the lifting table 5.
  • the carton 1 filled with beaker bars 13 is lowered again into the base position with the lifting table 5, the carton is pushed so far by the conveyor chain 4 which is switched on again that it continues to roll on the roller conveyor 15 up to the stop 16 due to its own weight and its kinetic energy.
  • a strip 18 is displaceable transversely to the roller conveyor 15 by a pneumatic piston / cylinder unit 17 below the roller conveyor 15. Through them, the full carton can be pushed into the right position, shown in dot-dash lines in FIG. 2, from which it is transported away on the chain 4 by a conveyor chain 19 driven by the same electromotive drive as the chain 4, in synchronism with the transport of the empty cartons.
  • the lifting table 5 consists of a table plate 5 a with somewhat angled side plates 5 b for guiding the cardboard lid 1 a which has tipped outwards.
  • Two pairs of rollers 5 c are provided on both sides of the lifting table, through which the table 5 is guided vertically on the guide columns 21.
  • a geared electric motor 22 drives the vertical chain belts 6, on which the rolling mechanisms with the rollers 5 c are attached.
  • the table plate 5 a has a recess 5 d running in the conveying direction of the chain 4. As a result, the drivers of the chain 4 can move into the lifting table 5 and push the filled box 1 onto the roller conveyor 15.
  • the centering frame 7 consists essentially of a support frame formed from square tube, which consists of four angular frame parts 7 a and 7 b .
  • the frame parts 7 b are displaceable with their legs in the legs of the frame parts 7 a , so that the holding frame can be varied in length and width.
  • frame walls 7 c , 7 d are attached by hinges 7 f about horizontal axes 7 9 pivotable inside.
  • the four frame walls each consist of two wall parts 7 c and 7 d .
  • the wall parts 7 c are double-walled, and the single-walled wall parts 7 d are guided in the double-walled wall parts 7 c , so that the pivotable frame walls as well as the holding frame 7 a , 7 b can be varied in the horizontal dimension.
  • the walls 7 c , 7 d are held in a position inclined in the downward direction towards the frame axis 7 i by helical compression springs 7 h arranged in the holding frame 7 a , 7 b .
  • the inclination of the frame walls 7 c , 7 d can be adjusted by adjusting screws 7 k .
  • the gripping device 9 consists of an approximately rectangular, plate-shaped carrier 9 a with, in this embodiment, four gripping jaws 9 on one side of the carrier and a counter jaw 9 c on the opposite side of the carrier.
  • the Gripping jaws 9 are pivotably mounted as double-armed levers on the edge of the carrier 9, one arm of the gripping jaws being pivotable below the bottom surface 9 e of the carrier 9 a , while the other arm of the gripping jaws with the piston rod of the pistons articulated on the carrier 9 a / Cylinder unit 9 is articulated.
  • the counter jaw 9 c is horizontally displaceable by two air-operated piston / cylinder units 9, as can be seen from FIGS. 7 and 8.
  • FIGS. 7 and 8 and 7 show the gripping device 9 before or after the gripping of a cup rod 13. It can be seen that the cup rod is compressed somewhat in the process.
  • the spring 9 9 symbolically indicated in FIGS. 7 and 8 in the piston / cylinder units 9 ensures that the cup rod 13 is held only by spring pressure and excessive compression of the rod and damage to the cups caused thereby is avoided.
  • the gripping device 9 is detachably connected to the base plate 23 attached to the guide columns 10 a and the piston rod of the vertically acting piston / cylinder unit 10 by screws, so that a simple exchange for differently sized and / or equipped gripping devices 9 is possible.
  • the function of the device according to the invention is as follows: An empty box 1 is moved onto the lifting table 5, actuates a limit switch (not shown) and is then lifted by the lifting table into the stroke position shown in broken lines (FIG. 1). If a light barrier on the conveyor belt 14 (not shown) signals that there are enough cup rods 13 in the gripping area of the gripping device 9, the latter is lowered into the receiving position. In the receiving position, the gripping device 9 closes, as a result of which the number of beaker bars 13 corresponding to the box cross section is picked up. The gripping device 9 with the detected cup rods 13 then moves up to a limit switch, horizontally over the carton and is then lowered into the carton.
  • the gripping device is vented and then moves back into the starting position shown in Figure 1.
  • the lifting table 5 with the box 1 is lowered by the diameter of the cup rods 13 used.
  • the height of this lowering level as well as the number of levels per box filling can be set on the control panel 20 (FIG. 2).
  • the cycle repeats.
  • the number of cycles can also be set on the control panel 20 in accordance with the carton height and the diameter of the cup rods 13.
  • the filled carton is lowered back into the base position on the lifting table 5, then actuates a further limit switch (not shown), which sets the conveyor chain 4 in motion again, and is thereby pushed forward onto the roller conveyor 15, on which it reaches the Stop 16 rolls.
  • a further limit switch (not shown)
  • the next empty carton is moved onto the lifting table 5 and then raised, so that the starting position for the filling process is reached again.
  • the filled carton is pushed transversely onto the opposite conveyor chain 19 by the device 17, 18.
  • the cycles of the conveyor chain 4 are used to remove the filled carton on the conveyor chain 19 in cycles.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Basic Packing Technique (AREA)
  • Container Filling Or Packaging Operations (AREA)
  • Making Paper Articles (AREA)
EP85108101A 1984-06-30 1985-06-29 Procédé et dispositif pour le remplissage de cartons Withdrawn EP0167138A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19843424233 DE3424233A1 (de) 1984-06-30 1984-06-30 Verfahren und vorrichtung zum befuellen von kartons
DE3424233 1984-06-30

Publications (2)

Publication Number Publication Date
EP0167138A2 true EP0167138A2 (fr) 1986-01-08
EP0167138A3 EP0167138A3 (fr) 1987-01-28

Family

ID=6239592

Family Applications (1)

Application Number Title Priority Date Filing Date
EP85108101A Withdrawn EP0167138A3 (fr) 1984-06-30 1985-06-29 Procédé et dispositif pour le remplissage de cartons

Country Status (2)

Country Link
EP (1) EP0167138A3 (fr)
DE (1) DE3424233A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0224678A1 (fr) * 1985-11-27 1987-06-10 Walter Lauermann Procédé et dispositif pour le déplacement en couches de perches uniformes
FR2716666A1 (fr) * 1994-02-25 1995-09-01 Dispac Procédé et installation pour manipuler des barquettes en forme de tronc de pyramide et les mettre en place dans un emballage.
EP0930255A1 (fr) * 1998-01-16 1999-07-21 Diamond Automations, Inc. Dispositif pour déposer des objets dans un espace délimité
US7762598B2 (en) 2004-09-10 2010-07-27 Kuka Roboter Gmbh Device for handling rod-shaped objects
CN102514748A (zh) * 2011-12-30 2012-06-27 瑞安市博诚机械有限公司 一种全自动塑料杯点数包装机
CN103895900A (zh) * 2014-04-10 2014-07-02 江苏爱动力自动化设备有限公司 一种蓄电池包装线的装箱装置
CN111099074A (zh) * 2019-12-31 2020-05-05 四川索牌科技股份有限公司 一种应用机械手的方便面桶自动上桶设备
CN115070320A (zh) * 2022-07-22 2022-09-20 贵州长征电器成套有限公司 一种多工位加工的气箱焊接定位夹具

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DE3718851A1 (de) * 1986-08-02 1988-02-04 Illig Maschinenbau Adolf Vorrichtung zum uebergeben von becherstangen vorbestimmter laenge von einem transportband in einen karton oder umgekehrt
DE3729373A1 (de) * 1987-09-03 1989-03-16 Illig Maschinenbau Adolf Vorrichtung zum uebergeben von becherstangen von einem transportband in einen mit einer plastikfolie ausgekleideten karton oder umgekehrt
DE4030215C2 (de) * 1990-09-24 1998-07-02 Focke & Co Vorrichtung zum Handhaben von Becherstangen sowie Verwendung eines speziellen Behälters für Becherstangen
DE10360160A1 (de) * 2003-12-20 2005-07-21 Kuka Innotec Gmbh Verfahren und Vorrichtung zum Handhaben stabförmiger Objekte
US8931240B2 (en) 2008-10-27 2015-01-13 Formax, Inc. Shuttle system and method for moving food products into packaging
DE102010024548A1 (de) * 2010-06-22 2011-12-22 Multivac Sepp Haggenmüller Gmbh & Co. Kg Verpackungssystem zum Befüllen eines Sammelbehälters mit Artikeln

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GB605858A (en) * 1940-03-06 1948-08-03 Morris Mason Raymer Improvements in or relating to filling machines
US2842912A (en) * 1953-04-15 1958-07-15 Heinz Co H J Article packing apparatus
US2956384A (en) * 1957-07-12 1960-10-18 Robert L Underwood Freeze package caser
GB870866A (en) * 1958-04-09 1961-06-21 Gordon Henry Bennett Improvements in or relating to gripping means for lifting loading or stacking equipment
US3383833A (en) * 1965-12-17 1968-05-21 Pearson Co R A Case packing machine
DE2000537A1 (de) * 1970-01-07 1971-07-15 Nordischer Maschb Rud Baader Fuellschacht zum Fuellen der Faecher von Verpackungsbehaeltern
DE2312048A1 (de) * 1973-03-10 1974-09-12 Holstein & Kappert Maschf Vorrichtung zum beladen von paletten mit stueckguetern
US3974627A (en) * 1974-03-28 1976-08-17 Pfaff Industriemaschinen Gmbh Apparatus for inserting objects into cartons
US3928942A (en) * 1974-04-19 1975-12-30 Sunkist Growers Inc Means to guide a layer of objects into a box
IT1028779B (it) * 1975-03-12 1979-02-10 Fanini V Apparecchiatura per lo stivaggio a strati, in contenitori a scatola o simili, di pezzi confezionati come scatolette, sacchetti ed altro
DE2532297C3 (de) * 1975-07-18 1981-02-12 Gruner + Jahr Ag & Co, 2210 Itzehoe Anordnung zum Lagern und Transportieren der aus einer Druckmaschine herausgeführten Druckerzeugnisse in Stapelform
FR2391131A1 (fr) * 1977-05-20 1978-12-15 Matra Perfectionnements aux appareils de manipulation de paquets et aux installations en comportant application
DE3214888A1 (de) * 1982-04-22 1983-10-27 Adolf 5758 Fröndenberg Theobald Fuell- und verpackungsvorrichtung fuer kastenfoermige langgutprofile
DE3334769A1 (de) * 1983-09-26 1985-04-11 Karges-Hammer-Maschinen Gmbh & Co Kg, 3300 Braunschweig Transportbehaelter sowie verfahren und vorrichtung zum transportieren von dosendeckelstapeln in dem transportbehaelter

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0224678A1 (fr) * 1985-11-27 1987-06-10 Walter Lauermann Procédé et dispositif pour le déplacement en couches de perches uniformes
FR2716666A1 (fr) * 1994-02-25 1995-09-01 Dispac Procédé et installation pour manipuler des barquettes en forme de tronc de pyramide et les mettre en place dans un emballage.
EP0671327A1 (fr) * 1994-02-25 1995-09-13 Dispac Procédé et installation pour manipuler des barquettes en forme de tronc de pyramide et les mettre en place dans un emballage
EP0930255A1 (fr) * 1998-01-16 1999-07-21 Diamond Automations, Inc. Dispositif pour déposer des objets dans un espace délimité
US6056341A (en) * 1998-01-16 2000-05-02 Diamond Automations, Inc. Apparatus for releasing items within a confined space
US6237978B1 (en) 1998-01-16 2001-05-29 Diamond Automations, Inc. Apparatus for releasing items within a confined space
US7762598B2 (en) 2004-09-10 2010-07-27 Kuka Roboter Gmbh Device for handling rod-shaped objects
CN102514748A (zh) * 2011-12-30 2012-06-27 瑞安市博诚机械有限公司 一种全自动塑料杯点数包装机
CN103895900A (zh) * 2014-04-10 2014-07-02 江苏爱动力自动化设备有限公司 一种蓄电池包装线的装箱装置
CN111099074A (zh) * 2019-12-31 2020-05-05 四川索牌科技股份有限公司 一种应用机械手的方便面桶自动上桶设备
CN115070320A (zh) * 2022-07-22 2022-09-20 贵州长征电器成套有限公司 一种多工位加工的气箱焊接定位夹具

Also Published As

Publication number Publication date
DE3424233C2 (fr) 1987-10-01
DE3424233A1 (de) 1986-01-23
EP0167138A3 (fr) 1987-01-28

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