WO2007147566A1 - Dispositif de traitement de structures tubulaires souples présentant au moins une ouverture - Google Patents

Dispositif de traitement de structures tubulaires souples présentant au moins une ouverture Download PDF

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Publication number
WO2007147566A1
WO2007147566A1 PCT/EP2007/005399 EP2007005399W WO2007147566A1 WO 2007147566 A1 WO2007147566 A1 WO 2007147566A1 EP 2007005399 W EP2007005399 W EP 2007005399W WO 2007147566 A1 WO2007147566 A1 WO 2007147566A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripper
guide
strands
grippers
bag
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/EP2007/005399
Other languages
German (de)
English (en)
Inventor
Thomas Matheyka
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.)
KHS GmbH
Original Assignee
KHS GmbH
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 KHS GmbH filed Critical KHS GmbH
Priority to EP07764723A priority Critical patent/EP2035283A1/fr
Priority to JP2009515758A priority patent/JP2009541149A/ja
Priority to MX2008016435A priority patent/MX2008016435A/es
Publication of WO2007147566A1 publication Critical patent/WO2007147566A1/fr
Priority to US12/341,564 priority patent/US20090158694A1/en
Priority to US12/342,440 priority patent/US8707663B2/en
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
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
    • B65B43/465—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers for bags
    • 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
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
    • B65B43/30—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by grippers engaging opposed walls, e.g. suction-operated
    • 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
    • B65B59/00—Arrangements to enable machines to handle articles of different sizes, to produce packages of different sizes, to vary the contents of packages, to handle different types of packaging material, or to give access for cleaning or maintenance purposes
    • B65B59/003—Arrangements to enable adjustments related to the packaging material
    • 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
    • B65B59/00—Arrangements to enable machines to handle articles of different sizes, to produce packages of different sizes, to vary the contents of packages, to handle different types of packaging material, or to give access for cleaning or maintenance purposes
    • B65B59/005—Adjustable conveying means
    • 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
    • B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
    • B65G17/26—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface comprising a series of co-operating units, e.g. interconnected by pivots

Definitions

  • the invention relates to a device for the treatment of flexible, hose-like structures with regularly at least one opening, in particular of bags, with at least one respective structure preferably holding at its opening gripper pair with at least one guide gripper and a follower gripper.
  • Such a device is described, for example, in US Pat. No. 5,862,653. Comparable is the EP 0 765 807 before.
  • Such machines are used, for example, to transfer bags to a processing station where these bags are filled with mostly liquid or dry products.
  • the respective bags can be made of flat Hüllstoffbahnen, which are separated from a roll coming through a separating cut.
  • the closure of the individual bags at the opposite end of the opening is defined by, for example, thermal sealing, by ultrasound or by gluing and comparable processes.
  • the device in question is also suitable for the treatment of already prefabricated bags or similar flexible hose-like structures. It is always important to supply the structures or bags in question to a subsequent processing. This not only includes the already described filling, but also, for example, the application of spouts, adapters and valves. Furthermore, the bags can also be contoured and equipped with labels, hangers, tabs etc. Finally, the subsequent processing steps or the treatment of the bags also include process operations such as inert gas sparging, sterilization or dust extraction.
  • devices for the treatment of flexible hose-like structures with at least one opening are known from practice, which rely on a carousel equipped with grippers. On a relatively small diameter, a plurality of pairs of grippers are available, which hold and process the bags at the outer two vertical ends. Naturally, as the radius of such machines increases, the circular velocity also increases, which leads to very high centrifugal forces, so that the known machines are limited in their transport speed.
  • the usually small diameter of the respective carousel permits only one metering with a maximum of two different metering devices or filling nozzles. In practice, however, increasingly more than two dosages are required and consequently a large number of metering devices or filling nozzles is necessary.
  • instant soups in the bag require at least three, if not four, or more dosing devices that load noodles, dried vegetables, croutons and the actual soup powder into the respective bag for making the ready-made soup. It can only be ensured by the individual dosages described a consistent quality with the desired proportions of the respective components.
  • the invention aims to provide a total remedy.
  • the invention is based on the technical problem of developing such a device for the treatment of flexible, hose-like structures with at least one opening, in particular of bags, so that a simple and rapid retrofitting of the gripper pairs succeeds and, in principle, sufficient space for attaching associated metering devices Available.
  • a generic device in the invention is characterized in that the guide gripper and the follower gripper are connected to different and relatively movable guide strands.
  • the guide gripper is that gripper of the gripper pair which, during transport of the respective structure, leads the gripper pair, while the following gripper follows the guide gripper and accordingly closes the gripper pair in the transport direction or running direction of the gripper.
  • the grippers can hold the respective structure or the bag in any conceivable manner, for example, in which the grippers move into the opening and then rest on the bag walls in a frictional connection by widening the opening.
  • the gripper with staples, by suction, etc. seize the respective bag or the structure, and usually the guide gripper in the transport or running front front vertical end of each bag and the follower gripper the associated rear vertical end.
  • the bags are not used differently from the illustrated embodiment at its mouth area, but at its side edges.
  • the two guide strands which are movable relative to one another, may each be driven by a motor and separated from one another, wherein a respective different drive for the associated guide strand is preferred in order to ensure the described relative movement of the guide strands against each other.
  • the invention ensures that very different sized bags can be processed with correspondingly variable openings or filling openings and contours.
  • it is only necessary to act on the guide strands so that the guide gripper and the following gripper are moved by the same amount, namely the guide gripper in the transport direction and the following gripper against the transport direction.
  • the invention ensures that with regard to the respective center of the bag placed metering devices unchanged in the middle of the bag, even in bags with changed dimensions.
  • the two guide strands are each in the form of an endless loop and are operated as such.
  • the guide strands themselves can each have one or more transport means such as belts, chains, etc., to which the guide grippers or follower grippers are connected separately and separately. That is, the guide gripper are each connected to a leadership strand, the leadership gripper strand.
  • the follower grippers are also connected to a guide strand together, the follower gripper line.
  • both the guide gripper line and the follower gripper line have their own motor drive and own means of transport.
  • Both guide strands or gripper strands or their motors are connected to a common control system, which is responsible for the described relative movement of the gripper to each other.
  • One of the two guide lines or gripper strands defined trajectory is linear at least on a portion of predetermined length. This subsection of predetermined length takes into account the requirements to dose different products or components in the structure or the bag or have to. Depending on the number of usually one behind the other (linear) and arranged in series metering devices, the length of the linear section is specified.
  • the trajectory of the two guide strands or gripper strands describes a long circular path.
  • the two grippers are regularly arranged in comparison to the path formed by the guide strands respectively gripper strands on a common side, the processing side.
  • a front and a rear deflector for the gripper or the individual gripper pairs ensures that they are held in the concentricity on the long circular path.
  • the distance of the two grippers to each other generally corresponds to the width of the bag to be processed or the width of its opening or filling opening. Once a pair of grippers has fixed the bag to be processed, this is only released again when it is finished, for example, has the required filling, provided with a label and, where appropriate, was subjected to a dust extraction. It is understood that the distance in question is stored in the already mentioned control system and can be retrieved during processing of the bag in question. Likewise, other processing distances for the respective gripper are stored in the control system.
  • the control system ensures that the two grippers of each pair of grippers are driven apart in a reproducible manner, whereby it is additionally ensured that the respective bag centers do not undergo any change when the bags are changed. This ensures that the bags are always supplied with their bag center, for example, the respective metering device reproducible and fixed position of the bag center.
  • the guide strands or gripper strands and with you the guide gripper and the follower gripper of each pair of grippers can be moved relative to each other, and advantageous motor, on the one hand the motor of the guide gripper bar and on the other hand that of the follower gripper bar a corresponding and by the control system depending on the bag learn given admission.
  • Both the manual and the motorized displacement of the gripper or guide strands to each other makes it possible not only to vary the distance between the grippers of each gripper pair to each other. But it can also be a total change in the distance of the gripper pairs from each other a desired change. This distance of the gripper pairs from each other is also referred to as gripper pairing.
  • the motor and the manual displacement can of course be combined.
  • the invention takes into account requirements, according to which, for example, a larger bag can only be filled with two instead of four previously dosing and must. In such a case one will usually work with a larger gripper pair pitch than before and possibly increase the speed of the guide strands or gripper strands at the same time. Of course, a reverse procedure is conceivable.
  • the device according to the invention can be easily converted to other grippers. This again increases the flexibility and improves the device described for almost universal applications.
  • a device for the treatment of flexible hose-like structures with at least one opening, in particular of bags is made available, which has a flexibility which has hitherto been absent.
  • very different bags or structures can be processed with still varying openings or filling openings, without the need for mechanical intervention. Rather, for example, the conversion in a bag change as it were automatically by retrieval of the associated processing program in the control system.
  • the grippers can be easily exchanged, so that different gripping applications are easily taken into account.
  • main benefits are the main benefits.
  • Fig. 1 shows the device according to the invention fragmentary in perspective
  • Fig. 2 is a side view of the device, partially in detail and
  • Fig. 3 is a side view at a bag change.
  • a device is shown, which is suitable for the treatment of flexible tubular structures with at least one opening, in the context of the embodiment and not limiting for the treatment of bags 1.
  • processing the bag 1 is meant by way of example its filling by means of metering devices 2.
  • this could also include the attachment of labels, an imprint, contouring, the application or attachment of spouts, adapters, valves, etc.
  • the illustrated device includes at least one gripper pair 3, 4, which has a guide gripper 3 and a follower gripper 4. It can be seen that a plurality of guide grippers 3 and follower grippers 4 are realized in the exemplary embodiment.
  • Each bag 1 is fixed and transported by means of the associated gripper pair 3, 4.
  • the gripper pair 3, 4 holds the bag 1 in question at its opening or filling opening.
  • the or the guide gripper 3 and the respective follower gripper 4 are connected to different and relatively movable guide strands or gripper strands 5, 6.
  • all of the guide grippers 3 enter into a connection with a guide gripper rope 5, while the following grippers 4 are in turn exceptionally connected to a follower gripper strand 6 of the two guide strands or gripper strands 5, 6.
  • the respective guide grippers 3 assume a leading position in the transport direction or movement direction R of the respective gripper pairs 3, 4, while the follower grippers 4 follow - nomen est omen. So that the two guide strands 5, 6 are mutually movable or displaceable, the guide strands 5, 6 have only indicated different motor drives 7, 8, which can be acted upon separately from each other. It is of course within the scope of the invention to work with only one drive, as long as this allows the separate admission of on the one hand the guide looper strand 5 and on the other hand, the following looper strand 6.
  • the motor drive 7 is a guide gripper strand drive 7, which operates on the guide gripper track 5, while the motor drive 8 is designed as a follower gripper track drive 8 and acts on the follower gripper track 6.
  • Both the guide gripper line drive 7 and the follower gripper line drive 8 are designed as electronic servomotors within the scope of the exemplary embodiment and are not restrictive and are connected to a common control system 9.
  • Both guide strands 5, 6 are each in the form of an endless loop, formed in the embodiment in the form of an elongated circular path.
  • the trajectory defined in this way by the two guide tracks or gripper strands 5, 6 and traversed in the direction of movement R runs linearly at least over a section T of predetermined length L.
  • this subsection T of predetermined length L takes account of the number of metering devices 2 in the example case, which are each arranged in a stationary manner.
  • the two guide strands or gripper strands 5, 6 are arranged or extend one above the other in side view and define the movement path in question.
  • the two guide strands 5, 6 each include one or more transport means not explicitly shown, such as belts, chains, etc., which in principle can also be combined.
  • the guide grippers 3 and the follower grippers 4 are connected to the transport means in question separately and separately from one another, namely the guide grippers 3 to the transport means of the guide gripper bar 5 and the follower grippers 4 to the respective transport means of the follower gripper bar 6.
  • the two grippers 3, 4 can now be changed in their distance A to each other, for example, by the guide rapier drive 7 acts on the guide gripper strand 5, while the follower gripper strand 6 rests. But it is also possible to vary a distance B of the gripper pairs 3, 4 from each other. This distance B of the gripper pairs 3, 4 from each other is also referred to as gripper pairing.
  • the control system 9 ensures in this context, for example, that the respective guide grippers 3 By a certain amount C in the transport direction R are adjusted and the respective follower gripper 4 by the same amount C against the transport direction R.
  • this symmetrical adjustment to the same amount C is achieved that the bag center M even when changing a bag unchanged their position maintains, as the illustration in Fig. 3 makes clear for different bags 1 and in a bag change.
  • the gripper pair division can also be changed by inserting corresponding spacers 10, as indicated in FIG. 2. That is, the distances A and / or B can be changed both motor and manually.
  • differently shaped bags 1 are taken into account during a bag change and at the same time ensured that the respective bag centers M maintain their unchanged position in comparison to the guide strands 5, 6 and consequently also to the metering devices 2.
  • the grippers 3, 4 are respectively connected to holding plates 1 1, 12, which is best seen in FIG.
  • the guide holding plates 11 accommodating the respective guide grippers 3 are logically connected to the guide gripper bar 5.
  • the follower plates 12 enter into a connection with the follower gripper strand 6. This can be done in detail by screwing, riveting, etc.
  • the grippers 3, 4 themselves are detachably connected to the respective guide strands or gripper strands 5, 6 or their associated holding plates 1 1, 12 connected, in the example case hanging.
  • the two guide strands or gripper strands 5, 6 can be modularly constructed with associated frames, and consequently can be assembled from different modules. This makes it possible to adapt the described device of its length and design to very different requirements.
  • This also includes the option of providing a further third strand (not shown) above or below the two guide strands or gripper strands 5, 6.
  • This third Guide strand or rapier strand may be equipped with multiple pairs of double grippers, so that two bags 1 can be processed simultaneously.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Basic Packing Technique (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)

Abstract

La présente invention concerne un dispositif de traitement de structures tubulaires souples présentant au moins une ouverture, en particulier de sacs (1). Ce dispositif est équipé d'au moins une griffe (3, 4) qui tient la structure au niveau de son ouverture et qui comprend une griffe de guidage (3) et une griffe suiveuse (4). Selon cette invention, la griffe de guidage (3) et la griffe suiveuse (4) sont reliées à des voies de guidage différentes (5, 6) qui sont mobiles l'une par rapport à l'autre.
PCT/EP2007/005399 2006-06-23 2007-06-20 Dispositif de traitement de structures tubulaires souples présentant au moins une ouverture Ceased WO2007147566A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP07764723A EP2035283A1 (fr) 2006-06-23 2007-06-20 Dispositif de traitement de structures tubulaires souples présentant au moins une ouverture
JP2009515758A JP2009541149A (ja) 2006-06-23 2007-06-20 少なくとも一つの開口を有する柔軟なホース状構造物を処理する装置
MX2008016435A MX2008016435A (es) 2006-06-23 2007-06-20 Dispositivo para tratar estructuras tubulares flexibles que tienen al menos una abertura.
US12/341,564 US20090158694A1 (en) 2006-06-23 2008-12-22 Method and apparatus for the opening and filling of flexibly sided containers such as bags having at least one opening therein
US12/342,440 US8707663B2 (en) 2006-06-23 2008-12-23 Apparatus for the filling of bags having at least one opening therein and having space to permit decreased accumulation of filling materials

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006028796A DE102006028796A1 (de) 2006-06-23 2006-06-23 Vorrichtung zur Behandlung von flexiblen schlauchartigen Gebilden mit wenigstens einer Öffnung
DE102006028796.7 2006-06-23

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
US12/341,564 Continuation-In-Part US20090158694A1 (en) 2006-06-23 2008-12-22 Method and apparatus for the opening and filling of flexibly sided containers such as bags having at least one opening therein

Related Child Applications (2)

Application Number Title Priority Date Filing Date
PCT/EP2007/005402 Continuation-In-Part WO2008000376A1 (fr) 2006-06-23 2007-06-20 Dispositif pour le traitement d'objets flexibles, tubulaires, en particulier de sacs
US12/341,564 Continuation-In-Part US20090158694A1 (en) 2006-06-23 2008-12-22 Method and apparatus for the opening and filling of flexibly sided containers such as bags having at least one opening therein

Publications (1)

Publication Number Publication Date
WO2007147566A1 true WO2007147566A1 (fr) 2007-12-27

Family

ID=38458098

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2007/005399 Ceased WO2007147566A1 (fr) 2006-06-23 2007-06-20 Dispositif de traitement de structures tubulaires souples présentant au moins une ouverture

Country Status (9)

Country Link
US (1) US20090158694A1 (fr)
EP (1) EP2035283A1 (fr)
JP (1) JP2009541149A (fr)
CN (1) CN101506048A (fr)
BR (1) BRPI0712288A2 (fr)
DE (1) DE102006028796A1 (fr)
MX (1) MX2008016435A (fr)
RU (1) RU2009102072A (fr)
WO (1) WO2007147566A1 (fr)

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JP2009269673A (ja) * 2008-05-02 2009-11-19 Indag Ges Fuer Industriebedarf Mbh & Co Betriebs Kg 可撓性パウチを取り扱うための装置
CN112278421A (zh) * 2020-10-21 2021-01-29 湖南新中意食品有限公司 一种糖果称量装置

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DE102014001013A1 (de) * 2014-01-25 2014-04-17 B & B - Maf Gmbh & Co. Kg Verfahren zum Ausrichten mindestens eines Verpackungsbehältnisses
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CN106081240B (zh) * 2016-06-16 2018-07-17 朗锐包装技术（沧州）有限公司 一种袋传送装置
US10836525B1 (en) * 2017-03-07 2020-11-17 Amazon Technologies, Inc. Robotic gripper for bagging items
RU2736338C1 (ru) * 2017-04-05 2020-11-16 Дженерал Пэкер Ко., Лтд. Способ упаковки, используемый в устройстве для подачи и упаковки оболочек, и устройство для подачи и упаковки оболочек
CN107323759A (zh) * 2017-08-17 2017-11-07 重庆尚洁日化用品有限公司 袋式洗发水自动灌装系统
CN108407389B (zh) * 2018-04-12 2023-09-19 江南大学 一种化肥包装编织袋开袋装置
EP3744649B1 (fr) * 2019-05-27 2021-07-07 Mespack, S.L. Dispositif de transport pour transporter des récipients souples le long d'une ligne d'emballage
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CN111806741B (zh) * 2020-08-11 2024-12-13 四川成创智能科技有限公司 一种软袋灌装装置
DE102020134136A1 (de) 2020-12-18 2022-06-23 Focke & Co. (Gmbh & Co. Kg) Verfahren und Vorrichtung zum Befüllen von Beuteln
US11975878B2 (en) * 2021-02-04 2024-05-07 United Parcel Service Of America, Inc. Automated handling and manipulation of packages and packages specially adapted therefor
US12138804B2 (en) 2021-02-04 2024-11-12 United Parcel Services Of America, Inc. Automated handling and manipulation of packages and packages specially adapted therefor
US12037152B2 (en) * 2021-02-04 2024-07-16 United Parcel Service Of America, Inc. Automated handling and manipulation of packages and packages specially adapted therefor
CN114889215A (zh) * 2022-04-22 2022-08-12 宜昌市天台包装制品有限责任公司 一种高效连续纸壳贴纸装置
JP7345805B1 (ja) * 2022-04-27 2023-09-19 オリオン機械工業株式会社 開袋装置
DE102022112561A1 (de) 2022-05-19 2023-11-23 Focke & Co. (Gmbh & Co. Kg) Verfahren und Vorrichtung zum Handhaben von Beuteln für (Hygiene-)Produkte
CN115367208B (zh) * 2022-07-26 2023-10-24 深圳市天麟精密科技有限公司 一种自动循环上袋机构
CN116513601A (zh) * 2023-07-05 2023-08-01 江苏汤姆森智能装备有限公司 一种双动力环形导轨装置及包装机
IT202300022254A1 (it) * 2023-10-24 2025-04-24 Pfm Spa Gruppo di movimentazione di confezioni per una macchina automatica confezionatrice e relativo metodo
CN118560792B (zh) * 2024-05-13 2025-04-29 深圳市和力泰科技集团有限公司 柔性包装材料的全自动灌装设备

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CN112278421A (zh) * 2020-10-21 2021-01-29 湖南新中意食品有限公司 一种糖果称量装置

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MX2008016435A (es) 2009-02-18
BRPI0712288A2 (pt) 2012-01-10
RU2009102072A (ru) 2010-08-10
DE102006028796A1 (de) 2007-12-27
CN101506048A (zh) 2009-08-12
US20090158694A1 (en) 2009-06-25
JP2009541149A (ja) 2009-11-26

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