JPS60252532A - Article translocating hand device - Google Patents
Article translocating hand deviceInfo
- Publication number
- JPS60252532A JPS60252532A JP10694584A JP10694584A JPS60252532A JP S60252532 A JPS60252532 A JP S60252532A JP 10694584 A JP10694584 A JP 10694584A JP 10694584 A JP10694584 A JP 10694584A JP S60252532 A JPS60252532 A JP S60252532A
- Authority
- JP
- Japan
- Prior art keywords
- article
- clippers
- hand device
- bag
- abnormality
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
- B66C1/28—Duplicate, e.g. pivoted, members engaging the loads from two sides
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
Description
【発明の詳細な説明】
［技術分野１
本発明は物品移載用ハンド装置、さらに詳しくは、所定
の場所に置かれたクフ７ト袋のような物品を把んで他の
場所に移送し、そこで物品の積載を行う物品移載用））
ンド装置に閃するものである。DETAILED DESCRIPTION OF THE INVENTION [Technical Field 1] The present invention relates to a hand device for transferring articles, and more specifically, to a hand device for transferring an article, and more specifically, a hand device for grasping an article such as a bag placed at a predetermined place and transferring it to another place. For goods transfer where goods are loaded there))
It is something that flashes on the handheld device.
［背景技術１
一般にこの種の物品移載用）ｚンド装置は左右１こ離間
した一則のクリッパーを有しており、両クリ・ンバーを
近イ」げて物品を把持し、両クリンパ−を離して物品を
放出するようにしている。ところで、従来、両クリンパ
ー間が開状態であるか、閉状態であるかを判定するには
、両クリッパーを駆動するエアシリングのような駆動源
に近接スイッチのような開閉センサを配設し、この開閉
センサの出力により両クリンパ−の開閉状態を検出して
いたちのであって、クリッパー間で把持する物品の形状
か多岐に亘る場合には、物品の形状に応じて駆動源の停
止位置が異なるものであるから、物品の形状に応して開
状態を検出するのが困難であり、開閉セン力を備えた装
置で・はクリッパー間が開状態ではないことしか判断で
きなかった。したがって、ハンド装置に異常が生じて両
クリッパー間が完全に閉状態となっていなくとも、開状
態ではないと判断されると、物品を把持せずに移動する
ことがあり、無人運転の場合に異常の発見力Ｃ遅ｉ１、
生ｇ、１こ支障をきたすとり・う問題があった。[Background Art 1] A Z-nd device (generally used for transferring articles of this type) has a set of clippers spaced one inch apart on the left and right, and grasps the article by bringing both crimpers close together. The object is released by separating the object from the object. By the way, conventionally, in order to determine whether the two crimpers are in an open state or a closed state, an open/close sensor such as a proximity switch is disposed in a drive source such as an air cylinder that drives both clippers. The open/closed state of both crimpers is detected by the output of this open/close sensor, and if the shape of the object to be gripped between the clippers varies, the stop position of the drive source will differ depending on the shape of the object. Therefore, it is difficult to detect the open state depending on the shape of the article, and a device equipped with an opening/closing sensor can only determine that the gap between the clippers is not in the open state. Therefore, even if an abnormality occurs in the hand device and the gap between the two clippers is not completely closed, if it is determined that the clipper is not in the open condition, it may move without gripping the object, and in the case of unmanned operation. Abnormality detection ability C slow i1,
There was a problem with ginger causing problems.
［発明の目的１
本発明は」二連の点に鑑みて為されたものであって、そ
の主な１コ的とするところ１ｆ、物品が両クリンパ−に
把持されていることを検出する物品検出手段を設けるこ
とにより、物品を把持せずに運転される、：とを防止し
、異常の発見か素ｒ１．＜行えるようにした物品移牧用
ハンド装置を提供することにある。[Objective of the Invention 1] The present invention has been made in view of two points, and one of the main points is 1f, an article that detects that an article is gripped by both crimpers. By providing the detection means, it is possible to prevent the object from being operated without gripping it, and to detect abnormalities. <An object of the present invention is to provide a hand device for moving goods.
１発明の開示］
第１図お上Ｖ第２図に示すように、Ｆ方およびん、右に
開放された略コ字形のフレーム木本１のＡ：イボ画１μ
）１下方に−月のクリッパー２が配設される。1 Disclosure of the Invention] As shown in FIG.
) Moon clipper 2 is arranged below 1.
７レーノ、本体１の両側板間には略平行な・幻の支軸３
が保持され、各支軸３にはフレーム本体１の外１１１１
１に向かって突出する連結片４カ・固着され′ζいる。7 Leno, there is a phantom spindle 3 that is almost parallel between the both side plates of the main body 1.
is held, and each support shaft 3 has an outside 1111 of the frame body 1.
4 connecting pieces protruding toward the top 1 are fixedly attached.
、クリッパー２は断面路り字形ｉこ形成された保持板５
に複数の７オーク６を固着した形状に形成され、各７オ
ーク６はそれぞれ保持板５がら下方に垂下する押さえ片
７の下端から両クリツノ＜−２間の距離を縮める向きに
すくい片８が延設された略り字形に形成されでいる。保
持板５」二端の横片は上記連結片４に固着されでおり、
したがって支軸３の回転に伴って、両クリ７バー２の下
端部間が離れ両すくい片８間が大きく開放される状態と
、両クリッパー２の下端部間が近付いて両すく（・片８
開が狭められる状態との間で移動するものである。すな
わち、支軸３の回転に伴ってす（ν・片８を狭めてクラ
フト袋やグンボール箱のような物品９を把持したり、す
くい片８開を広げて物品を放出するのである。各支軸３
は駆動源１０に連結されており、この駆動源１０の動作
により回転する。, the clipper 2 has a holding plate 5 formed with a cross-section having a cross-section.
A plurality of 7 oaks 6 are fixed to each other, and each 7 oak 6 has a rake piece 8 extending from the lower end of the holding piece 7 that hangs downward from the holding plate 5 in a direction that reduces the distance between the two pieces <-2. It is formed in an elongated oval shape. The horizontal pieces at the two ends of the holding plate 5 are fixed to the connecting piece 4,
Therefore, as the support shaft 3 rotates, the lower ends of both clippers 7 and bars 2 are separated, leaving a wide gap between both clippers 8, and the lower ends of both clippers 2 are approaching, causing both clippers 2 and 8 to be separated.
It moves between an open state and a narrowed state. That is, as the support shaft 3 rotates, the scoop pieces 8 are narrowed to grip an article 9 such as a craft bag or gunball box, or the scoop pieces 8 are widened to release the article. Axis 3
is connected to a drive source 10, and is rotated by the operation of this drive source 10.
駆動源１０はシリング１１と、シリング１１のロッド（
図示せず）の平行移動を支軸３に回転移動として伝達す
るリンク１２とにより構成される。シリング１１はフレ
ーム本体１の側板１こ固定された略１、字形の取付＠１
４によって保持され、取付板１４に対して上下に回動自
在となるように軸部１５で軸着されている。シリング１
４のロッドとリンク１２とはロッドとリンク１２とを含
む面内で回動自在となるように連結され、またリンク１
２と支軸３とは固着されている。したがって、ロッドを
進退させると、シリング１１が上下に首を振りリンク１
２の一端部が左右に移動して、リンク１２の他端部に連
結された支軸３が回動するものである。両クリッパー２
間には物品検出子Ｖｉ１６として近接スイッチないし光
電管などにより構成された物品検出手段１６としての物
品センサが配設される。物品センサ１Ｇはクリッパー２
か閉じたときに両クリッパー２開に物品が存在すると物
品検出手段を送出する。図では両クリンパー２間に位置
する押さえ板１７上に物品センサ１６が配設されている
が、物品センサ１６とその接続線とが両クリンパ−２１
１１で物品９や可動部に接触せず、また物品９を検出し
やすい場所であればどの位置に設けてもよい。The drive source 10 includes a shilling 11 and a rod of shilling 11 (
The link 12 transmits parallel movement (not shown) to the support shaft 3 as rotational movement. Schilling 11 is approximately 1 fixed to the side plate of the frame body 1, and is installed in the shape of a letter @ 1
4, and is pivotally attached to the mounting plate 14 by a shaft portion 15 so as to be vertically rotatable. 1 shilling
The rod 4 and the link 12 are connected so as to be rotatable within a plane including the rod and the link 12, and the link 1
2 and the support shaft 3 are fixed to each other. Therefore, when the rod is moved back and forth, the shilling 11 swings its head up and down and the link 1
One end of the link 12 moves left and right, and the support shaft 3 connected to the other end of the link 12 rotates. Both clippers 2
An article sensor as an article detecting means 16 constituted by a proximity switch or a phototube is disposed between them as an article detector Vi16. Article sensor 1G is clipper 2
If an article is present in both clippers 2 when the clipper is closed, the article detection means is sent out. In the figure, the article sensor 16 is disposed on the holding plate 17 located between both crimpers 2, but the article sensor 16 and its connection line are connected to both crimpers 2.
11 may be provided at any position as long as it does not come into contact with the article 9 or the movable part and the article 9 can be easily detected.
第３図および＠４図は」二記物品移載用ハンド装置を利
用した設備を示すものであって、第５図にこの設備にお
ける制御部のブロック図を示し、第６図にその動作の流
れを示す。物品としてクラフト袋５〕がステーションコ
ンベア２１上に搬入されると、グリッド２２が上昇し、
グリッド側袋センサ３０によりグランド２２上に袋９が
搬入されたことが確認される。ここで袋９がなければ袋
９がくるまで待機する。次にハンド装置Ａがクリッパー
２開を開いた状態で下降してクリッパー２が所定の位置
まで下降するとハンド位置センサ３１によりクリッパー
２が所定の位置まで下降したことが確認され、下降を停
止する。ここでハンド装置Ａが定位置まで下降するまで
にハンド側袋センサ１６（物品センサ）によって袋９が
両クリッパー２間に存在することが確認されると、ハン
ド装置の下降が停止する。次に両クリンパー２間が閉じ
、ハンド側袋センサ１６から物品検出信号が送出されク
リッパー２内に袋９が存在することが確認されれば、ハ
ンド装置Ａは袋９を把んだ状態で上昇し、次にパレット
２３の位置まで移動した後、ハンド装置Ａがパレット２
３の位置に位置することをハンド位置センサ３１によっ
て確認し、ハンド装置Ａが所定の位置であればクリッパ
ー２を開放して袋９をパレット２３上に積み重ねる。こ
こでクリッパー２開閉センサ３２によってクリッパー２
が開放されたことが確認されると、ハンド装置Ａはグリ
ッド２２の上方に移動し次の袋９を待機する。これを繰
り返すことにより搬入された袋９をパレット２３上に次
々に積載できるのである。Figures 3 and 4 show equipment that uses the article transfer hand device described in 2. Figure 5 shows a block diagram of the control unit in this equipment, and Figure 6 shows its operation. Show the flow. When the kraft bag 5] is carried onto the station conveyor 21, the grid 22 rises,
The grid-side bag sensor 30 confirms that the bag 9 has been carried onto the ground 22. If there is no bag 9 here, the system waits until bag 9 arrives. Next, when the hand device A descends with the clipper 2 open and the clipper 2 descends to a predetermined position, the hand position sensor 31 confirms that the clipper 2 has descended to the predetermined position and stops the descent. If it is confirmed by the hand-side bag sensor 16 (article sensor) that the bag 9 is present between both clippers 2 before the hand device A is lowered to the normal position, the lowering of the hand device is stopped. Next, when the gap between both crimpers 2 is closed and an article detection signal is sent from the hand-side bag sensor 16 and it is confirmed that the bag 9 is present in the clipper 2, the hand device A rises while gripping the bag 9. Then, after moving to the pallet 23 position, the hand device A moves to the pallet 2 position.
If the hand device A is in the predetermined position, the clipper 2 is opened and the bags 9 are stacked on the pallet 23. Here, the clipper 2 open/close sensor 32 detects the clipper 2.
When it is confirmed that the bag 9 has been opened, the hand device A moves above the grid 22 and waits for the next bag 9. By repeating this process, the bags 9 carried in can be loaded one after another onto the pallet 23.
図中２４はハンド装置Ａの移動ガイドとなるガイドレー
ルである。ハンド装置Ａはハンド位置センサ３１、ハン
ド側袋センサ１６、およびクリンパ−開閉センサ３２が
上述のように正常の出力を送出しているときにはモータ
制御部３３を介してハンド装置Ａを移動させるモータ３
４を制御するが、各センサの出力が判定部３７，３８．
３９によって異常と判定されると、モータ３４の動作を
停止し、ブザーや適宜表示装置のような警報発生手段４
０により構成された警報発生部４０を通して異常の発生
が報知される。In the figure, reference numeral 24 denotes a guide rail that serves as a movement guide for the hand device A. The hand device A is operated by a motor 3 that moves the hand device A via a motor control unit 33 when the hand position sensor 31, the hand-side bag sensor 16, and the crimper opening/closing sensor 32 are sending out normal outputs as described above.
4, the output of each sensor is determined by the determination unit 37, 38 .
39, the operation of the motor 34 is stopped and the alarm generating means 4 such as a buzzer or an appropriate display device is activated.
The occurrence of an abnormality is notified through the alarm generating section 40 configured by 0.
［発明の効果１
本発明は」二連のように、両クリッパーが近付いたとき
に両クリッパー間に物品が存在すると物品検出信号を送
出する物品検出手段が設けられ、両クリッパーを近付け
たときに物品検出信号が送出されなければ異常を報知す
る警報発生手段が設けられているので、クリッパー間に
物品が把持されでいなければ異常発生の警報が送出され
、異常の発見が素早く行えるという利点を有するもので
ある。[Effect of the Invention 1] The present invention is provided with article detection means that sends out an article detection signal when an article is present between both clippers when the two clippers approach each other. Since an alarm generating means is provided to notify an abnormality if an article detection signal is not sent out, an alarm of an abnormality occurrence is sent out if an article is not gripped between the clippers, which has the advantage that an abnormality can be quickly discovered. It is something that you have.
第１図は本発明の一実施例を示す概略断面図、第２図は
第１図中Ｘ−Ｘ線断面図、第３図は同上の使用例を示す
平面図、第４図は同」二の使用例を示す側面図、第５図
は同上に使用する制御部のブロック図、第６図は同上の
制御部の動作を説明する流れ図である。
２はクリンパ−１１６は物品検出手段、４０は警報発生
手段である。
代理人 弁理士 石 １）艮 七
第２図
第３図
第４図
４
手続術ｕｊＥ−書（Ｔｈ＋発）
昭和６０年４月２ Ｂ
１．１１’件の表示
昭和５９年特許願第１０６９４５号
２、発明の名称
初晶移載用ハンド装置
３、補正をする者
事件との関係 特許出願人
住 所 大阪府門真市大字門真１ （１４８番地名称（
５８３）松下電工株式会社
代表者 藤井臼夫
４、代理人
郵便番号 ５３０
住 所 大阪市北区梅ＦＢ１丁目１２番１７号ｊ５．補
」丁；命令の日イす
自 発
６、補正により増加する発明の数 なし１）本願明細書
第６頁第３行を削除し、「ると、グリッド側袋セン」を
挿入する。
２）同」６同頁第５行を削除し、１ことがｌｆ認され、
グリッド２２が上昇する。ここで袋９がなければ袋９が
」を挿入する。。
３）同一に同頁第１９行を削除し、「ンド装置Ａがパレ
ット２３の所定位置に位置すること」を挿入する。
４）添付図面中温６図を別紙のように訂正する。
代理人 弁理士 石 １）艮 七Fig. 1 is a schematic sectional view showing one embodiment of the present invention, Fig. 2 is a sectional view taken along line X-X in Fig. 1, Fig. 3 is a plan view showing an example of use of the same, and Fig. 4 is the same. FIG. 5 is a block diagram of the control section used in the second example of use, and FIG. 6 is a flowchart explaining the operation of the control section used in the above. 2, the crimper 116 is an article detection means, and 40 is an alarm generation means. Agent Patent Attorney Ishi 1) Ai 7 Figure 2 Figure 3 Figure 4 Figure 4 Procedural Techniques ujE-Book (issued by Th+) April 1985 2 B 1.11' Display Patent Application No. 106945 of 1988 2. Name of the invention Hand device for transferring primary crystals 3. Relationship with the case of the person making the amendment Patent applicant address 1 Oaza Kadoma, Kadoma City, Osaka Prefecture (148 address name (
583) Matsushita Electric Works Co., Ltd. Representative Usuo Fujii 4 Agent postal code 530 Address 1-12-17 Ume FB, Kita-ku, Osaka j5. 6. Number of inventions increased by amendment None 1) Delete the 3rd line of page 6 of the specification of the present application and insert ``And then, the grid side bag sen''. 2) Delete the 5th line of the same page of the same page, and 1 has been recognized as lf,
Grid 22 rises. If bag 9 does not exist here, insert bag 9. . 3) Similarly, delete the 19th line of the same page and insert "that the hand device A is located at a predetermined position on the pallet 23". 4) Correct the attached drawing, Figure 6, as shown in the attached sheet. Agent Patent Attorney Ishi 1) Ai Shichi
Claims (1)
パーを有し、両クリッパーを互いに近付けて物品をクリ
ッパー間に把持する位置と両クリッパーを互いに離れさ
せて物品を放出する位置との間で開閉自在となったハン
ド装置であって、両クリッパーが近付いたときに両クリ
ッパー間に物品が存在すると物品検出信号を送出する物
品検出手段が設けられ、両クリンパ−を近付けたときに
物品検出信号が送出されなければ異常を報知する警報発
生手段が設けられたことを特徴とする物品移載用ハンド
装置。(1) It has a pair of clippers that are spaced apart and facing each other, and has two positions: one position where both clippers are brought close to each other and the article is gripped between the clippers, and the other position where both clippers are moved apart from each other and the article is released. The hand device can be opened and closed between the two clippers, and is provided with an article detection means that sends out an article detection signal when an article is present between the two clippers when the two clippers approach each other. A hand device for transferring articles, characterized in that it is provided with an alarm generating means for notifying an abnormality if a detection signal is not sent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10694584A JPS60252532A (en) | 1984-05-25 | 1984-05-25 | Article translocating hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10694584A JPS60252532A (en) | 1984-05-25 | 1984-05-25 | Article translocating hand device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60252532A true JPS60252532A (en) | 1985-12-13 |
Family
ID=14446508
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10694584A Pending JPS60252532A (en) | 1984-05-25 | 1984-05-25 | Article translocating hand device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60252532A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6453927A (en) * | 1987-06-03 | 1989-03-01 | Bat Cigarettenfab Gmbh | At least one load conveyor |
| US4968082A (en) * | 1988-02-23 | 1990-11-06 | Videocolor | Method for the automatic gripping of objects, enabling the preservation of at least one reference element related to it, and grip to implement said method |
| EP0680900A1 (en) * | 1994-05-06 | 1995-11-08 | Marti Technologie Ag | Device and operational instructions to grip a body, preferably a cylindrical body |
| CN101774173A (en) * | 2010-02-10 | 2010-07-14 | 中国电子科技集团公司第四十五研究所 | Sheet-grasping mechanical arm of full-automatic battery plate printing machine |
| JP2014118251A (en) * | 2012-12-14 | 2014-06-30 | Aero Asahi Corp | Hook device |
| CN104260102A (en) * | 2014-09-15 | 2015-01-07 | 江苏牧羊控股有限公司 | Robot gripper |
| WO2017049571A1 (en) * | 2015-09-25 | 2017-03-30 | 侯景忠 | Lifting clamp with quick replacement function |
| CN108058986A (en) * | 2017-11-05 | 2018-05-22 | 安徽康乐机械科技有限公司 | Give birth to loading machine |
| JP2020518478A (en) * | 2017-05-01 | 2020-06-25 | ソフト ロボティクス， インコーポレイテッド | Structure for robot end effector |
-
1984
- 1984-05-25 JP JP10694584A patent/JPS60252532A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6453927A (en) * | 1987-06-03 | 1989-03-01 | Bat Cigarettenfab Gmbh | At least one load conveyor |
| US4968082A (en) * | 1988-02-23 | 1990-11-06 | Videocolor | Method for the automatic gripping of objects, enabling the preservation of at least one reference element related to it, and grip to implement said method |
| EP0680900A1 (en) * | 1994-05-06 | 1995-11-08 | Marti Technologie Ag | Device and operational instructions to grip a body, preferably a cylindrical body |
| CN101774173A (en) * | 2010-02-10 | 2010-07-14 | 中国电子科技集团公司第四十五研究所 | Sheet-grasping mechanical arm of full-automatic battery plate printing machine |
| JP2014118251A (en) * | 2012-12-14 | 2014-06-30 | Aero Asahi Corp | Hook device |
| CN104260102A (en) * | 2014-09-15 | 2015-01-07 | 江苏牧羊控股有限公司 | Robot gripper |
| WO2017049571A1 (en) * | 2015-09-25 | 2017-03-30 | 侯景忠 | Lifting clamp with quick replacement function |
| JP2020518478A (en) * | 2017-05-01 | 2020-06-25 | ソフト ロボティクス， インコーポレイテッド | Structure for robot end effector |
| CN108058986A (en) * | 2017-11-05 | 2018-05-22 | 安徽康乐机械科技有限公司 | Give birth to loading machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPS60252532A (en) | Article translocating hand device | |
| EP0129502B1 (en) | Apparatus for filling bags | |
| CN105691782A (en) | Automatic opening method and device for cigarette box | |
| CN101704418B (en) | Wholly-lifting sharp-nose full-automatic sack-holder device adopting tongs and clamping plates | |
| ATE153939T1 (en) | DEVICE FOR FILLING SACKS OPEN ON SINGLE SIDE | |
| US5398484A (en) | Transfer device for gripping and depositing a filled bag and for moving it into a closing device | |
| GB1286947A (en) | Improvements in or relating to bag transfer apparatus and method | |
| US5452559A (en) | Bagging machine with side bag gripping and transfer mechanism | |
| GB731410A (en) | Improvements in or relating to apparatus for delivering stacks of sheet materials | |
| CN101486389A (en) | Full-automatic packer for toilet roll | |
| JPH0637247B2 (en) | Linen gripping state recognition method and device | |
| CN108080523A (en) | For the robot of press machine loading and unloading and the loading and unloading system of press machine | |
| CN116142782B (en) | Automatic unstacking and bag breaking system and method for robot based on visual guidance | |
| CN100500531C (en) | Apparatus and method for fetching and supplying sheet material | |
| CN108016807A (en) | 360 degree of annular shelf caching systems | |
| GB1330381A (en) | Apparatus for parcelling stacks of flattened paper or plastics bags | |
| US4538720A (en) | Apparatus for transferring articles between conveyors | |
| US4647031A (en) | Gripper finger device | |
| US4141194A (en) | Machine for packaging chickens | |
| US4548243A (en) | Apparatus for automatically placing bags | |
| US4056132A (en) | Bag filling apparatus with air contaminate prevention | |
| GB1516299A (en) | Machine for filling bags with a predetermined weight of material | |
| CN203728113U (en) | Belt anti-tear monitoring device | |
| NO142247B (en) | CAST FORM FOR MANUFACTURING A COMPOSITE PRODUCT | |
| CN208303707U (en) | Clamp the feed mechanism of material automatically for robot |