WO2007055112A1 - 整列コンベア装置 - Google Patents
整列コンベア装置 Download PDFInfo
- Publication number
- WO2007055112A1 WO2007055112A1 PCT/JP2006/321494 JP2006321494W WO2007055112A1 WO 2007055112 A1 WO2007055112 A1 WO 2007055112A1 JP 2006321494 W JP2006321494 W JP 2006321494W WO 2007055112 A1 WO2007055112 A1 WO 2007055112A1
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- WO
- WIPO (PCT)
- Prior art keywords
- conveyor
- product
- alignment
- alignment conveyor
- output
- Prior art date
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
- B65G47/30—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a series of conveyors
- B65G47/31—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a series of conveyors by varying the relative speeds of the conveyors forming the series
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/10—Sequence control of conveyors operating in combination
Definitions
- the present invention relates to an alignment conveyor apparatus that aligns and conveys products supplied at random intervals including a close contact state at a set interval.
- a conventional alignment conveyor device includes an input conveyor that supplies products, a speed-change conveyor that corrects the position of the products, and an output conveyor that receives and conveys products from the speed-change conveyor.
- the speed of the output conveyor is normally constant, and the reference speed of the speed change conveyor is set to be the same as the speed of the output conveyor.
- the speed of the speed change conveyor is the reference speed except when position correction is performed.
- the speed of the input conveyor is set slower than the reference speed of the speed change conveyor. This is because when the product is supplied in close contact with the input conveyor, the speed change conveyor is made faster than the input conveyor to separate the product that is in close contact due to the difference in conveyor speed. (For example, see Patent Document 1)
- For product position correction on the shift conveyor calculate the distance from the current position to the transfer of the output conveyor and the target position force position correction amount on the output conveyor, and share the correction amount on each shift conveyor. I am trying to correct it.
- the position correction direction is corrected only in the forward direction, that is, in the direction of increasing the speed of the speed change conveyor.
- the position correction amount is calculated in consideration of the maximum speed of the speed change conveyor.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2003-292146 (Page 10-17, Fig. 1)
- the present invention has been made in view of such a problem, and can securely pull apart closely adhered products, and corrects the position in either the direction of increasing or decreasing the speed of the speed change conveyor. It is an object of the present invention to provide an alignment conveyor device that can be used. Furthermore, an object of the present invention is to provide an aligning conveyor device that can perform transfer smoothly even when the downstream conveyor performs position correction. Means for solving the problem
- the present invention is configured as follows.
- the speed change conveyor in the conventional example is hereinafter referred to as an alignment conveyor according to the embodiment of the present application.
- the invention according to claim 1 is an input conveyor for supplying products, an output conveyor having flaps arranged at regular intervals, and a single unit provided between the input conveyor and the output conveyor. Or a plurality of alignment conveyors, a flap sensor for detecting a flap disposed on the output conveyor, a product sensor for detecting that the product has been transferred onto the alignment conveyor, the alignment conveyor and the output conveyor.
- a control device connected to the control device, and the control device controls the position of the product on the alignment conveyor and corrects the position of the product, and controls the position of the output conveyor.
- An output conveyor control unit for controlling the product transfer position A between the flaps.
- a conveyor control unit manages a product position on the alignment conveyor based on a signal from the product sensor, a product transfer position between the flaps, and a product position on the alignment conveyor.
- a position correction calculation unit for obtaining a correction target distance for the leading product on the alignment conveyor, and a position correction command generation unit for generating smooth cam curve data satisfying the position correction amount.
- the section controls the alignment conveyor independently, and conveys at a speed synchronized with the alignment conveyor or the output conveyor immediately downstream, except when the alignment conveyor is correcting the position.
- the position correction calculation unit compares the remaining distance from the product position to the immediately downstream competitor with the correction target distance, and when the remaining distance is large, in the case of the alignment conveyor The position is corrected in the direction of increasing the speed, or in the direction of decreasing the speed of the alignment conveyor when the remaining distance is small.
- the invention according to claim 3 is characterized in that the position correction calculation unit obtains a correctable distance using an acceleration set within a range that does not cause a position shift at the time of position correction, and limits the position correction amount by the correctable distance. It is what you do.
- the product position management unit includes a product contact detection unit, and the product contact detection unit has a movement distance during ON of the product sensor signal larger than a factor times the product length.
- the product sensor signal ON start position force is determined such that the position obtained by subtracting the product length is set as the head position of the upstream product.
- the position correction calculation unit determines that the product is in close contact, a position obtained by subtracting the product length from the start position of the signal ON of the product sensor is set as the ON start position of the virtual product sensor.
- the contact detection process is performed.
- the position correction calculation unit determines that the product is in close contact, and the preceding closely contacted product is transferred to the downstream alignment conveyor, the upstream side adjustment conveyor.
- the speed of the product is reduced to correct the delay so that the position of the upstream product is delayed.
- the output conveyor control unit further includes a virtual flap sensor unit, and the virtual flap sensor unit has a virtual flap with an arbitrarily set flap interval length. A lap sensor signal is output.
- the alignment conveyor speed can be corrected in the direction of decreasing.
- the product can be controlled so that the position of the product is corrected backward and placed between the next flaps of the output conveyor. As a result, the position correction amount is small and the position correction can be completed within the alignment conveyor.
- the contact state can be detected by detecting the contact state and starting the virtual product sensor for the upstream product, the contact detection can be performed even when two or more contacts are made. Can be pulled apart.
- the downstream product when the downstream product is transferred to the immediately downstream conveyor in a close contact state, the product is pulled apart by decelerating the upstream alignment conveyor.
- the conveyor speed need not be slower than the speed of the alignment conveyor.
- the output conveyor is mechanically changed when the size of the product is changed or the alignment interval of the output conveyor is changed. There is no need to change.
- FIG. 1 Device configuration diagram of an alignment conveyor apparatus showing a first embodiment of the present invention.
- FIG. 2 is a control flowchart of the alignment conveyor device of the present invention.
- FIG. 3 Output conveyor position management in the control flowchart showing the first embodiment of the present invention. The flow chart
- FIG. 4 is a detailed flowchart of product location management in the control flowchart showing the first embodiment of the present invention.
- FIG. 5 is a transition diagram of the trace buffer in the detailed flow chart of product location management showing the first embodiment of the present invention.
- FIG. 6 is a detailed flowchart of position correction calculation in the control flowchart showing the first embodiment of the present invention.
- FIG. 7 is a flowchart of the correction target distance calculation in the detailed flowchart of the position correction calculation showing the first embodiment of the present invention.
- FIG. 8 is a detailed flowchart of position correction command generation in the control flowchart showing the first embodiment of the present invention.
- FIG. 9 is an equipment configuration diagram of an adjusting lj conveyor device showing a second embodiment of the present invention.
- FIG. 1 is an equipment configuration diagram of an alignment conveyor device showing a first embodiment of the present invention.
- the alignment conveyor devices are input conveyor 1, output conveyor 2, and input conveyor.
- It comprises an aligning conveyor 3 disposed between 1 and the output conveyor 2, and a control device 7 for controlling the output conveyor 2 and the aligning conveyor 3.
- the output conveyor 2 is provided with flaps 13 arranged at regular intervals, and a flap sensor 14 for detecting the flaps 13 is attached.
- An induction motor 91 and an encoder 92 are connected to the drive roller of the output conveyor 2, and the induction motor 91 and the encoder 92 are connected to the inverter 9.
- a servo motor 81 and an encoder are connected to the drive roller of the alignment conveyor 3. They are connected to 82 and these are connected to servo driver 8.
- inverter 9, servo driver 8, product sensor 12, and flap sensor 14 to which the product sensor 12 is attached are connected to the control device 7 at the upstream transfer position of the alignment conveyor 3.
- control device 7 includes an alignment conveyor control unit 71 and an output conveyor control unit 72.
- the alignment conveyor control unit 71 includes a product position management unit 712, a position correction calculation unit 713, and a position correction unit.
- the correct command generation unit 715 is configured.
- the product position management unit 712 includes a product contact detection unit 7121.
- the output conveyor control unit 72 includes an output conveyor position management unit 721.
- each functional block is not shown in the figure, but the flap position information is transmitted from the output conveyor control unit 72 to each alignment conveyor control unit 71, and the conveyor speed information is transmitted between the alignment conveyor control units 71. Is being transmitted.
- the present invention differs from Patent Document 1 in that an alignment conveyor control unit 71 is provided for each alignment conveyor, and a product contact detection unit 71 21 is included in the product position management unit 712 of the alignment conveyor control unit 71.
- the input conveyor 1 supplies products to the alignment conveyor 3.
- the output conveyor 2 conveys the product between the flaps 13. Since the output conveyor 2 is normally operated at a constant speed, it is driven by an induction motor and an inverter suitable for this.
- the flap sensor 14 detects the passage of the flap 13 and transmits it to the control device 7.
- the product sensor 12 is installed at a position for detecting a state where the product is completely placed on the adjusting U conveyor, detects that the product has been transferred to the alignment conveyor, and transmits it to the control device 7.
- the control device 7 includes an alignment conveyor controller 71 and an output conveyor controller 72 corresponding to each alignment conveyor.
- the output conveyor control unit 72 controls the output conveyor 2 to operate at a set speed, and receives signals from the encoder 92 and the flap sensor 14 and manages flap position information. This flap position information is transmitted to the alignment conveyor control unit 71.
- the alignment conveyor control unit 71 receives signals from the encoder 82 and the product sensor 12, and receives flap position information from the output conveyor control unit 72.
- the product position management unit 712 manages the product position on the conveyor
- the position correction calculation unit 713 performs position correction calculation
- the position correction command generation unit 715 generates a position correction command
- Position correction is performed by driving the servo motor 81 for the drive roller with the position correction command.
- the alignment conveyor 3 has the same speed as the output conveyor 2, and the input conveyor 1 has the same speed as the alignment conveyor 3.
- FIG. 2 is a control flowchart of the aligning conveyor apparatus according to the first embodiment of the present invention.
- the number of aligning conveyors is also 4 in FIG.
- control unit is independent for each alignment conveyor, and the same processing is performed for each.
- Product position management (STEP3)
- position correction calculation (STEP4)
- output conveyor position management (STEP 2) is executed as processing of the output conveyor, and this information is used for processing of each alignment conveyor.
- FIG. 3 is a detailed flowchart of output conveyor position management in the control flowchart of the first embodiment of the present invention.
- the output conveyor position management unit 721 of the output conveyor control unit 72 is involved.
- it demonstrates according to a figure.
- the flap sensor 14 and the encoder 92 of the output conveyor 2 are monitored (STEP 21).
- the pulse signal of the encoder 92 is counted up, and the sawtooth waveform position data that is reset every time the flap sensor 14 detects a flap is obtained.
- Generate (STEP 22).
- the position data obtained in STEP 22 is converted into sawtooth waveform position data that is reset when the product transfer position A between the flaps reaches the transfer position to the output compare (STEP 23).
- output conveyor position management refers to managing the movement of the product transfer position A between the flaps. This position data is used in the position correction calculation described later.
- FIG. 4 shows a detailed flowchart of product location management in the control flowchart of the first embodiment of the present invention.
- the product position management section of the alignment conveyor control section 71 712 is involved.
- it demonstrates according to a figure.
- the product sensor 12 detects the product and turns ON.
- the rising force ⁇ position of the product sensor signal is set to the top of the product, and the trace buffer Qn for position management is set here.
- the product sensor is in the 0N state while the product passes, and a signal corresponding to the length of the product is obtained.
- the trace buffer Qn is a buffer for tracing the product position, and is assigned in order from the first product on the alignment competitor. In other words, Q 1 is assigned to the product on the most downstream side, Q 2 is assigned to the second product, and so on.
- Ln is L1 for the alignment conveyor 1
- L2 for the alignment conveyor 2 L3 for the alignment conveyor 3
- L4 for the alignment conveyor 4 (STEP 31).
- the product contact detection unit 7121 detects the product contact. While the product sensor 12 is ON, the travel distance of the alignment conveyor 3 is counted, and this travel distance count value LS is compared with the product length LP multiplied by the coefficient ⁇ .
- the product length LP is set as an initial value.
- the coefficient ⁇ is set from 1.1 to 1.5, but the shape of the product and the direction during transportation are adjusted according to the situation.
- this product detection sensor ON movement distance count value LS is shorter than the product length LP, it is determined that the product is not in close contact, and the process proceeds to STEP34.
- the product sensor signal is virtually turned ON at the top position of the upstream product, and this is called virtual product sensor ON.
- FIG. 5 is a trace buffer transition diagram in the detailed flow chart of the product position management showing the first embodiment of the present invention, and illustrates the state of the trace buffer when three products are conveyed on the same alignment conveyor. It is what.
- the position where the trace buffer Q1 becomes 0 is the transfer start position, and the position downstream by the transfer distance Lfs is the transfer completion position. This force enables conveyance and position correction on the downstream conveyor.
- the trace buffer Q1 of the first product transferred to the downstream alignment conveyor is deleted, the trace buffer Q2 of the next product is shifted to Q1, and the trace buffer Q3 of the next product is shifted to Q2.
- a trace buffer is assigned to all products on the alignment conveyor, including the case where they are in close contact, and the current position of the product is managed.
- FIG. 6 is a detailed flowchart of the position correction calculation in the control flowchart showing the first embodiment of the present invention
- FIG. 7 is a detailed flowchart of the calculation of the correction target distance.
- the position correction calculation unit 713 is involved in the position correction calculation. The following product will be subject to position correction when the trace buffer of the first product on the alignment conveyor reaches 1 Lfs in STEP35 of FIG.
- FIG. 7 is a flowchart of the correction target distance calculation, which will be described below with reference to this figure.
- the corrected target distance C is the output reached when flowing at a speed synchronized with the output conveyor. It is the difference between the position on the conveyor and the transfer position A between the flaps on the output conveyor.
- the aligning conveyor operates in synchronization with the output conveyor except when the aligning conveyor itself performs a correction operation. Therefore, even if there is an aligning conveyor between the aligning conveyor and the output conveyor, The force can also be calculated as if the output conveyor was extended upstream.
- the correction target distance C is subtracted from the remaining distance M from the current position to the transfer position of the downstream conveyor to calculate a correctable section N (STEP 42).
- the correctable section t is divided by the speed V of the output conveyor to obtain the correctable time t.
- the correctable distance Cn on this alignment conveyor is calculated (STEP 44).
- the correctable distance within the correctable time t is obtained.
- Correction distance Cn becomes located 1/4 X at 2 in the area surrounded by the triangle shown in FIG.
- the acceleration a used here is the maximum value that does not cause product displacement due to acceleration / deceleration in consideration of the frictional force between the conveyor and the product. Therefore, accurate position correction can be performed according to a command that does not cause a position shift during acceleration / deceleration.
- the direction of the position correction process and the correction amount are determined. First, it is compared whether or not the correctable section N force S is greater than 0 (STEP 45). If the correctable section N is positive, the next step is executed. If the correctable section N is negative, the correction in the negative direction is performed in step 49.
- the corrected position is between the flaps. This is to correct the negative direction when it is in the rear half. If the correction target distance C is greater than half the flap interval length as determined in STEP48, execute STEP49 and correct in the negative direction. Conversely, if the corrected target distance C is less than half of the flap interval length, the process proceeds to the next STEP.
- the corrected target distance C ⁇ the correctable distance Cn
- the correction target distance C can be corrected, so the corrected target distance C is set as the actual correction amount. In this case, there is no position correction on the downstream alignment conveyor (STEP 48).
- the alignment conveyor decelerates and corrects (STEP 49).
- the alignment conveyor and the immediately downstream alignment conveyor or the output conveyor are controlled to convey at a synchronized speed.
- the immediate downstream conveyor even if the immediate downstream conveyor is performing a correction operation, it operates in synchronization with the immediate downstream conveyor. This is to ensure that the transfer operation is performed smoothly even when the product is moving, even when the alignment conveyor immediately downstream performs the correction operation.
- the downstream alignment conveyor control unit transmits the conveyor speed information to the upstream alignment conveyor control unit.
- the upstream product is pulled by decelerating the upstream conveyor when the head of the close product is transferred to the downstream conveyor. I try to separate them.
- FIG. 8 is a detailed flowchart of position correction command generation in the control flowchart showing the first embodiment.
- the position correction command generation unit 715 is involved.
- step 51 interpolation position command creation, a position correction command that realizes the actual correction amount calculated in step 45 is calculated.
- the correctable distance was calculated by simple calculation.
- cam curve data that realizes this correctable distance is generated. In other words, within the correction time t, calculations are performed to obtain a correction amount of 1/4 X at 2 .
- FIG. 8 shows the direction in which the conveyance speed is increased and the direction in which the conveyance speed is decreased, the interpolation position command generation is processed in the same manner.
- the force that the number of alignment conveyors is four.
- the number of alignment conveyors may be at least one for the following reasons.
- position correction is possible only in the direction of increasing the speed, so the separation process in the case of close contact may not be completed by one transfer. For this reason, since it is necessary to carry out the processing by transfer on the next conveyor, at least two alignment conveyors were required.
- one alignment conveyor since the speed can be corrected in the direction of decreasing the speed, basically, one alignment conveyor may be used.
- FIG. 9 is an equipment configuration diagram of the alignment conveyor apparatus showing the second embodiment of the present invention.
- a difference from the first embodiment is that a virtual flap sensor unit 722 is provided in the output conveyor control circuit 72 instead of the flap sensor 14.
- Virtual flap detection sensor unit 722 flaps for each set virtual flap interval length The detection signal can be turned ON.
- the flap interval can be set arbitrarily, even if it is desired to change the product length or the alignment interval, it can be easily handled without replacing the output conveyor.
- the present invention can be used for an alignment conveyor device that aligns products supplied at random intervals at set intervals.
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Abstract
Description
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Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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US12/093,003 US7681712B2 (en) | 2005-11-09 | 2006-10-27 | Alignment conveyor apparatus |
DE112006002939T DE112006002939T5 (de) | 2005-11-09 | 2006-10-27 | Ausrichtungsförderer-Vorrichtung |
JP2007507607A JP4618448B2 (ja) | 2005-11-09 | 2006-10-27 | 整列コンベア装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2005324233 | 2005-11-09 | ||
JP2005-324233 | 2005-11-09 |
Publications (1)
Publication Number | Publication Date |
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WO2007055112A1 true WO2007055112A1 (ja) | 2007-05-18 |
Family
ID=38023118
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2006/321494 WO2007055112A1 (ja) | 2005-11-09 | 2006-10-27 | 整列コンベア装置 |
Country Status (6)
Country | Link |
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US (1) | US7681712B2 (ja) |
JP (1) | JP4618448B2 (ja) |
CN (1) | CN101304934A (ja) |
DE (1) | DE112006002939T5 (ja) |
TW (1) | TW200744926A (ja) |
WO (1) | WO2007055112A1 (ja) |
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- 2006-10-27 JP JP2007507607A patent/JP4618448B2/ja not_active Expired - Fee Related
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US8490775B2 (en) | 2007-11-17 | 2013-07-23 | Elau Gmbh | Multiplex grouping device |
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JP2010100416A (ja) * | 2008-10-24 | 2010-05-06 | Ito Denki Kk | コンベア装置、並びに、コンベア制御装置 |
US8028817B2 (en) | 2008-10-24 | 2011-10-04 | Itoh Denki Co., Ltd. | Conveyor and conveyor controller |
US8789681B2 (en) | 2009-06-15 | 2014-07-29 | Muller Martini Holding Ag | Conveyor for conveying printed products and system provided with such a conveyor |
JP2010285285A (ja) * | 2009-06-15 | 2010-12-24 | Mueller Martini Holding Ag | 印刷製品を搬送するための搬送装置およびこのような搬送装置を備えた設備 |
JP7309974B2 (ja) | 2018-05-31 | 2023-07-18 | 株式会社Fuji | コンベア装置 |
WO2019229927A1 (ja) * | 2018-05-31 | 2019-12-05 | 株式会社Fuji | 廃テープ搬送装置および部品実装システム |
JPWO2019229927A1 (ja) * | 2018-05-31 | 2021-06-03 | 株式会社Fuji | 廃テープ搬送装置および部品実装システム |
JP7091452B2 (ja) | 2018-05-31 | 2022-06-27 | 株式会社Fuji | 廃テープ搬送装置および部品実装システム |
JP2022130477A (ja) * | 2018-05-31 | 2022-09-06 | 株式会社Fuji | コンベア装置 |
JP7458376B2 (ja) | 2018-09-07 | 2024-03-29 | パックサイズ,エルエルシー | 包装機械のための適応加速度制御 |
US11814206B2 (en) | 2018-09-07 | 2023-11-14 | Packsize Llc | Adaptive acceleration control for packaging machine |
JP2021535050A (ja) * | 2018-09-07 | 2021-12-16 | パックサイズ,エルエルシー | 包装機械のための適応加速度制御 |
KR20210089356A (ko) * | 2020-01-08 | 2021-07-16 | 세메스 주식회사 | 컨베이어 시스템 및 컨베이어 시스템에서의 정렬 방법 |
CN113086552B (zh) * | 2020-01-08 | 2023-03-07 | 细美事有限公司 | 输送机***和输送机***中的对准方法 |
US11501988B2 (en) | 2020-01-08 | 2022-11-15 | Semes Co., Ltd. | Conveyor system |
KR102319196B1 (ko) | 2020-01-08 | 2021-10-29 | 세메스 주식회사 | 컨베이어 시스템 및 컨베이어 시스템에서의 정렬 방법 |
CN113086552A (zh) * | 2020-01-08 | 2021-07-09 | 细美事有限公司 | 输送机***和输送机***中的对准方法 |
Also Published As
Publication number | Publication date |
---|---|
US20090114508A1 (en) | 2009-05-07 |
DE112006002939T5 (de) | 2008-10-09 |
TW200744926A (en) | 2007-12-16 |
JPWO2007055112A1 (ja) | 2009-04-30 |
CN101304934A (zh) | 2008-11-12 |
JP4618448B2 (ja) | 2011-01-26 |
US7681712B2 (en) | 2010-03-23 |
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