• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The process comprises the following phases once the crosshead has been positioned and the configuration of the discs (8) is stored in a control: a) align some axes (3) of a tilting table (1) with the axes of the arm of the spider; b) transfer the discs (8) of the crosshead to the shafts (3) of the tilting table (1), c) moving the discs (8) from the shafts (3) by means of a lifting mechanism (9) until one of the discs (8) is outside the shaft (3) on which it is located; d) inserting a claw of a robot (7) in the disk (8) that is outside the axis (3) a length less than the thickness of the disk (8); e) displacing the disk (8) in a direction transverse to the axis (3) in which it is located, so as to avoid the involuntary displacement of an adjacent disk (8). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2818226A1
    申请号:ES201930870
    申请日:2019-10-07
    公开日:2021-04-09
    发明作者:De La Puebla Jesus Bahillo
    申请人:Icut Solutions S L；
    IPC主号:
    专利说明:

    [0004] OBJECT OF THE INVENTION
    [0005] The present invention refers to a process of automatic loading and unloading of discs in a cutting line, where the assembly and disassembly operations of the discs are optimized.
    [0007] The process is especially focused on laminated sheet cutting lines.
    [0009] TECHNICAL PROBLEM TO BE SOLVED AND BACKGROUND OF THE INVENTION
    [0010] In the laminated sheet metal cutting industry, the longitudinal cutting process allows to obtain from a coil of carbon steel, stainless steel or aluminum, several narrower coils with great precision and quality in the cut.
    [0012] The basic process comprises unwinding, longitudinal cutting, tensioning and subsequent rewinding of the reels.
    [0014] The cutting process consists of making the sheet pass between two cutting axes of a machine located in parallel, in which a series of discs are located in a certain arrangement to carry out the cut of the sheet in different widths according to the selected pattern.
    [0015] The discs can be of three types: cutting discs, vulcanized and separators.
    [0017] The cutting discs are in charge of cutting the sheet. The vulcanized ones are in charge of moving the sheet and the spacers are in charge of establishing the distances between the other two types of discs. By combining the arrangement of the different discs along the cutting axis, cutting patterns of different widths are created that give rise to laminated sheets of the determined widths.
    [0019] The process of changing the discs of a cutting shaft to carry out a new cutting configuration is normally solved by manual loading and unloading operations where a high number of discs must be exchanged. This entails two types of main problems. The first problem consists of the high number of movements that the operators must execute, which together with the loads supported on each one of them generates important ergonomic problems. The second problem lies in the high number of discs that are handled by the operator, which inevitably leads to human errors in the configuration of the discs on the cutting axis that entails unforeseen costs in the cutting process, due to the increase in production time due to having to stop in order to disassemble and reassemble the correct configuration of the blades on the cutting shaft.
    [0021] On the other hand, the automation of the loading and unloading process presents a high degree of difficulty due to the variability of the discs used and their different thicknesses (between 0.6 and 200 millimeters). This means that automated systems have to be able to adapt to this variability of thicknesses with the same mechanisms, which makes their design difficult. On the other hand, discs of less thickness have the risk of being stuck to the adjacent disc due to the oils used during the cutting process, which makes the automation process extremely difficult when removing a disc, which may cause the incorporation of this second disc attached to the cutting axis, with the corresponding error in the cut of the laminated sheet, or the fall of one of the discs to the ground, with the corresponding lack of control and possible deterioration of the disc.
    [0023] The present invention solves the problems of operator overload and human errors and also solves the problems of disc variability and possible sticking between discs by offering a totally reliable process for the automated exchange of discs in laminated sheet cutting lines.
    [0025] DESCRIPTION OF THE INVENTION
    [0026] In order to achieve the objectives and avoid the aforementioned drawbacks, the present invention describes a process for loading and unloading discs in cutting lines, especially in laminated sheet cutting lines, by means of which assembly operations are optimized. and disassembling the discs.
    [0028] To describe the process of unloading discs, initially it is necessary to consider a cutting machine in which the cutting train contains a certain configuration of discs by means of which a series of plates of certain widths are obtained. Must clarify that, unless otherwise indicated, the term discs includes any of the three types mentioned: cutting, vulcanized and separating.
    [0030] In this way, an initial phase, widely used in the state of the art, consists in the extraction of the set of discs from the cutting train, for which a crosshead is used. The crosshead is an exchange element formed by 2, 3, or 4 arms, uniformly separated, that rotate around a central vertical axis and with the possibility of translation. To carry out this process, the crosshead approaches the cutting machine to face one of the arms with the cutting axis from which the discs are to be extracted. Typically, the discs are removed from the two parallel axes that act in the cutting process, so in reality the crosshead is configured with pairs of parallel arms. Once the arm of the crosshead and the axis of the cutting train are aligned, the discs are moved by means of a pusher, from the cutting axis to the axis of the crosshead until the complete transfer is carried out. Once all the discs have been transferred to the crosshead, it moves to separate from the cutting machine, rotates and thus allows the extraction of discs to proceed to place them in the corresponding warehouse.
    [0032] The process object of the invention describes, for the unloading of the discs, the work sequence from the extraction of the discs from the spider until they are removed by a robot, and may also include an intermediate phase corresponding to the analysis of the surface quality of the discs, as described below:
    [0033] a) Store the configuration of the discs located on the arm of the spider, relative to the position, type and thickness of each of the discs, in a control;
    [0034] b) positioning the arm of the crosshead in a loading / unloading cell;
    [0035] c) aligning the axes of a tilting table with the axes of the arm of the spider; d) transfer the spreader discs to the shafts of the tilting table,
    [0036] e) move the axis discs of the tilting table by means of an electromechanical lifting mechanism until the disc of each axis, closest to the free end, is flush on the lower surface with the axis on which it is located, according to the information of control;
    [0037] f) inserting a claw of a robot into the inner diameter of the disk, which is outside the axis, a length less than the thickness of the disk;
    [0038] g) displacing the disc in a direction transverse to the axis on which it is located, in such a way as to avoid the involuntary displacement of an adjacent disc.
    [0039] Phase d) preferably comprises the following phases:
    [0040] d1) positioning some plates of a pusher in a position farther from the free end of the axes of the arm of the spider with respect to any of the discs; d2) extend the platelets until they face the disks of the spreader arm axes;
    [0041] d3) move the pusher to drag the discs with the plates to the axes of the tilting table;
    [0042] d4) tilt the axes of the tilting table with respect to the tilting table to position them vertically.
    [0044] The process may comprise the additional phase of moving the disk to a cleaning and verification station, for which the process would include the following additional phases:
    [0045] h) locating the disk in at least one position of the cleaning and verification station; i) proceed to clean the disk;
    [0046] j) if the blade is a cutting blade, check the cutting edge,
    [0047] k) if the verification is not validated, identify the disk for later exit from the process,
    [0048] l) if the verification is validated, move the disk to a storage location determined by the control
    [0049] m) If the blade is not a cutting blade, move the blade to a storage location determined by the control.
    [0051] Furthermore, whether it includes the cleaning station phase or not, the process preferably comprises the additional phase of moving each of the discs to a warehouse.
    [0053] The entire process is repeated as long as there is a disc on any axis of the tilting table. Otherwise, the whole process is repeated from phase e).
    [0055] Furthermore, the invention can also incorporate the process of loading discs on the axes of the arm of the spider according to a configuration determined by the control, comprising the following phases:
    [0056] n) taking a disk from the magazine by means of the robot;
    [0057] o) place the disc on the axis of the spider arm determined by the control;
    [0058] p) repeat phases n) and o) until having a set of discs, on the two axes of the spider arm, of a size determined by the control;
    [0059] q) move the pusher to the outer end of the axis of the arm of the spider; r) spreading the platelets to align them with the set of discs;
    [0060] s) moving the pusher to drag the discs along the platelets to the inner end of the spreader arm shaft;
    [0061] t) if the loading of the discs on the shaft has not been completed, repeat the process from phase n).
    [0063] On the other hand, the process of loading discs on the spider does not begin until all the discs on the spider have been unloaded onto the axis of the tilting table.
    [0065] BRIEF DESCRIPTION OF THE FIGURES
    [0066] To complete the description of the invention and in order to help a better understanding of its characteristics, according to a preferred example of its embodiment, a set of drawings is attached where, by way of illustration and not limitation, they have been represented the following figures:
    [0068] - Figure 1 represents a perspective view of the tilting table with the pusher
    [0069] - Figure 2 represents a front view of the pusher with the tilting table behind it, showing in detail the plates for driving the discs.
    [0070] - Figure 3 represents a cleaning station with two positions for the location of discs.
    [0071] - Figure 4 represents the plant layout of the system.
    [0073] Below is a list of the references used in the figures:
    [0074] 1. Tilting table.
    [0075] 2. Pusher.
    [0076] 3. Axes.
    [0077] 4. Rails.
    [0078] 5. Platelets.
    [0079] 6. Warehouse.
    [0080] 7. Robot.
    [0081] 8. Disks.
    [0082] 9. Lifting mechanism.
    [0083] 10. Cleaning and verification station.
    [0084] 11. Position for the location of discs.
    [0086] DESCRIPTION OF A PREFERRED EMBODIMENT OF THE INVENTION
    [0087] The present invention refers to a process for the loading and unloading of discs (8) in cutting lines without considering the phase of transfer of the discs (8) between the cutting train and the crosshead, which is already known in the state of technique.
    [0089] The cutting train is configured by means of two parallel axes that incorporate a plurality of discs (8) located according to a certain configuration in a control to carry out the cuts of a sheet.
    [0091] On the other hand, the crosshead is configured by a series of horizontal arms that can rotate around a vertical central axis. Each arm incorporates two parallel axes, located in the same relative position in each of the arms and in the same relative position as the axes of the cutting train. These axes of the arms of the crosshead are intended to house the discs (8) of the two axes of the cutting train of the machine. In addition to the rotary movement, the crosshead can also move to approach the cutting train, collect the discs (8) and withdraw to another location to be extracted.
    [0093] In this way, the process of unloading the discs (8) begins with a crosshead in which the discs (8) that have been previously extracted from the cutting train are located as they were loaded with a certain sheet metal cutting configuration. On the contrary, the process of loading the discs (8) ends with the placement of the discs (8), in a configuration determined by the control, in the crosshead to be later transferred to the cutting train in this same configuration.
    [0095] Next, the process of unloading the discs (8), located on the axes of one of the arms of the spreader, as they have been extracted from the cutting train and once the spreader has been removed from the machine, will be described. cut.
    [0096] From this configuration, the crosshead moves so that the arm containing the discs (8) is located in a loading / unloading cell, an area destined for the extraction of the discs (8) from the crosshead. This movement can be controlled electronically, so that the crosshead is located in an exact position to work on it.
    [0098] At this time, the disc unloading process (8) of the present invention begins.
    [0100] Figure 1 shows a tilting table (1) and a pusher (2), both elements joined linearly by means of rails (4) on which they can move to get closer to or away from each other. The assembly is located in the load / unload cell.
    [0102] On the one hand, the tilting table (1) comprises a pair of axes (3), located in the same relative position as the axes of the arms of the crosshead and, consequently, as the axes of the cutting train. The shafts (3) of the tilting table (1) are joined at one end and articulated with the ability to rotate to move from the vertical to the horizontal position. In rest position, they are in a vertical position and they tilt into a horizontal position, aligning themselves with the axes of the arm of the crosshead when transferring discs (8).
    [0104] The pusher (2) is configured by a horizontal plate that incorporates a pair of vertical joists, each one housing a plate (5). The pusher (2) has the ability to move horizontally. The function of each of these plates (5) is to contact the set of discs (8) to move them between the corresponding axes of the arm of the crosshead and the axes (3) of the tilting table (1) when moving the pusher (2). To do this, as shown in figure 2, the plates (5) are separated by a distance slightly greater than the diameter of the shafts (3) so that, when moving, they push the discs (8) and can move with the discs. (8) along the axes of the spider arm and position them on the axes (3) of the tilting table (1).
    [0106] To start unloading the discs (8) from the spider, it must be taken into account that the synchronization and alignment between the positions of the axes of the arm of the spider that contain the discs (8) and of the axes (3) of the tilting table (1) is essential, since the transfer, as occurs between the cutting train and the crosshead, occurs by simply pushing the discs (8).
    [0108] Thus, once the axes of the arm of the crosshead are in position to proceed to unload the discs (8), the axes (3) of the tilting table (1) rotate to go from the vertical position of rest to the horizontal position. The tilting table (1) then, together with the pusher (2), moves until the ends of the axes (3) of the tilting table (1) contact the ends of the axes of the arm of the crosshead, with the that have been faced.
    [0110] Once the axes (3) of the tilting table (1) have been coupled with the axes of the arm of the spider, the pusher (2) continues its movement, moving to an area where the plates (5) are located in a slightly further back than the disc (8) farthest from the outer or free end of any of the axes, that is, the disc (8) located in the innermost zone of the axis of the spider arm. Then, the pusher (2) moves horizontally to position the plates (5) until contacting the disks (8) of the shafts. In this way, as the pusher (2) moves along the rails (4) to get closer to the tilting table (1), the plates (5) will drag the complete set of discs (8) of each of the two axes to carry carry out the transfer of the set of discs (8) from the two axes of the arm of the spider to the two axes (3) of the tilting table (1).
    [0112] Likewise, the control receives the information of all the transferred discs (8), with the data of thickness, positions and type of disc (8).
    [0114] The tilting table (1) is then separated from the crosshead, and the plates (5) are removed, making the pusher (2) move back to allow the shafts (3), incorporating the discs (8), to rotate again to be positioned vertically and be prepared for the discs (8) to be individually transferred to another location, be it a warehouse (6) or a cleaning and verification station (10) of discs (8).
    [0116] With the shafts (3) in this vertical position, the discs (8) rest on a lifting mechanism (9) that is located on the tilting table (1) hugging the shafts (3). The lifting mechanism (9) is actuated by a motor and spindle mechanism that allows its movement in the longitudinal direction of the axes (3). Thus, to begin the process of removing the discs (8) from either of the two axes (3), the lifting mechanism (9) will be raised to leave the different discs (8) located on the axes ( 3) flush on the lower surface with the outer or free end of the corresponding shaft (3).
    [0118] The stroke of the lifting mechanism (9) depends on the thickness of the disc (8) to be extracted. This information is managed by the control based on the information received based on the downloaded configuration.
    [0120] In this way, once the first disc (8) has been flush on the lower surface with the end of the shaft (3), it is ready to be extracted from the tilting table (1).
    [0122] When a disk (8) is on the shaft (3) ready to be extracted, a robot (7) will take the disk (8) with a claw to take it to the warehouse (6).
    [0124] The claw incorporates an expandable actuator and additionally a retention system so that, to catch a disc (8), the claw inserts the expandable actuator through the inner diameter of the disc (8) a length less than the thickness of the disc (8) to open and grasp the disc (8) internally aided if necessary by the retention system. Once the disc (8) has been grasped, the robot (7) moves the claw transversely to the direction of the axis (3), preventing the lower disc (8) from coming out if it is attached. As the disk (8) is displaced in a transverse way, the disk (8) that is immediately below cannot leave the shaft (3) driven by the first disk (8) since this disk (8) is still inserted in the shaft (3) and cannot be moved transversely.
    [0126] Subsequently, if it is a cutting disc (8), the robot (7) can move the disc (8) to the warehouse (6) or to the cleaning and verification station (10) to be cleaned and carry out an edge check.
    [0128] If it is not a cutting disc (8), the robot (7) can move the disc (8) to the warehouse (6) or to the cleaning and verification station (10) to be cleaned and sent to the warehouse (6) later.
    [0129] In the cleaning and verification station (10) there are several positions (11) for the location of discs (8). The number of positions (11) will be such that it allows simultaneous cleaning / verification operations with the location of the discs (8) in the warehouse (6) or their collection from it. Furthermore, in each position (11) both operations, cleaning and verification, are carried out, the latter only for the cutting discs (8).
    [0131] If, when checking the disk (8), it is detected that the disk (8) is defective, the defective disk (8) is identified by the system and the robot (7) will expel it from the normal process
    [0133] If the disc (8) is correct or did not need to be verified because it is not a cutting disc (8), the robot (7) will place it in the magazine position (6) predetermined by the control depending on its size and typology.
    [0135] In this way, the unloading process ends once all the disks (8) of the two shafts (3) have been unloaded.
    [0137] By means of the present invention, loading and unloading processes can be carried out with different operations and even different order of execution, as described below:
    [0139] a) Unloading the discs (8) from the spreader and loading on the shafts (3) of the tilting table (1), loading the new configuration of the discs (8) on the spreader from the warehouse (6), and unloads to the magazine (6) of all the discs (8) located on the axis (3) of the tilting table (1).
    [0140] b) Unloading of the discs (8) of the crosshead and loading on the shafts (3) of the tilting table (1), unloading to the magazine (6) of all the discs (8) located on the shaft (3) of the tilting table (1) and loading of the crosshead from the warehouse (6).
    [0141] c) Charge only.
    [0142] d) Download only.
    [0144] To proceed with the loading process, the robot (7) loads the discs (8) from the magazine (6) directly on the axes of the corresponding arm of the crosshead.
    [0146] ll
    [0147] The discs (8) are deposited in proximity to the outer end of each of the two axes of the arm. Once a certain volume of discs (8) has been reached in the shafts, these will be introduced to the inner end of each shaft of the arm of the crosshead through the pusher (2), forming a package. To do this, the pusher (2), which has been located in an area on the other side of the crosshead sufficiently far away so as not to interfere with the loading process of the discs (8), will approach the outer end of the shafts, it will move the plates (5) and will drag the discs (8) to the inner limit of the axes of the spider arm.
    [0149] Finally, it must be borne in mind that the present invention should not be limited to the embodiment described here. Other configurations can be made by those skilled in the art in light of the present description. Accordingly, the scope of the invention is defined by the following claims.
    权利要求:
    Claims (10)
    [1]
    1. - Process for loading and unloading discs (8) in cutting lines that comprise a cutting train intended to be loaded with different types of discs (8), for an internal diameter, in two parallel cutting axes with a determined configuration that, for the loading and unloading of the discs (8), are transferred by means of axes located on an arm of a spider, the process being characterized in that the unloading process comprises the following phases:
    a) storing the configuration of the discs (8) located on the arm of the spider, relative to the position, type and thickness of each of the discs (8), in a control; b) positioning the arm of the crosshead in a loading / unloading cell;
    c) aligning some axes (3) of a tilting table (1) with the axes of the arm of the spider;
    d) transfer the discs (8) of the crosshead to the shafts (3) of the tilting table (1), e) moving the discs (8) of the shafts (3) of the tilting table (1) by means of a mechanism of elevation (9) until the disc (8) of each axis (3) closest to the free end is flush on the lower surface with the axis (3) on which it is located, according to the control information;
    f) inserting a claw of a robot (7) into the inner diameter of the disc (8) that is outside the axis (3) for a length less than the thickness of the disc (8);
    g) moving the disc (8) by means of the claw in a direction transverse to the axis (3) in which it is located, so as to avoid the involuntary movement of an adjacent disc (8).
    [2]
    2. - Process for loading and unloading discs (8) in cutting lines, according to claim 1, characterized in that phase d) comprises the following phases:
    d1) positioning platelets (5) of a pusher (2) in a position more internal to the axes of the arm of the crosshead than the position of any of the discs (8); d2) extend the platelets (5) until they face the disks (8) of the axes of the arm of the spider;
    d3) move the pusher (2) to drag the discs (8) with the plates (5) to the axes (3) of the tilting table (1);
    d4) tilt the shafts (3) with respect to the tilting table (1) to position them vertically.
    [3]
    3. - Process for loading and unloading discs (8) in cutting lines, according to claim 1, characterized in that it comprises the additional phase of moving the disc (8) to a cleaning and verification station (10).
    [4]
    4. - Process for loading and unloading discs (8) in cutting lines, according to claim 3, characterized in that the cleaning and verification station (10) comprises at least one cleaning and verification position (11)
    [5]
    5. - Process for loading and unloading discs (8) in cutting lines, according to claim 3, characterized in that it comprises the following additional phases:
    h) locating the disk (8) in at least one position (11) of the cleaning and verification station (10);
    i) if the disc (8) is a cutting disc (8), check the cutting edge,
    j) if the verification is not validated, identify the disk (8) for its later exit from the process;
    k) if the verification is correct, move the disk (8) to a location in a warehouse (6) determined by the control system.
    l) If the disc (8) is not a cutting disc (8), move the disc (8) to a storage location (6) determined by the control system.
    [6]
    6. - Process for loading and unloading discs (8) in cutting lines, according to claim 1 or 3, characterized in that it comprises the additional phase of transferring the disc (8) to the warehouse (6).
    [7]
    7. - Process for loading and unloading discs (8) in cutting lines, according to claim 3 or 6, characterized in that, if there is any disc (8) on any axis (3) of the tilting table (1) , the process is repeated from step e) of claim 1.
    [8]
    8. - Process for loading and unloading discs (8) in cutting lines, according to claim 3 or 6, characterized in that, if there is no disc (8) on the axes (3) of the tilting table (1 ), comprises the process of loading the discs (8) on the axes of the arm of the spider according to a configuration determined by the control.
    [9]
    9. Process for loading and unloading discs (8) in cutting lines, according to claim 1, characterized in that the loading process of the discs (8) on the axes of the spider arm occurs after complete phase d).
    [10]
    10. Process for loading and unloading discs (8) in cutting lines, according to claim 8 or 9, characterized in that the loading process comprises the following phases:
    m) taking a disk (8) from the magazine (6) by means of the robot (7);
    n) place the disc (8) on the axis of the arm of the spider determined by the control; o) repeat phases m) and n) until having a set of discs (8), on the two axes of the spider arm, of a size determined by the control;
    p) moving the pusher (2) to the outer end of the axis of the arm of the spider; q) extending the platelets (5) to align them with the set of discs (8);
    r) moving the pusher (2) to drive the discs (8) by means of the plates (5) to the inner end of the axes of the arm of the spider;
    s) if the loading of the discs (8) on the shafts has not been completed, repeat the process from phase m).
    类似技术:
    公开号 | 公开日 | 专利标题
    ES2469867T3|2014-06-20|Stacking apparatus and method for multilayer stacking of objects on a support
    US10618194B2|2020-04-14|Dismantling system
    ES2376242T3|2012-03-12|LIOFILIZER
    US3968560A|1976-07-13|Pallet assembling system
    ES2294486T3|2008-04-01|BAR FEEDING DEVICE AND CORRESPONDING FEEDING METHOD.
    ES2393810T5|2021-04-06|Warehouse for storage bars for receiving sausage-shaped products and procedure for feeding the storage bars
    ES2331798T3|2010-01-15|AUTOMATIC MODULE OF RIVER LOADER.
    ES2818226B2|2021-08-25|PROCESS FOR LOADING AND UNLOADING DISCS IN CUTTING LINES
    ES2783990T3|2020-09-21|Bag supply system and procedure
    EP2570323A2|2013-03-20|Seat bank transport device
    US20100043947A1|2010-02-25|Method for transferring and placing beads for tyres, device for carrying out such a method and spacer to be used in such a method and/or device
    CN105788615A|2016-07-20|Wheel type optical disc juke-box optical disc positioning apparatus
    ES2380355T3|2012-05-10|Device and method for the | palletizing of products
    JP2011511295A|2011-04-07|Supplying reaction cuvettes to automated analyzers
    ES2369591T3|2011-12-02|SYSTEM AND PROCESS FOR STORAGE AND HANDLING OF PRODUCTS, IN PARTICULAR PACKAGED PRODUCTS.
    ES2394173T3|2013-01-23|Loading device for material bars
    JP5134941B2|2013-01-30|Sheet stacking structure of dispensing device
    JPH0811388B2|1996-02-07|Sheet stack processing method and processing apparatus
    ES2224042T3|2005-03-01|DEVICE FOR LOADING AND UNLOADING TILES OR TILES FROM ROLLER ROOFS.
    US20210316922A1|2021-10-14|Cassette, cassette support system and container assembly for storing a tubular storage assembly
    CA2695392A1|2009-04-30|System for depositing documents into boxes
    JP6408867B2|2018-10-17|Card storage / discharge module
    CN102376331A|2012-03-14|Disk library apparatus
    BR102019013201A2|2021-01-05|CONTINUOUS MOVEMENT PALLETIZING HEAD AND CONTINUOUS MOVEMENT PALLETIZING SYSTEM THROUGH THE PALLETIZING HEAD
    JPWO2021064813A1|2021-10-21|Tool magazine
    同族专利:
    公开号 | 公开日
    ES2818226B2|2021-08-25|
    WO2021069775A1|2021-04-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US5735782A|1994-09-23|1998-04-07|Asea Brown Boveri Ab|Robot installation|
    ES2208192T3|1999-08-06|2004-06-16|NLT NORDER LAGERTECHNIK GMBH & CO. MASCHINENBAU KG|PROCEDURE AND DEVICE FOR CHANGING A GAME OF USEFULS.|
    EP2067570A1|2007-12-04|2009-06-10|Francisco Casal Tubet|Robotic cell for loading and unloading cutting tools|
    法律状态:
    2021-04-09| BA2A| Patent application published|Ref document number: 2818226 Country of ref document: ES Kind code of ref document: A1 Effective date: 20210409 |
    2021-08-25| FG2A| Definitive protection|Ref document number: 2818226 Country of ref document: ES Kind code of ref document: B2 Effective date: 20210825 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201930870A|ES2818226B2|2019-10-07|2019-10-07|PROCESS FOR LOADING AND UNLOADING DISCS IN CUTTING LINES|ES201930870A| ES2818226B2|2019-10-07|2019-10-07|PROCESS FOR LOADING AND UNLOADING DISCS IN CUTTING LINES|
    PCT/ES2020/070584| WO2021069775A1|2019-10-07|2020-09-29|Method for loading and unloading discs in cutting lines|
    [返回顶部]