公开(公告)号：US09758329B2

公开(公告)日：2017-09-12

申请号：US14639622

申请日：2015-03-05

Applicant: INDUSTRIAL ROBOT AUTOMATION

Inventor： Lars Fleckenstein ,  Henrik Christiansen

IPC: B65H3/62 ,  B65H3/00 ,  B65H7/20 ,  B65H3/32 ,  B25J9/00 ,  B65H3/50 ,  B65H3/60 ,  B65H5/00 ,  B65H5/14 ,  B65H3/36

CPC classification number: B65H7/20 ,  B25J9/0087 ,  B65H3/322 ,  B65H3/36 ,  B65H3/50 ,  B65H3/60 ,  B65H5/006 ,  B65H5/14 ,  B65H2301/42242 ,  B65H2301/4227 ,  B65H2301/4228 ,  B65H2555/31 ,  Y10S901/31

Abstract: A method and apparatus for automated aerating and handling a sub stack of a stack of rectangular paper sheets where the sub stack is gripped near or at opposed corners of a common edge of the sub stack by means of two robotic grippers (A, B) having two opposed gripping fingers (A1, A2, B1, B2), lifting and rotating the corners in mutually opposite first directions such that the work stack achieves an upwards concave form, gripping the corners by the robotic grippers (A, B), and rotating the grippers in second directions opposite to the first directions such that the upper sheet of the sub stack has a curvature smaller than the bottom sheet of the sub stack, preferably a substantially plane form.

公开(公告)号：US20150191323A1

公开(公告)日：2015-07-09

申请号：US14639622

申请日：2015-03-05

Applicant: INDUSTRIAL ROBOT AUTOMATION

Inventor： Lars FLECKENSTEIN ,  Henrik Christiansen

IPC: B65H7/20 ,  B65H3/36 ,  B65H5/14 ,  B65H3/32

CPC classification number: B65H7/20 ,  B25J9/0087 ,  B65H3/322 ,  B65H3/36 ,  B65H3/50 ,  B65H3/60 ,  B65H5/006 ,  B65H5/14 ,  B65H2301/42242 ,  B65H2301/4227 ,  B65H2301/4228 ,  B65H2555/31 ,  Y10S901/31

Abstract: A method and apparatus for automated aerating and handling a sub stack of a stack of rectangular paper sheets where the sub stack is gripped near or at opposed corners of a common edge of the sub stack by means of two robotic grippers (A, B) having two opposed gripping fingers (A1, A2, B1, B2), lifting and rotating the corners in mutually opposite first directions such that the work stack achieves an upwards concave form, gripping the corners by the robotic grippers (A, B), and rotating the grippers in second directions opposite to the first directions such that the upper sheet of the sub stack has a curvature smaller than the bottom sheet of the sub stack, preferably a substantially plane form.

Abstract translation: 一种用于自动充气和处理堆叠的矩形纸片的副堆叠的方法和装置，其中子堆叠通过两个机器人夹持器（A，B）在子堆叠的公共边缘的近处或相对的角落处被夹持， 两个相对的夹持指（A1，A2，B1，B2），以相互相对的第一方向提升和旋转拐角，使得工作堆达到向上的凹形，通过机器人抓爪（A，B）夹住角部，并旋转 所述夹持器在与所述第一方向相反的第二方向上，使得所述副堆叠的上片的曲率比所述副堆叠的底片优选为大致平面形状。