公开(公告)号：US20210078184A1

公开(公告)日：2021-03-18

申请号：US16961998

申请日：2018-12-20

Applicant: Inwatec ApS

Inventor： Mads ANDRESEN

IPC: B25J15/00 ,  B25J9/10

Abstract: A method for gripping, moving and releasing a piece of cloth with a gripper that is initially placed with opposed, movable, coherent, flexible surface parts in contact with the piece of cloth, and the surface parts are moved with respect to each other and with respect to the gripper in a gripping action, in order to pinch and hold on to the piece of cloth. The gripper with the piece of cloth pinched between the surface parts is moved to a different location, wherein the surface parts move in a reverse direction in order to release the piece of cloth. While in contact with the piece of cloth, the opposed surface parts are moved along a path which brings the surface parts both closer to each other and moves them in a direction away from the piece of cloth.

公开(公告)号：US20240017946A1

公开(公告)日：2024-01-18

申请号：US18253233

申请日：2021-11-25

Applicant: Inwatec ApS

Inventor： Mads ANDRESEN

IPC: B65H5/14

CPC classification number: B65H5/14 ,  B65H2405/574 ,  B65H2405/582 ,  B65H2701/174

Abstract: A gripper head adapted to grip, hold and release a piece of cloth, including a first part and a second part with respective conveyor belts, an actuator, such as a hydraulic actuator, a pneumatic actuator or a motor, connected with the second part and configured for turning the second part relative to the first part to apply in a cloth nipping position a first clamping force on a piece of cloth, and a controller connected with the actuator and configured to control the actuator for the second part to selectively apply in a cloth nipping position a second, higher clamping force when the conveyor belts are temporarily stopped with a nipping zone filled by a portion of the piece of cloth.