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1. DK3122671 - FREMGANGSMÅDE TIL AT HÅNDTERE STABLER AF FLEKSIBLE SUBSTRATER.

Office
Denmark
Application Number 15768677
Application Date 19.03.2015
Publication Number 3122671
Publication Date 21.10.2019
Grant Number 3122671
Grant Date 21.10.2019
Publication Kind T3
IPC
B65H 3/32
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
3Separating articles from piles
32by elements, e.g. fingers, plates, rollers, inserted or traversed between articles to be separated and remainder of the pile
A21C 9/08
AHUMAN NECESSITIES
21BAKING; EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; DOUGHS FOR BAKING
CMACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
9Other apparatus for handling dough or dough pieces
08Depositing, arranging and conveying apparatus for handling pieces, e.g. sheets of dough
B25J 9/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
B25J 15/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
B25J 15/02
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
02servo-actuated
B65H 5/08
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
5Feeding articles separated from piles; Feeding articles to machines
08by grippers, e.g. suction grippers
CPC
B25J 15/0014
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
0014having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
B65H 31/3045
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
31Pile receivers
30Arrangements for removing completed piles
3036by gripping the pile
3045on the outermost articles of the pile for clamping the pile
B65H 31/40
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
31Pile receivers
34Apparatus for squaring-up piled articles
40Separate receivers, troughs, and like apparatus for knocking-up completed piles
B65H 2701/173
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
2701Handled material; Storage means
10Handled articles or webs
17Nature of material
173Metal
A21C 9/08
AHUMAN NECESSITIES
21BAKING; EDIBLE DOUGHS
CMACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
9Other apparatus for handling dough or dough pieces
08Depositing, arranging and conveying apparatus for handling pieces, e.g. sheets of dough
B25J 9/0087
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
0084comprising a plurality of manipulators
0087Dual arms
Applicants Yaskawa Nordic AB
Inventors CHRISTIANSEN, Henrik
Priority Data 1450360 28.03.2014 SE
Title
(DA) FREMGANGSMÅDE TIL AT HÅNDTERE STABLER AF FLEKSIBLE SUBSTRATER.
Abstract
(EN) The invention concerns a method of handling stacks of flexible substrates (14) by means of a gripper (8) as well as a robot cell (1) for carrying out the method. The gripper (8) is arranged on an arm (6) of a robot (2) and has a lower finger and a corresponding upper finger. The method comprises the steps of inserting said lower finger below a bottom substrate (14) of a stack resting on a base and said upper finger above a top substrate (14) of the stack, and gripping the stack by clamping it between said lower and upper finger. Then by means of the gripper (8) starting at a stack front the entire stack is lifted into a pendent state and moved to a support (16). There the stack is lowered such that a stack rear, which is opposite to said stack front, comes into contact with the support (16). Finally the entire stack is laid out on the support (16) with said bottom substrate (14) up by further lowering and while horizontally displacing the gripper (8) in a bottom-to-top substrate direction before letting the gripper (8) release the stack.