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1. WO2012069056 - AUTOMATIC HANDLING AND AERATION OF A STACK OF PAPER SHEETS

Publication Number WO/2012/069056
Publication Date 31.05.2012
International Application No. PCT/DK2011/050441
International Filing Date 21.11.2011
IPC
B65H 3/60 2006.01
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
46Supplementary devices or measures to assist separation or prevent double feed
60Loosening articles in piles
B25J 15/08 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
08having finger members
CPC
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
B65H 2301/42242
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
2301Handling processes for sheets or webs
40Type of handling process
42Piling, depiling, handling piles
422Handling piles, sets or stacks of articles
4224Gripping piles, sets or stacks of articles
42242by acting on the outermost articles of the pile for clamping the pile
B65H 2301/4227
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
2301Handling processes for sheets or webs
40Type of handling process
42Piling, depiling, handling piles
422Handling piles, sets or stacks of articles
4227Deforming piles, e.g. folding
B65H 2301/4228
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
2301Handling processes for sheets or webs
40Type of handling process
42Piling, depiling, handling piles
422Handling piles, sets or stacks of articles
4228Dividing piles
B65H 2555/31
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
2555Actuating means
30Multi-axis
31Robots
B65H 3/322
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
322for separating a part of the pile, i.e. several articles at once
Applicants
  • INDUSTRIAL ROBOT AUTOMATION [DK]/[DK] (AllExceptUS)
  • FLECKENSTEIN, Lars [DK]/[DK] (UsOnly)
  • CHRISTIANSEN, Henrik [DK]/[SE] (UsOnly)
Inventors
  • FLECKENSTEIN, Lars
  • CHRISTIANSEN, Henrik
Agents
  • ORSNES, Henrik
Priority Data
PA 2010 0105522.11.2010DK
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) AUTOMATIC HANDLING AND AERATION OF A STACK OF PAPER SHEETS
(FR) MANIPULATION ET AÉRATION AUTOMATIQUES D'UN EMPILEMENT DE FEUILLES DE PAPIER
Abstract
(EN)
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.
(FR)
L'invention porte sur un procédé et sur un appareil pour l'aération et la manipulation automatiques d'un sous-empilement d'un empilement de feuilles de papier rectangulaires, le sous-empilement étant saisi au voisinage de coins opposés, ou au niveau de ceux-ci, d'un bord commun du sous-empilement, à l'aide de deux éléments de préhension robotiques (A, B) ayant deux doigts de préhension opposés (A1, A2, B1, B2), par soulèvement et rotation des coins dans des premières directions mutuellement opposées, de telle sorte que l'empilement de travail prend une forme concave vers le haut, par saisie des coins à l'aide des éléments de préhension robotiques (A, B), et par rotation des éléments de préhension dans des secondes directions opposées aux premières directions, de telle sorte que la feuille supérieure du sous-empilement présente une courbure inférieure à celle de la feuille inférieure du sous-empilement, et, de préférence, une forme sensiblement plane.
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