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1. WO2015147725 - METHOD AND ROBOT CELL FOR HANDLING STACKS OF FLEXIBLE SUBSTRATES

Publication Number WO/2015/147725
Publication Date 01.10.2015
International Application No. PCT/SE2015/050320
International Filing Date 19.03.2015
IPC
B65H 3/32 2006.1
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
B25J 9/00 2006.1
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
B65H 5/08 2006.1
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
B65H 31/30 2006.1
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
CPC
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 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
B25J 15/0253
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
02servo-actuated
0253comprising parallel grippers
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 15/02
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
15Overturning articles
02Overturning piles
B65H 2555/30
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
Applicants
  • YASKAWA NORDIC AB [SE]/[SE]
Inventors
  • CHRISTIANSEN, Henrik
Agents
  • AWAPATENT AB
Priority Data
1450360-128.03.2014SE
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) METHOD AND ROBOT CELL FOR HANDLING STACKS OF FLEXIBLE SUBSTRATES
(FR) PROCÉDÉ ET CELLULE ROBOTIQUE PERMETTANT LA MANIPULATION DE PILES DE SUBSTRATS FLEXIBLES
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.
(FR) L'invention concerne un procédé de manipulation de piles de substrats flexibles (14) au moyen d'une pince (8) ainsi qu'une cellule robotique (1) pour la mise en œuvre du procédé. La pince (8) est agencée sur un bras (6) d'un robot (2) et comprend un doigt inférieur et un doigt supérieur correspondant. Le procédé comprend les étapes d'insertion dudit doigt inférieur sous un substrat inférieur (14) d'une pile reposant sur une base et dudit doigt supérieur au-dessus d'un substrat supérieur (14) de la pile et de préhension de la pile par serrage de celle-ci entre lesdits doigts inférieur et supérieur. Ensuite, au moyen de la pince (8) à partir de l'avant de la pile, toute la pile est soulevée dans un état suspendu et déplacée vers un support (16). La pile est alors abaissée de sorte que l'arrière de la pile, qui est opposé à l'avant de la pile, entre en contact avec le support (16). Enfin, l'intégralité de la pile est posée sur le support (16) avec ledit substrat inférieur (14) sur le dessus en abaissant davantage tout en déplaçant horizontalement la pince (8) dans la direction du bas vers le haut du substrat avant de laisser la pince (8) libérer la pile.
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