Method of moving a stack of products by use of a robot
AssigneeHeidelberger Druckmaschinen AG
InventorsHerbert Ackermann, Udo Ganter, Martin Haupt-Terlau, Joachim Krumma, Gerhard Lubberger
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Abstract
A method moves a stack of products by a robot. The robot has an articulated arm and at least one gripper disposed on the articulated arm to grip the stack of printed products and the stack of products selectively being turned. The method includes pivoting the stack of products through an effective angle α1< >180° and subsequently pivoting the stack through an effective angle α2=180°−α1 or pivoting the stack back through an effective angle α2=−α1. This method of moving stacks of products is performed in an automated way and in particular of depositing them in a turned or unturned arrangement.
Claims13
A method of moving a stack of products by a robot, the robot containing an articulated arm and at least one gripper disposed on the articulated arm to grip the stack of products, the method comprising:
- pivoting the stack of products through an effective angle α1=90° into a vertical position using a pivoting device different from the robot;
- subsequently pivoting the stack through an effective angle α2=90° or pivoting the stack back through an effective angle α2=−90° using the robot;
- and
- selectively turning the stack in the vertical position about the vertical axis by the pivoting device;
- taking over the stack of products from the pivoting device by the robot and then moving the stack of products;
- and
- pivoting the stack of products through the effective angle α1 before the step of moving the stack.
Dependencies are inferred from the claim text.