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US 12,157,643 B2Granted
Method of moving a stack of products using a robot
AssigneeHeidelberger Druckmaschinen AG
InventorsHerbert Ackermann, Udo Ganter, Martin Haupt-Terlau, Joachim Krumma, Gerhard Lubberger
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Abstract
A stack of products is moved with a robot which has an articulated arm and at least one gripper disposed on the articulated arm to grip the stack of products. The stack of products can be selectively turned. The step of moving terminates at a selected deposit location of a number of deposit positions of a predefined deposit scheme. The stacks of products are moved in an automated way and, in particular, the stacks are deposited in a turned or unturned arrangement.
Claims8
A method of moving a stack of products, the method comprising:
- providing a robot with an articulated arm and at least two grippers disposed on said articulated arm;
- gripping the stack of products at diagonally opposite corners with the grippers spaced apart from one another such that the stack of products sags diagonally;
- moving the stack of products and selectively turning the stack of products;
- and
- terminating the step of moving at a selected deposit position among multiple deposit positions of a predefined deposit scheme, and upon depositing the diagonally-sagging stack of products, a sagging portion of the stack is first to touch the base.
2 more elements
Dependencies are inferred from the claim text.