Positioning apparatus and method for positioning a flexible, flat workpiece
AssigneeSewts GmbH
InventorsALEXANDER BLEY, TIM DOERKS, TILL RICKERT
Life of this patent
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Abstract
A positioning device for positioning a limp flat workpiece has a provisioning area for providing the flat workpiece to be positioned and a camera for generating a camera image of the flat workpiece to be positioned. Furthermore, the positioning device comprises a first manipulator having a first gripper, a second gripper and a third gripper. The second gripper and the third gripper are configured to take over at least a portion of the limp flat workpiece from the first gripper. In addition, a method of positioning a limp flat workpiece is presented.
Claims20
A positioning device for positioning a limp flat workpiece, comprising:
- a provisioning area for providing the limp flat workpiece to be positioned;
- a camera which is arranged and configured to generate a camera image of the limp flat workpiece which is positioned and which is located in the provisioning area;
- a first manipulator which carries a first gripper configured to grip at least a portion of the limp flat workpiece from the provisioning area;
- a second gripper;
- and
- a third gripper,
- wherein the second gripper and the third gripper are each configured to take over at least a portion of the limp flat workpiece from the first gripper, and wherein:
- the second gripper and the third gripper are drivingly coupled to a linear drive unit, wherein the second gripper and the third gripper are each movable along the linear drive unit, or
- the second gripper is carried by a second manipulator and the third gripper is carried by a third manipulator.
A method of positioning a limp flat workpiece using a positioning device, the method comprising the steps of:
- a) providing the flat workpiece in a provisioning area, the flat workpiece assuming a random state;
- b) gripping an edge of the flat workpiece using a first gripper;
- c) transferring the flat workpiece from the first gripper to a second gripper and a third gripper wherein the second gripper and the third gripper grip the edge of the flat workpiece;
- and
- d) depositing the flat workpiece in a flat condition using the second gripper and the third gripper.
Dependencies are inferred from the claim text.