公开(公告)号：US09758329B2

公开(公告)日：2017-09-12

申请号：US14639622

申请日：2015-03-05

Applicant: INDUSTRIAL ROBOT AUTOMATION

Inventor： Lars Fleckenstein ,  Henrik Christiansen

IPC: B65H3/62 ,  B65H3/00 ,  B65H7/20 ,  B65H3/32 ,  B25J9/00 ,  B65H3/50 ,  B65H3/60 ,  B65H5/00 ,  B65H5/14 ,  B65H3/36

CPC classification number: B65H7/20 ,  B25J9/0087 ,  B65H3/322 ,  B65H3/36 ,  B65H3/50 ,  B65H3/60 ,  B65H5/006 ,  B65H5/14 ,  B65H2301/42242 ,  B65H2301/4227 ,  B65H2301/4228 ,  B65H2555/31 ,  Y10S901/31

Abstract: 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.