- Patent Title: Method and robot cell for handling stacks of flexible substrates
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Application No.: US15129708Application Date: 2015-03-19
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Publication No.: US10173329B2Publication Date: 2019-01-08
- Inventor: Henrik Christiansen
- Applicant: Yaskawa Nordic AB
- Applicant Address: SE
- Assignee: YASKAWA NORDIC AB
- Current Assignee: YASKAWA NORDIC AB
- Current Assignee Address: SE
- Agency: Condo Roccia Koptiw LLP
- Priority: SE1450360 20140328
- International Application: PCT/SE2015/050320 WO 20150319
- International Announcement: WO2015/147725 WO 20151001
- Main IPC: B25J15/02
- IPC: B25J15/02 ; B25J15/00 ; B65H31/30 ; B65H31/40 ; A21C9/08 ; B65H3/32 ; B65H15/02 ; B25J9/00

Abstract:
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.
Public/Granted literature
- US20170036356A1 METHOD AND ROBOT CELL FOR HANDLING STACKS OF FLEXIBLE SUBSTRATES Public/Granted day:2017-02-09
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