US 11,952,232 B2
Method of moving a stack of products by use of a robot
Herbert Ackermann, Ludwigsburg (DE); Udo Ganter, Freiberg am Neckar (DE); Martin Haupt-Terlau, Erdmannhausen (DE); Joachim Krumma, Pleidelsheim (DE); and Gerhard Lubberger, Steinheim (DE)
Assigned to Heidelberger Druckmaschinen AG, Heidelberg (DE)
Filed by Heidelberger Druckmaschinen AG, Heidelberg (DE)
Filed on Dec. 28, 2022, as Appl. No. 18/089,622.
Application 18/089,622 is a continuation of application No. 17/169,786, filed on Feb. 8, 2021, granted, now 11,584,605.
Claims priority of application No. 10 2020 103 398.2 (DE), filed on Feb. 11, 2020.
Prior Publication US 2023/0136370 A1, May 4, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B65H 31/30 (2006.01); B65G 47/248 (2006.01); B65H 31/34 (2006.01); B65H 31/38 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B65H 31/3045 (2013.01) [B65G 47/248 (2013.01); B65H 31/34 (2013.01); B65H 31/38 (2013.01); B25J 9/1666 (2013.01); B25J 13/088 (2013.01); B65H 2301/333 (2013.01); B65H 2301/4222 (2013.01); B65H 2301/42256 (2013.01); B65H 2555/30 (2013.01)] 13 Claims
OG exemplary drawing
 
1. 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.