US 12,139,351 B2
Method of moving a stack of products using 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 Feb. 9, 2021, as Appl. No. 17/171,006.
Claims priority of application No. 102020103402.4 (DE), filed on Feb. 11, 2020.
Prior Publication US 2021/0245970 A1, Aug. 12, 2021
Int. Cl. B65G 47/90 (2006.01)
CPC B65G 47/90 (2013.01) [B65G 47/905 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A method of moving a stack of products, the method comprising:
providing a robot with an articulated arm and two grippers disposed on the articulated arm;
the grippers being configured for gripping the stack of products and selectively turning the stack of products;
using the two grippers to deposit the stack of products and subsequently opening the grippers in a Z-direction and removing one of the grippers from the stack of products in an X-direction and another of the grippers in a Y-direction.