Stacking and unstacking device for table-like articles - incorporates computerised position control of active joints of pivot arms and manipulator arms with suction grip

摘要

The plates or sheets (G) are lifted by suction grippers (3) in a frame (2) which is movable from a horizontal to a vertical position by two lateral systems of levers (1), each comprising a pivot arm (6) and a manipulator arm jointed (11) to a transverse shaft (12) with a stepping motor (13). The pivot arms (6) are jointed (8) to supports (9) with a similar motor (13) and feedback from angular position encoders on the active joints (8,11). USE/ADVANTAGE - E.g. with fibrous, laminated or glass plates. Automatic appts. with computer control is adaptable to various operating conditions and stacking planes.