Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.v.

Agfa-Gevaert Ag

C & E. Fein Gmbh & Co.

Egon Illig

Josef Gentischer

Wolfgang Sturz

Wolfgang Schmutz

Volkmar Kniep

Dieter Boley

Ernst Bergner

In order to be able in a simple manner to supply one or more suction pick devices periodically moved relative to the surface of a stack with driving energy, the suction pick-up device is connected to an air volume or source having substantially constant negative pressure over overpressure, and a valve assembly that periodically connects the suction pick-up device to the outside air. The valve assembly is incorporated in the connecting line between the suction pick-up device and the air volume. The valve assembly may be embodied with a control piston that is subject to the action of a restoring force, by a pneumatic multi-way valve having a regulattable frequency, or by a magnetic valve connected to a regulattable frequency generator. With the aid of a regulating device for the cross section of the vent opening, it is possible to generate an amplitude of the suction pick-up device movement that becomes progressively smaller from stroke to stroke after the movable suction pick-up device has been switched on, until it attains a complete standstill.

Apparatus for separating and conveying the uppermost sheet of a stack of

In order to accomplish the separation and further conveyance of the uppert sheet of a stack of sheets by the simplest possible means, an elastic friction finger resting with slight pressure on the uppermost sheet of the stack is provided, which is set into reciprocating motion in a direction (A-B) that is inclined by a certain angle (.alpha.) relative to the surface of the stack, the movement having a low amplitude and a relatively high frequency. The stack itself is inclined backward relative to the horizontal by a certain angle (.beta.). The drive of the friction finger may be effected by means of a bellows connected to a valveless pump, by a pneumatic cylinder, or by a crank drive. It is also possible to connect a pneumatic cylinder, provided with vent bores controlled by the piston, to a supply line that is at constant negative pressure or overpressure.

Apparatus for separating and conveying sheet-like articles

A device for changing tools, pick-ups, welding torches, and other implements that can be handled by industrial robots. It consists of an upper and lower part. In order to obtain optimal cost effectiveness a linear drive mechanism guides a hook-shaped structure in the upper part along a guide in such a way that the structure initially carries out a curved motion essentially perpendicular to the linear closing or opening motion during the closure process. The curved motion is appropriate for making the bottom of the device engage an associated implement even when the latter is stored in an imprecise position. The structure then carries out a strictly linear motion during which the upper part and lower part are exactly aligned by guides integrated into the device and by guide bevels even in the presence of counteracting forces. A motion that can be made as precise as desired can be executed to obtain a closed and mechanically prescribable final position. The aforesaid linear drive mechanism can also be employed for purposes of separation in conjunction with an ejector while the device is opening, even in the presence of counteracting reaction forces.

Device for changing tools in industrial robots

An arrangement for separating and transporting uppermost sheets of a stack of sheets or sheet-like objects has a movable suction mouthpiece in which negative pressure acting for adhering the sheet simultaneously controls the movement of the suction mouthpiece in a longitudinal direction in a guide, the movable suction mouthpiece is connected with a valveless pump which produces in a connecting conduit between the suction mouthpiece and the pump periodically alternating negative pressure and positive pressure phases, and the guide of the movable suction piece is arranged so that a movement direction provided by the guide is inclined relative to the direction of the force of gravity at such an angle that the resultant of a lifting movement of the sheet produced during the lower pressure phase of the movable suction mouthpiece and the falling movement produced during the positive pressure phase has a component acting in a desired transporting direction of the sheet.

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Stuttgart, Germany

Egon Illig