Abstract: A device, a method and a program, by which a weight and a horizontal position of a gravity center of a load attached to a movable part of a robot can be estimated by a simple configuration. The device has: two torque sensors configured to detect a first torque applied to a first axis of a robot, and a second torque applied to a second axis of the robot; and a calculation section configured to calculate a weight and a horizontal position of a gravity center of a workpiece, by using two detection values of the torque sensors in one posture in which a hand attached to a movable part of the robot holds the workpiece.

Abstract: Various adaptive apparatus and systems for automated handling of components such as composite plies are provided. In one embodiment, a ply manipulation tool module is provided that comprises a first shuttle including a first gripper and a first clamping element, and a second shuttle including a second gripper and a second clamping element. The first and second shuttles move with respect to one another along a path to position the first and second grippers to grip a ply and to position the first and second clamping elements outside the ply. In a particular embodiment, the ply manipulation tool module includes a lead screw and nut assemblies, the nut assemblies moving along the lead screw to position one or more grippers for gripping components. Ply manipulation tool assemblies comprising at least two modules also are provided.

Abstract: A separator suction device that corrects warpage without damaging stacked separators is provided. The separator suction device is capable of suctioning and conveying a separator stored in a state where a plurality of the separators are stacked. The separator suction device includes a first arm that includes a first suction portion capable of suctioning the separator by a negative pressure, a second arm that includes a second suction portion capable of suctioning the separator by a negative pressure, and a turning mechanism that moves the first arm and the second arm to selectively arrange the first arm and the second arm at any one of a follow-up position to follow a warped shape of the separator or a correction position to correct the warpage of the separator.

Abstract: Compliant end effectors, robots that include compliant end effectors, and methods of utilizing the same. The robots include a robotic arm and the compliant end effector. The compliant end effector includes a base, a jaw fixedly coupled to the base, a part-engaging surface, and a pivot structure. The pivot structure extends between the part-engaging surface and the jaw and is configured to permit limited rotation of the part-engaging surface relative to the jaw about a single pivot axis. The methods include locating an apparatus with a vision system of the robot, locating a part with the vision system, gripping the part with the compliant end effector, positioning the part relative to the apparatus, and operatively attaching the part to the apparatus. The positioning includes deliberately contacting a toe end of a flange of the part with the apparatus prior to contacting a heel end of the flange with the apparatus.

Abstract: A visually controlled end effector is disclosed. The end effector comprises two or more operational members capable of picking up one or more randomly placed items. A crank is capable of actuation by a robot to orient a first one of said two or more operational members to pick up a first one of said one or more randomly placed items. The crank is further capable of actuation by the robot to orient a second one of said two or more operational members to pick up a second one of said one or more randomly placed items. The crank is further capable of orienting the first and second ones of the said two or more operational members for placement of the first and second ones of said randomly placed items into a desired oriented condition. A time savings of three robot transfers is thus made over prior art systems that transferred each individual product one by one.

Abstract: An interleaf at the top position of a stack of plates and interleaves stored in a cassette is removed by attaching the interleaf to suction pads mounted to a vertically movable support. When the interleaf in the cassette is moved upwardly to a position opposed to a pair of nip rollers, movable suction pads move horizontally in such a direction as to stretch the interleaf to remove wrinkles in the interleaf. Then, a leading edge portion of the interleaf is held between the pair of nip rollers and removed outwardly.

Abstract: A drive transmission for a pull or forwarding sucker located in a suction head of a sheet feeder for translatorily driving a sucker-carrying support movable in a guide provided on a suction-head housing, the sucker-carrying support being connected articulatingly to at least one coupler swivelable about an axis extending transversely to the translatory motion of the sucker-carrying support, includes a first drive cam for moving the coupler and for effecting a forwarding motion, and a second drive cam for a roller lever mounted in the suction-head housing and being swivelably connected to the coupler, the second drive cam having a profile for leveling the translatory motion of the sucker-carrying support.

Abstract: A system for light-tight handling of a supply of media between a supply station, a workstation and a collecting station, comprises a media handling apparatus defined by a frame and a housing enclosing an internal confine. Within this confine are a supply station and a collecting station disposed at opposite ends of the frame. A positioning drive is suspended above the supply and collecting stations to move media between the supply, collecting and work stations. A lifting shoe is provided as part of the positioning drive and includes a flexible material handling sheet which assumes a first and a second given radius when respectively energized and reverse energized to engage the media supported in curved form. Also, supply and collecting cassettes are provided with a tambour coverings for respectively automatically uncovering and covering the supported media while still maintained in the light-tight confines of the housing.

Abstract: Apparatus for destacking individual sheets from a stack of non-magnetic mutually clinging metal sheets includes a structure adjacent the side edge of the sheets having a series of vertically spaced horizontal ridges. A series of vacuum cups raise the edge of the top sheet such that the sheet bends in a curve. The second sheet clings by an adhesive film to the top sheet. Both sheets engage the ridged structure, but the top sheet continues to be raised while the second sheet is caught by the ridges until the adhesive film between the sheets releases the top sheet.

Abstract: The invention relates to a method for picking up sheets of paper, cardboard or similar, especially porous material, one at a time from a pile of sheets for onward transfer, using a gripping apparatus fitted with gripping means and a sheet support disk, and a gripping apparatus for effecting the method. According to the invention when the gripping apparatus is brought to the pile of sheets it achieves the following steps:a. the pile of sheets is pressed on its top in the central region thereof,b. the gripping means is moved and presses the top of the pile on both sides of said central region,c. the top sheet on the pile is distorted preferably from both sides of the central region of the pile by making use of movement of the gripping means towards the central region of the pile so that said top sheet bends partly clear from the sheet under it,d.

Abstract: An end effector suitable for manipulating articles such as mail flats is disclosed. This end effector has parallel reciprocating arms having suction cups for gripping the article to be manipulated and mechanical grippers mounted on the arms outboard of the suction cups. These mechanical grippers may be actuated to provide a mechanical grip on a manipulated article in addition to the suction grip.

Abstract: A fabric component pickup apparatus or the like having first and second fabric gripping elements defining first and second opposed gripping lines in the plane of the face of the fabric component, the fabric gripping elements adapted for movement relative to each other essentially in the plane with simultaneous components of motion closing the distance between the gripping lines and displacing one gripping line laterally in the plane of the fabric at an angle to the closing motion. As the fabric lying between gripping lines is tensioned by the component of lateral displacement motion of the gripping elements, the fabric is simultaneously gathered by the component of closing motion. In one preferred embodiment, an air blast is directed through the porosity created by tensioning the fabric to impinge upon the underlying layer of fabric.

Abstract: The lowermost sheet of an upright stack of superposed sheets is removed by a device which has one or more suction heads and is moved against the underside of the lowermost sheet prior to folding one or two marginal portions of such sheet downwardly to separate the marginal portions from the adjacent portions of the next-to-the-lowermost sheet. The device thereupon moves the lowermost sheet downwardly, substantially at right angles to the plane of the next-to-the-lowermost sheet, either into the range of one or more tongs or analogous transfer elements, or directly to the periphery of a rotary turret in a cigarette packing machine. Once the marginal portion or portions of the lowermost sheet are flexed downwardly, the corresponding marginal portion or portions of the next-to-the-lowermost sheet are engaged and held by one or more pivotable retaining members which are disengaged from the sheet as soon as the device returns to its raised position and attracts and supports the next lowermost sheet.

Abstract: This sheet feeder apparatus is provided with pick-up heads for the sheets which heads are tiltable in at least one plane or in two planes automatically during the operation of the apparatus to properly align and/or stretch the sheets as they are picked-up from a stack and advanced for further handling. Thus, the pick-up heads are supported on support blocks and spring biased whereby the biasing forces tend to pull a sheet into proper alignment and/or to stretch a sheet without damaging the sheet.