Method for fetching heads from stacks

Details Method for fetching heads from stacks Method for fetching heads from stacks

1996-12-24

1999-10-26

Brahan, Thomas J.

Boots, shoes, and leggings

36447802, 414801, 414802, 531362, B65D 6100

Patent

active

059715901

ABSTRACT:
In a method for manipulating paper roll heads by a multi-axis robot (8), heads are picked-up and transferred by the robot (8) from multiple stacks in accordance with stored data concerning the height and position of each stack as well as the dimension characteristics of the articles in the stack. At initial start-up, or immediately after a shut-down, previously stored information on the position or height of the stacks is considered not known by or otherwise unreliable by the robot (8) controller. That is, when the operation of the robot (8) is halted to accommodate replacement or replenishment of the head stacks, the stored parameter data for all stacks is set unknown. In accordance with its operating program, the system operation is restarted, the robot performs a slow-speed approach toward an uncalibrated stack, measures the stack data, that is, calibrates the stack height and position, and thus can perform the next stack approach through a normal transfer cycle on the basis of the measured data.

REFERENCES:
patent: 4172685 (1979-10-01), Nabeshima et al.
patent: 4339904 (1982-07-01), Koutonen et al.
patent: 4363585 (1982-12-01), Keller et al.
patent: 4723884 (1988-02-01), Brinker et al.
patent: 4958478 (1990-09-01), Hannen et al.

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