Abstract

Production line for processing flat format parts (1) to shape final parts, the production line comprising a press (2), the press (2) including a first surface onto which the each of the flat format part (1) is to be placed in a theoretical loading position, the press (2) further including a second surface facing the first surface, in use the first and second surfaces cooperate with one another to act on the flat format parts (1); a first conveyor (3) located upstream the press (2) and configured to carry the flat format parts (1) in a forward movement direction (A) towards the press (2); an optical measuring device (4) that is configured to determine a real position of each of the flat format parts (1) on the first conveyor (3); a first transfer device (5) and a second transfer device (6) that are configured to grab at least one flat format part (1) residing in a real position on the first conveyor (3); and a control unit (7) configured to determine a deviation between the real position and the theoretical loading position of the flat format part (1), the control unit (7) is configured to use the calculated deviation to command the first transfer device (5) and the second transfer device (6) to alter the position of the flat format part (1) to correct the deviation and to place the flat format part (1) on the first surface of the press (2) in the theoretical loading position after altering the position of the flat format part (1).

IPC Classes  ?

• B21D 43/00 - Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profilesAssociations therewith of cutting devices
• B21D 43/10 - Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
• B21D 43/11 - Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers for feeding sheet or strip material
• B25J 9/00 - Programme-controlled manipulators
• B23Q 7/18 - Orienting work on conveyors
• B25J 9/16 - Programme controls

Abstract

The invention relates to a flexible gripping device for a part stacking system, comprising a plurality of supporting arms (20) and a plurality of gripping elements (23) attached to said supporting arms (20) at least some of said gripping elements (23) being movable with respect to the respective supporting arm (20). Each supporting arm (20) comprises at least one guiderail (21) and each movable gripping element (23) comprises a carriage (24) movable in the corresponding guiderail (21). The static friction force between each carriage (24) and the respective guiderail (21) is such that the movable gripping elements (23) are kept immobile with respect to the supporting arms (20) by means of said static friction force during the part stacking process, and said movable gripping elements (23) are positioned with respect to the respective supporting arm (20) overcoming said static friction force. The invention also relates to a part stacking system comprising a flexible gripping device and to a positioning method for positioning gripping elements.

IPC Classes  ?

• B25J 15/00 - Gripping heads