FLEXIBLE GRIPPING DEVICE FOR A PART STACKING SYSTEM, PART STACKING SYSTEM AND POSITIONING METHOD FOR POSITIONING GRIPPING ELEMENTS FOR A PART STACKING SYSTEM

摘要

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.