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, each gripping element 23 comprising a respective suction cup 32, 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 being such that the movable gripping elements 23 are kept immobile with respect to the supporting arms 20 during the part stacking process. The invention also relates to a part stacking system comprising a flexible gripping device and to a positioning method for positioning gripping elements.