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1. (WO2018121838) A PENDULAR HANDLING SYSTEM FOR A PRESS LINE

Pub. No.:    WO/2018/121838    International Application No.:    PCT/EP2016/082697
Publication Date: Fri Jul 06 01:59:59 CEST 2018 International Filing Date: Wed Dec 28 00:59:59 CET 2016
IPC: B25J 9/00
B21D 43/05
B21D 43/10
Applicants: ABB SCHWEIZ AG
Inventors: CASANELLES MOIX, Ramon
RUIZ GONZÁLEZ, José
Title: A PENDULAR HANDLING SYSTEM FOR A PRESS LINE
Abstract:
A pendular handling system for handling parts (300) in a press line may comprise two articulated robots (110, 120) arranged on opposite sides with respect to the central vertical plane of the press line, wherein each robot comprises at least four rotational axes (Al - A4) in series between a robot base (111, 121) and a robot wrist (112, (122), and each robot is mounted with the first axis (Al) horizontal and perpendicular to the press line flow direction (LFD), whereby a first arm (113, 123) of each robot can swing in a vertical plane in the press line flow direction.