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It was automatic feeding line to produce furniture metal parts for a domestic client. Strips were paid off by 3 in 1 decoiler straightener feeder and then cut by hydraulic shear then processed during 6 power press, such as blanking, drawing, bending, piercing, forming etc and then products were collected by a 6-axis robot.
Transfer working cycles:
Machine runs in two-dimensional space: X axis and Y axis. It runs 4 action in a circulation: horizontal movement →come down→snatch work piece→up rise→ horizontal movement →come down→release work piece →up rise→return.