Regrip panel

A typical Regrip panel is shown alongside:

To access the regrip panel:

Click twice on the R1 cell in the bend navigator.
Alternatively, click on the part held by the BendMaster gripper at the regrip position.

Method of regrip

The five methods of regripping a part are:

Clamp
Clamp+Station
During Bend
Station
Post-Bend

Clamp

When you select the Clamp method, the gripper relies on the bending tool (punch and die) to hold the part, complete the swivel sequence and then re-grips from the other side of the part.

Insert part first and BG: Z before X are already explained in Insertion strategy.

Clamp+Station

When you select the the Clamp+Station method, the regripping happens at the clamping point but also on the RG-Stations supporting the part.

This method is useful when bending lengthy overhanging parts.

During Bend

In the During Bend method, as soon as the bending operation starts the gripper starts to swivel simultaneously (if required) and performs the regripping exactly at the end of the bending operation.

Opening of the punch starts only when the part is firmly held by the robot gripper.

Station

When you select the the Station method, the regripping happens with the RG-Stations supporting the part.

This method is essential when handling large dimension parts.

Post-Bend

When you select the the Post-Bend method, the regripping happens after the bending process with the part still at the clamping point.

In this method, the robot gripper will assist the part during the bending operation. Once the bending operation is completed with expected results, the regripping operation will start.

Swivel

During regripping operation, the robot gripper places the part either between the bend tool or on the RG-Stations gripper and then move to the other side of the part to perform regrip.

In order to prevent collision, robot gripper is extracted slightly away from the part, bent tools, and the RG-Stations and then perform a swivel movement. This extraction and swivel movement happens in three ways:

Front
Left
Right

The below image shows the extraction of gripper:

After this movement, the gripper is swivels and moves to the bottom of the part and performs a regrip.