CN109513841B

CN109513841B - Transfer tool for transferring stamping parts and stamping production line comprising same

Info

Publication number: CN109513841B
Application number: CN201811086918.7A
Authority: CN
Inventors: 尼哈特·德米尔; 安德列亚斯·森格; 蒂姆·布勒斯巴赫; 贝恩德·瑙曼; 德克·弗兰茨曼
Original assignee: Strothmann Machines and Handling GmbH
Current assignee: Strothmann Machines and Handling GmbH
Priority date: 2017-09-18
Filing date: 2018-09-18
Publication date: 2022-07-05
Anticipated expiration: 2038-09-18
Also published as: DE102017121556A1; CN109513841A

Abstract

The invention relates to a transfer tool (40,140,240) for transferring a stamping (36) between two positions that follow one another in a flow direction (A), comprising: a track (44,144,244); an arm (42,142,242) which can be pivoted about a first axis (Z1) perpendicular to the rail (44,144,244) and which is suspended on the rail (44,144,244) so as to be movable along the rail (44,144,244), wherein the arm (42,142,242) extends radially from the first axis (Z1) and is suspended so as to be movable relative to the first axis (Z1) in the direction of extension thereof; a workpiece receiving part for receiving and holding a stamping (36) is provided with a device (50,150,250), which is mounted on the arm (42,142,242) in a manner that can swing around a second axis (Z2) parallel to the first axis (Z1). According to the invention, the arm (42,142,242) is telescopic and has at least two telescopic sections (52,152, 252; 54, 154; 254) which can be displaced relative to one another in the extension direction of the arm (42,142, 242).

Description

Transfer tool for transferring stamping parts and stamping production line comprising same

Technical Field

The invention relates to a transfer tool for transferring stampings between two successive positions in the flow direction.

Background

Such transfer tools are used, for example, in press lines for removing a stamping from one press and transferring it to a subsequent press. The space provided for this movement is relatively small, so that the conveying means must be designed space-saving and only a relatively small space is required between the receiving position and the placing position during the transfer movement.

One such transport means is known, for example, from EP 2516116B 1. In this case, a development of a linear robot with additional degrees of freedom is basically involved. It comprises an arm which can swing and is hung on a track, and the track extends between a receiving position and a placing position of the stamping part along the flowing direction. The arm is suspended on the rail so as to be pivotable about a first axis perpendicular to the rail and is movable along the rail. The arm extends radially from the first shaft and is also displaceable relative to the shaft. The arm carries at its distal end a workpiece receiving portion provided with means for receiving and securing the stamping. This is a so-called "tool" (tool), which is equipped with a vacuum suction device or the like and is adapted to the respectively received stamping. The workpiece receiving portion is swingable about another second axis parallel to the first axis as a swing axis of the arm.

The distance between this (first) axis and the pivot axis (i.e. the second axis) of the workpiece receiver on the arm can be changed by displacement of the arm relative to its pivot axis. In this way, a movement is achieved in which the workpiece receiver is guided between the receiving position and the placement position in a very narrow movement path and directs the transported stamping to a stable linear translational movement. The term "stable in orientation" means here that the stamping does not rotate during transport, but maintains its spatial orientation. For this purpose, the arm for receiving the stamping is first moved out into the receiving position, so that it extends almost along the extension of the rail counter to the flow direction, and the stamping is received by means of a tool on the workpiece receiving portion. The received stamping is then moved in the flow direction, wherein the workpiece receiving section is pushed towards the first shaft by displacement of the arm relative to this shaft, while the first shaft itself is moved along the rail and the arm is pivoted about the first shaft. In order to maintain the orientation of the workpiece receiving portion, it must simultaneously perform a counter-swing about a second axis at the distal end of the arm. For placing the stamping, the arm is pushed again relative to the first axis, that is to say the second axis, which is the pivot axis of the workpiece receiver, is again remote from the pivot axis of the arm, and the stamping can be placed. In addition to the degrees of freedom described, the arm can also be raised and lowered along the first axis, so that the receiving or placing of the stamping into or out of the press is achieved.

In order to perform this movement process, only a relatively small space can always be provided between the presses. The first problem here is that the rear end of the arm remote from the workpiece receiver performs a swinging motion projecting from the side of the path of travel of the transported workpiece, while the workpiece receiver approaches the swing axis (first axis) of the arm and the arm swings simultaneously. In this case it must be ensured that the rear extremity of the arm is always also kept at a sufficient distance from the stationary part of the press, in particular from the press abutment which defines the space provided for this movement. Due to this limitation, the maximum length of the arm is also limited.

Disclosure of Invention

The object of the invention is therefore to improve a conveying tool of the type mentioned at the outset such that the components moved by the conveyor during the transfer movement take up less space and can therefore be used more flexibly. In particular, the transfer tool should be such that its arm can also be moved out over a relatively large length without the risk of colliding with the press bed when the workpiece receiver is moved in the direction of the pivot axis of the arm.

According to the invention, this object is achieved by a conveying tool having the features of claim 1.

The transfer tool according to the invention comprises a telescopic arm. The arm has at least two telescopic joints which can be displaced relative to each other in the direction of extension of the arm.

Thereby, an elongation or shortening of the arm itself is achieved, and the workpiece receiving part on the end of the arm can be moved in the direction of the first axis without the opposite rear end of the arm being forcibly moved away from the first axis by an equal distance. In the above-described transfer movement, the arm can be moved in and out simultaneously with the displacement along its pivot axis (first axis), as is done in conventional conveyers. However, in the transfer tool according to the invention, the rear end of the arm is moved only a relatively small distance away from the first axis, and the oscillation is thereby carried out in a much smaller space.

Thereby, the risk of the rear end of the arm colliding with the press abutment or other parts is greatly reduced, and the transfer tool thus designed can be arranged in a smaller space than in the case of conventional transfer tools.

The number of telescopic joints of the arm can be chosen at will. The structural complexity increases with the number of segments, but in this way the space required for the movement of the rear end of the arm can be further reduced.

According to a preferred embodiment of the invention, the arm comprises a first telescopic joint which can be pivoted about a first axis and a second telescopic joint which is suspended in a linearly displaceable manner on the first telescopic joint and which carries the workpiece receiver.

In this case, it is preferable to provide a coupling device for coupling displacement of the first telescopic joint with respect to the first shaft and displacement of the second telescopic joint with respect to the first telescopic joint. This coupling may, for example, cause the two shifts to be performed synchronously. In this case, the second telescopic joint is displaced relative to the first telescopic joint by an equal distance to the displacement of the first telescopic joint relative to the first shaft.

The coupling device furthermore preferably comprises a pulling mechanism which is guided by guide means on the first telescopic section, the guide means being spaced apart from one another in the direction of extent of the first telescopic section, wherein the pulling mechanism comprises a first return section which is suspended on the first shaft and a second return section which is moved opposite thereto and from which the second telescopic section is suspended.

The seamless traction means can in particular relate to an endless chain or a seamless belt. The guide means on the first telescopic joint, on which the traction means are arranged, may in this case be wheels, rollers or the like, and may in particular contain a corresponding drive for the traction means. When the traction mechanism is driven, the first telescopic joint moves relative to the traction mechanism and relative to the first shaft, and simultaneously, the second telescopic joint hung on the traction mechanism moves along the same direction as the first telescopic joint. The traction mechanism thus couples the two telescopic joints such that a displacement of the first telescopic joint relative to its first shaft forcibly causes a displacement of the two telescopic joints relative to each other.

Furthermore, the arm is preferably displaceable along the first axis. Thereby, a lifting and lowering of the arm, and thus of the stamp fixed to the arm, within the press line is achieved.

According to one embodiment of the invention, the rail extends in the flow direction.

According to a further embodiment of the invention, the rail extends transversely to the flow direction.

In addition, the transport means preferably have a control device for controlling at least the following movements of the transport means:

-a swinging movement of the arm around the first axis,

-movement of the arm along the track,

-the displacement of the arm with respect to the first axis,

-oscillation of the workpiece receiving portion about a second axis,

and the telescopic joints of the arms are displaced from each other,

the control device is provided to coordinate these movements such that a stamping received on the workpiece receiving portion can be transported in a stable manner in the transport movement between two successive positions in the flow direction. In addition to the above-described movements, the control device can additionally coordinate the movements of the arm along its axis of oscillation (first axis).

Furthermore, the control device is preferably provided for coordinating the movement of the conveying means in such a way that the transmission movement is a linear transmission movement.

The invention also relates to a press line comprising a first press and a second press, which are arranged one after the other in the flow direction and have press supports, between which a transfer channel extends in the flow direction, and a transfer tool of the aforementioned type according to the invention, which is placed between the first press and the second press for the transfer of the press inside the transfer channel between a removal position in the first press and a placement position in the second press.

Drawings

Preferred embodiments of the invention are further elucidated on the basis of the drawing.

Fig. 1 to 3 show schematic top views of a first embodiment of the transfer tool according to the invention in different displacement positions;

FIGS. 4 and 5 show side views of partial views of the conveyance of FIGS. 1-3 in different positions of movement;

fig. 6 and 7 show schematic top views of a second embodiment of the transfer tool according to the invention in different displacement positions;

fig. 8 and 9 show schematic top views of a third embodiment of the transfer tool according to the invention in different displacement positions.

Detailed Description

Fig. 1 shows a schematic top view of a press line 10 comprising a first press 12 and a second press 14. Four press supports 16,18,20,22 of the first press 12 and four further press supports 24,26,28,30 of the second press 14 are shown. The individual press mounts 16,18,20,22 and 24,26,28,30 define a space therebetween in which the upper and lower tools of the

presses

12,14 are disposed. The

bottom tools

32,34 are schematically shown in the figures.

The stamping 36 is transported in the stamping line 10 from the first press 12 to the second press 14 for further processing. In fig. 1, the direction from the first press 12 to the second press 14 is indicated by an arrow as the horizontal flow direction a. To transfer the stamp 36 from the first press 12 to the second press 14, a transfer tool 40 is used, the details of which will be explained further below. Transfer means 40 are provided in the region between the first press 12 and the second press 14 and serve to receive a stamping 36 from the first press 12, to transfer this stamping 36 to the second press 14 and to place this stamping 36 in the second press 14. Accordingly, in the illustrated illustration, the bottom tool 32 of the first press 12 includes a receiving position and the bottom tool 34 of the second press 14 includes a placing position.

The transfer means 40 comprise an arm 42 which is movably suspended on a rail 44 extending in the flow direction a in the region between the

presses

12, 14. The arm 42 is suspended on the rail 44 by means of a suspension device 46 so that this arm can swing about a vertical axis Z1. This axis Z1 is also referred to as first axis in the following. Starting from this first axis Z1, the arm 42 extends in a radial direction, i.e. in a horizontal plane. Furthermore, the suspension 46 and thus the arm 42 can be moved along the rail 44, i.e. along or opposite the flow direction a. Thereby, the first axis Z1 can be linearly moved back and forth between the receiving position and the placing position.

In addition, the suspension 46 allows the arm 42 to be raised or lowered in a vertical direction, i.e., along the Z-axis.

At the end 48, the arm 42 carries a workpiece receiver, not shown in any further detail here, with means for receiving and securing the stamping 36. This device, also generally referred to as a tool 50, is designed with the aid of a vacuum suction device or the like, by means of which the stamp 36 is temporarily sucked or gripped on the tool 50 and set down again. The workpiece receiver as well as the tool 50 can be pivoted about a further vertical axis Z2, so that the tool 50 can be pivoted together with the stamp 36 fastened thereto in a horizontal plane. This vertical axis Z2 is hereinafter referred to as the second axis. Which is parallel to the first axis Z1.

In addition to translating along the rail 44 with its suspension device 46, the arm 42 can additionally be displaced relative to the suspension device 46 and thus relative to the first axis Z1. That is, the arm 42 can be moved in its extension direction along the first axis Z1, so that the second axis Z2 can approach the first axis Z1 or in particular be distanced therefrom.

Further, the arm 42 is extendable and retractable. For this purpose, it comprises two telescopic joints, namely a first telescopic joint 52 and a second telescopic joint 54, the first telescopic joint 52 being able to pivot about a first axis Z1 and being suspended on the suspension device 46, the second telescopic joint 54 being able to be suspended in a linearly displaceable manner on the first telescopic joint 52. The second telescopic joint 54 carries on its free end a workpiece receiving portion with a tool 50.

By displacing the two

telescopic joints

52 and 54 relative to one another, the second axis Z2 can thus likewise be moved closer to the first axis Z1 or away therefrom in the opposite direction.

This movement process, by which the stamp 36 is directed to be stably transferred from the receiving position shown in fig. 1 to the placing position shown in fig. 3, is explained below. The term "stable orientation" here means that the stamp 36 retains its orientation in space during this transfer movement without any rotation or oscillation relative to the

presses

12 and 14. This movement involves essentially a pure translation, ignoring the slight lifting or lowering movement along the first axis Z1, which is necessary in order to completely release the stamping from the bottom tool 32 and remove it from the first press 12 without striking it, and in order to enable it to be placed from above into the bottom tool 34 in the placement position.

In fig. 1, the suspension device 46 is moved to the end of the rail 44 which is located upstream in the flow direction a, and the arm 42 is located opposite the flow direction a in a position of maximum displacement, in which the arm is pivoted about the first axis Z1 in the interior of the first press 12, the first telescopic joint 52 of which is displaced as far as possible in the direction of the first press 12 relative to the suspension device 46, and the second telescopic joint 54 is displaced as far as possible relative to the first telescopic joint 52. The tool 50 on the workpiece receiver can then extract the stamping 36 from the receiving position 32, if necessary with the aid of the suspension device 46, with an additional lowering movement along the first axis Z1.

Subsequently, the suspension device 46 lifts the stamp 36 slightly by means of the lifting movement along the first axis Z1, and the stamp 36 is removed from the first press 12 in the flow direction a. This is achieved by moving the second telescopic joint 54 in with respect to the first telescopic joint 52, thereby shortening the arm 42 and by displacement of the arm 42 itself, that is to say the first telescopic joint 52 is translated with respect to the suspension device 46 in a direction in which the tool 50 approaches the first axis Z1. At the same time, the arm 42 swings in the clockwise direction about the first axis Z1. In order to keep the tool 50 and the stamp 36 in their stable spatial orientation, the workpiece receiving part with the tool 50 is pivoted in opposite directions about a second axis Z2. Furthermore, the suspension device 46 moves along the rail 44 in the conveying direction a.

Fig. 2 shows an intermediate position of the stamp 36, in which it is removed from the receiving position 32. It can be seen here that the tool 50 with the stamp 36 does not itself oscillate, but is only linearly translated in the flow direction a by the combined movements described above, by the opposite oscillation of the arm 42 about the first axis Z1 and of the workpiece receiver with the tool 50 about the second axis Z2. The movement of the first telescopic joint 52 relative to the suspension 46 and the retraction of the second telescopic joint 54 relative to the first telescopic joint 52 enables the workpiece receiving portion with the second axis Z2 to approach the first axis Z1 to a large extent.

In fig. 3, the tool 50 with the stamp 36 is shown in the position in which the placing position 34 is reached and the stamp 36 can be placed in the bottom tool of the second press 14. The position of the transport means 40 in fig. 3 is almost a mirror image of that in fig. 1, that is to say the arm 42 is largely pivoted in the flow direction a and is extended to its maximum length, the second telescopic joint 54 being in its maximum extended position relative to the first telescopic joint 52. At the same time, the first telescopic joint 52 is moved out as far as possible along the suspension device 46 towards the end 48 of the arm 42 carrying the tool 50, and the suspension device 46 itself reaches its end position at the foremost end of the rail 44 in the flow direction a.

Furthermore, in fig. 3, a movement trajectory 56 is shown, which is traversed by the rear end 58 of the arm 42 remote from the workpiece receiver during the transfer movement from fig. 1 to fig. 3. This movement track 56 has an arc or loop shape extending laterally of the track 44. This loop is significantly smaller than the path in comparable transfer movements of the transfer tool known from the prior art, in which the arm has a fixed length and the approaching of the workpiece receiver to the swing axis of the arm can only be achieved by moving the arm along the suspension. In this case, the arm must project at its opposite end of the other side of the suspension or swing shaft a path equal to the path of the workpiece receiving portion close to the swing shaft. Due to the scalability of this arm 42 of the transfer tool 40 according to the invention, the amount of protrusion of the arm 42 at its end opposite the tool 50 can be minimized.

The first telescopic joint 52 and the second telescopic joint 54 can be coupled to one another in such a way that a displacement of the first telescopic joint 52 relative to the first axis Z1, i.e. relative to the suspension device 46 of the arm 42, forcibly leads to a displacement of the second telescopic joint 54 relative to the first telescopic joint 52. The corresponding structure of a suitable coupling device is shown in fig. 4 and 5.

Fig. 4 shows a position of the arm 42 in which the end 48 of the second telescopic joint 54 carrying the workpiece receiver (not shown here) with the tool 50 is at its greatest possible proximity to the first axis Z1, along with the second axis Z2, about which the first telescopic joint 52 or the entire arm 42 on the suspension device 46 can pivot. The first telescopic joint 52 carries on its opposite ends two

wheels

60,62, by means of which a seamless belt 64 is placed, so that an upper section 66 of the seamless belt 64 extends on the upper side of the first telescopic joint 52 in its direction of extension and a lower section 68 of the seamless belt 64 extends on the bottom side of the first telescopic joint 52. The term "seamless belt" in this description also includes a belt-like traction means which is not made in one piece but is formed by the belt sections which are joined at their ends to form a belt loop which runs endlessly.

The upper section 66 constitutes a first return section of the seamless belt 64, to which the suspension device 46 is fixed. One of the two

wheels

60,62 is provided with a drive. If the driving device is operated, the seamless belt 64 is driven. A pulling is thereby carried out, by means of which the first telescopic section 52 is moved in its direction of extension. From the retracted position of fig. 4, the first telescopic joint 52 can be moved relative to the suspension means 46 to the position of fig. 5 by rotation of the

wheels

60 and 62 in a clockwise direction.

The second telescopic joint 54 is fixedly connected at its rear end remote from the workpiece receiver by a corresponding suspension device 70 to a bottom section 68 of the endless belt 64, which bottom section forms the lower return section. By the above-described movement of the seamless belt 64 from the position in fig. 4 to the position in fig. 5, this lower return section moves along the first telescopic joint 52 together with the second telescopic joint 54, and extends the arm 42.

Thus, the seamless belt 64 couples displacement of the first telescopic joint 52 relative to the suspension device 46 with corresponding displacement of the second telescopic joint 54 relative to the first telescopic joint 52. The second telescopic joint 54 thus moves out of the same path as the displacement of the first telescopic joint 52 relative to the suspension device 46.

In contrast to the embodiment shown here, the displacement of the first telescopic joint 52 relative to the suspension device 46 can be achieved by a further drive device, for example an electric motor arranged in the suspension device 46, which drives a toothed rod for displacement, which rod extends along the first telescopic joint 52, by means of a drive wheel. The seamless belt 64 does not have its own drive, but serves only to couple this displacement to the displacement of the second telescopic joint 54 relative to the first telescopic joint, as described above.

In order to enable the transfer movement of the stamp 36 to be carried out as a directed stable translation, the respective components of the transfer tool 40 must be correspondingly coordinated and controlled. To this end, the transfer tool 40 according to the invention comprises respective control means which coordinate the drive means for the pivoting of the arm 42 about the first axis Z1, the movement of the arm 42 along the rail 44, the displacement of the arm 42 relative to the first axis Z1, the pivoting of the workpiece receiver about the second axis Z2 and the displacement of the

telescopic joints

52 and 54 of the arm 42 relative to one another.

Fig. 6 shows a schematic top view of the end region of the punching line 100, in which a further embodiment of a transfer tool 140 according to the invention is used for carrying a stamping 36 away from the press 114 and for placing the stamping 36 on one of two parallel conveyor belts. This press 114 is of identical construction to the press 14 and comprises four press supports 124,126,128,130 in the corner regions thereof, between which press supports a bottom tool 134 is placed which in the illustrated case forms a receiving region for the stamp 36. The stamp 36 is removed from this receiving region, conveyed in the flow direction a and placed on a conveyor belt 190, which thus forms the placement region.

The transport means 140 is constructed similarly to the transport means 40 in the first embodiment and has a rail 144 which extends in the flow direction a and on which a suspension device 146 for the arm 142 is suspended so as to be movable in or counter to the flow direction a. A first axis Z1 passes through the suspension 146, the arm 142 extends radially from the first axis, and the arm 142 is able to swing along the first axis. Furthermore, as in the previous embodiment, the arm 142 is movable relative to the first axis Z1 and comprises a first telescopic joint 152 and a second telescopic joint 154, which are telescopically connected to each other, as shown in fig. 4 and 5. The mechanism of movement of the arm 142 relative to its suspension 146 or first axis Z1 is of the same construction as in the first embodiment, as is the additional displaceability along the rail 144.

The end 148 of the arm 142 remote from the first axis Z1 carries a tool 50 for receiving the stamping 36. The advantage of a very small pivot radius of the rear end 158 of the arm 142 opposite the workpiece receiving portion with the tool 150 also applies to the second embodiment described here. However, the movement of the stamp 36 in its flow direction a from the receiving position into its placement position is a rotation. In this embodiment, a rotation of 90 ° in the clockwise direction is involved, as shown in fig. 7. The conveying means 140 can thus be moved here not only over a relatively long distance from the receiving position to the placement position, but also in a relatively narrow movement path, including a rotation of the stamp 36, the width of which transverse to the flow direction a is relatively small compared to the distance traveled along the flow direction a. The placement position is also arranged close to the first axis Z1. This is again achieved according to the invention by shortening the arm 142, i.e. by bringing the tool 150 close to the first axis Z1.

The end region of the press line 200 shown in fig. 8 has a compressor 214 arrangement with a compressor support 224,226,228,230 and two conveyor belts following it in the flow direction a in accordance with fig. 6. Here too, the stamp 36 is removed from the bottom tool 234 of the press 214, turned and placed in a placement area on one of two parallel belts 290, as shown in fig. 9. However, the configuration of the transfer tool 240 for transferring the stamping 36 differs from that of the first and second embodiments.

Unlike the conveyors 40,140 in the first and second embodiments, a rail 244 extends transversely to the flow direction a, along which the arm 242 can move. The suspension 246 for the arm 242 can thus be moved transversely to the flow direction a, through which the first axis Z1, as a pivot axis for the arm 242, passes. This enables a relatively narrow path of movement of the tool 250 with the stamp 36 and a narrow path of movement for the rear end 258 of the arm 242. If the arm 242 is shortened from the receiving position in fig. 8 by the displacement of the two telescopic joints 252,254 and is pulled by the displacement along the first axis Z1, the suspension device 246 can be moved laterally at the same time, so that the second axis Z2 can be moved at least almost linearly along the flow direction a. In this case, the arm 242 is pivoted about the first axis Z1 by an angle of rotation which is significantly greater than 90 °, while the resulting pivoting angle of the stamp 36 between the receiving position and the placement position is equal to 90 °.

In fig. 9, the placement position is shown, in which the arm 242 is again completely moved out and reaches the maximum distance between the first axis Z1 and the second axis Z2.

It can be seen that in all three illustrated embodiments of the transfer device 40,140,240, the movement process shown is reversible, i.e. the transfer means 40,140,240 perform the same movement process in the opposite sequence or in a coupled manner on the way from the depositing position to the receiving position and are coordinated by the respective control device.

Claims

1. Transfer means (40,140,240) for transferring a stamping (36) between two positions successive to each other along a flow direction (A), said transfer means comprising:

-a track (44,144,244),

-an arm (42,142,242) swingable about a first axis (Z1) perpendicular to the rail (44,144,244) and suspended movably along the rail (44,144,244) on the rail (44,144,244), wherein the arm (42,142,242) extends radially from the first axis (Z1) and is suspended movably relative to the first axis (Z1) along an extension direction of the arm,

-a workpiece receiving portion with means (50,150,250) for receiving and securing a stamping (36), said workpiece receiving portion being mounted on the end of an arm (42,142,242) so as to be pivotable about a second axis (Z2) parallel to the first axis (Z1),

characterized in that the arm (42,142,242) is telescopic and has at least two telescopic sections (52,152, 252; 54,154,254) which can be displaced relative to one another in the direction of extension of the arm (42,142, 242).

2. The transfer tool according to claim 1, wherein the arm (42,142,242) has a first telescopic joint (52,152,252) which can be pivoted about a first axis (Z1) and a second telescopic joint (54,154,254) which is suspended in a linearly displaceable manner on the first telescopic joint (52,152,252) and which carries the workpiece receptacle.

3. The transfer tool according to claim 2, characterized by coupling means for coupling the displacement of the first telescopic joint (52,152,252) with respect to a first axis (Z1) with the displacement of the second telescopic joint (54,154,254) with respect to the first telescopic joint (52,152, 252).

4. The conveyance according to claim 3, wherein the coupling means comprises a pulling mechanism (64) guided by guide means (60,62) on the first telescopic joint (52,152,252), the guide means being spaced apart from each other along the extension of the first telescopic joint (52,152,252), the pulling mechanism (64) comprising a first return section (66) suspended on a first shaft (Z1) and a second return section (68) moving in the opposite direction to the first return section, the second telescopic joint (54,154,254) being suspended on this second return section.

5. The conveyance of claim 1, wherein the arm (42,142,242) is moveable along a first axis (Z1) in translation.

6. The conveyance according to claim 1, wherein the track extends along a flow direction (a).

7. The conveyance according to claim 1, wherein the track extends transversely to the flow direction (a).

8. A conveyance according to claim 1, wherein control means for controlling at least the following movements of the conveyance (40,140, 240):

-oscillation of the arm (42,142,242) about a first axis (Z1),

-movement of the arm (42,142,242) along the track (44,144,244),

-displacement of the arm (42,142,242) relative to the first axis (Z1),

-oscillation of the workpiece receiving portion about a second axis (Z2),

and the telescopic joints (52,152, 252; 54,154,254) of the arms (42,142,242) are displaced from each other,

the control device is provided for coordinating the movements in such a way that a stamping part (36) received on the workpiece receiving section can be transported in a stable manner in a transport movement between two successive positions in the flow direction (A).

9. The conveyance according to claim 8, wherein the control device is arranged to coordinate the movement of the conveyance (40,140,240) such that the transmission movement is a linear transmission movement.

10. Stamping line (10,100) comprising a first press (12,112) and a second press (14,114) arranged one after the other along a horizontal flow direction (a) and having a press support (16,18,20, 22; 24,26,28,30) between which a movement channel along the flow direction (a) extends, and a transfer tool (40,140) according to any one of claims 1 to 9 placed between the first press (12,112) and the second press (14,114) for transferring a stamping (36) inside the movement channel between a removal position in the first press (12,112) and a placement position in the second press (14, 114).