System and methods for forming stacks

A system for forming layered stacks of bundles comprising:

• a first conveyor configured for transferring bundles to a bundle acquisition zone;
• a second conveyor configured for transferring layered stacks of the bundles from a stack build zone;
• a robot comprising a movable arm configured to transport bundles from the bundle acquisition zone to the stack build zone;
• a gripping appliance coupled to the movable arm, the gripping appliance comprising a first gripping assembly and a second gripping assembly, wherein the first gripping assembly is configured for grasping one or more first bundles from the bundle acquisition zone and the second gripping assembly is configured for grasping one or more second bundles from the bundle acquisition zone;
• and
• wherein the first and second gripping assemblies are configured such that first and second bundles grasped thereby may be reoriented and linearly translated relative to one another during transport of the bundles from the bundle acquisition zone to the stack build zone,
• wherein at least one of said first and second gripping assemblies are linearly translatable along said gripping appliance past a midpoint thereof.

A gripping assembly comprising:

• an elongated base frame;
• a first gripper movably coupled to the base frame such that the first gripper is translatable along a longitudinal dimension of the base frame and rotatable relative to the base frame, the first gripper comprising an elongated first frame having one or more first clamp members movably coupled to the first frame;
• a second gripper movably coupled to the base frame such that the second gripper is translatable along the longitudinal dimension of the base frame, the second gripper comprising an elongated second frame having one or more second clamp members movably coupled to the second frame;
• wherein at least one of said first gripper and said second gripper are translatable along said longitudinal dimension of said base frame when rotated relative to said base frame;
• wherein at least one of said first gripper and said second gripper are translatable along said longitudinal dimension of said base frame past a midpoint thereof;
• one or more first drive systems coupled to either or both of the first and second grippers for driving the translational movement of the first and second grippers;
• and
• one or more second drive systems coupled to either or both of the first and second grippers for driving the rotational movement of the first and second grippers.