DE102014111564B4 - Gripping arm for containers, control cams, storage unit and gripping device - Google Patents

Abstract

Gripping arm (2) for a gripping device (1) for gripping, holding and guiding containers, which has a rotatably mounted control cam (11) with a bore for moving a gripping section (5) of the gripping arm (2) from a gripping position to an open position (10) for mounting a bearing pin (18) for pivotably securing the gripping arm (2) in the gripping device (1), and with a first receptacle (6) for a first closing means for moving the gripping section (5) of the gripping arm (2) from the opening position into the gripping position, characterized in that the gripping section (5) is mounted pivotably about a pivot axis (8) running perpendicular to the bore (10).

Description

The present invention relates to a gripping arm, a control cam and a storage unit for a gripping device for gripping, holding and / or guiding, in particular, essentially round-shaped containers, as well as a gripping device made up of the aforementioned units.

Gripping devices for gripping, holding and / or guiding, in particular, essentially round-shaped containers are already known from the prior art and are used in the assembly line processing of containers.

In connection with the present invention, the term “container” is to be understood as meaning in particular, but not exclusively, containers with an essentially circular cross-section, e.g. B. bottles or cans or jars, each of which can consist of glass, metal or plastic according to the practice. In connection with the present invention, the term “essentially round” is not to be understood exclusively in the geometrical sense as round containers, but also, for example, oval, regularly polygonal, etc., which are then in particular essentially circular, but for example also oval or have a polygonal cross-section.

When cleaning, filling or closing, the containers are gripped at an input station by means of a gripping device with at least one pair of gripping arms and transported to the next station in the processing process. Such a gripping device for a container transport system has at least two gripping arms and can switch between a gripping position and an open position. In order to transport a container, the gripping arms usually grip below the neck collar or - in the case of bottles or other elongated containers - around the belly of the container. For this purpose, a control cam acts as an opening means and a spiral spring acts as a closing means of the gripping device. When the gripping device is opened by the control cam, a force is applied against the inside of the gripping arm against the spring force. The spring force of the spiral spring serves not only to close the gripping device, but also to hold the container in a non-positive manner. The spring force is therefore correspondingly large.

In particular, if the container is to be gripped by the belly, the gripping device must be suitable for holding the container in a stable, particularly vertical position. The high speed of rotation of transport devices, which have a large number of gripping devices, in particular arranged in a circle, gives heavy or filled containers, in particular, an acceleration that varies along the longitudinal axis of the container due to the shape and / or the filling of the container and thus creates different forces can exercise the gripping device. However, even with a linear movement of the gripping device, a container can experience an initial or final acceleration and thus exert forces on the gripping device. For this reason, gripping sections of the gripping arms are normally used which have a shape that fits the belly of the container and / or which grip at different points of the belly by means of several gripping fingers of the gripping section along the longitudinal axis of the container. A pivoting of the container about its longitudinal axis can thus be suppressed or the container can be stabilized in its position during transport.

This results in disadvantages for the gripping device, since only containers of a certain shape and size can be gripped and transported in a stable and secure manner. In the event that differently shaped containers are to be transported, the gripping section must be adapted to the new shape. This can be achieved, among other things, by using new gripping arms, the gripping fingers of which are designed accordingly for different diameters on the belly of the container. Another alternative is to simply exchange the gripper fingers. Nonetheless, the transport device with the gripping devices must be stopped and converted, the conversion leading to an at least partial standstill and entailing financial losses and costs.
EP 2 159 172 A1 relates to a transport star for vessels or similar bodies, with a rotatable base body and several gripping devices distributed over its circumference for gripping the vessels, each gripping device having gripping arms corresponding in pairs, in particular radially arranged to the base body, which are coupled to one another in their gripping movement by a centering toothing, wherein at least one gripping arm has an adjusting device by means of which the operative engagement of the centering toothing can be adjusted.
EP 2 143 674 A2 relates to a clamp for holding containers with two gripping arms pivoted in opposite directions on a common or two separate axes with single-ended clamp structures, an energy storage mechanism that is functionally effective between the gripping arms, possibly on the axis side facing the clamp structures, as an extension of the gripping arms to the other axis side trained locking lever, and a locking cam rotatably arranged between the locking levers to act on the gripping arms.

It is therefore the object of the present invention to develop a gripping arm for a gripping device and a gripping device of the type mentioned in an advantageous manner to the effect that a compact gripping device is provided from a small number of components and an independent adaptation of the gripping arm to the shape of the container is made possible, which does not require any external influence by a user.

According to the invention, this object is achieved by a gripper arm having the features of claim 1. It is then provided that a gripping arm for a gripping device for gripping, holding and guiding particularly bottle-like containers is provided, which has a rotatably mounted control cam for moving a gripping section of the gripping arm from a gripping position into an open position, with a bore for mounting a bearing pin for pivotable fastening of the gripping arm in the gripping device, with a first receptacle for a first closing means for moving the gripping section of the gripping arm from the open position to the gripping position, the gripping section being pivotably mounted about a pivot axis running perpendicular to the bore.

The gripping arm according to the invention initially offers the advantage that the gripping section can be flexibly aligned with a container and can grip it with a virtually precise fit. This enables a stable grip on the container by the gripping arm, which prevents the container from slipping or shifting in the gripping position of the gripping device.

Finally, a further advantage of the gripping arm according to the invention should be mentioned that different containers with different shapes can be held with a single gripping section. As a result, there is no need to replace the gripper arm, the operation or the gripping device does not have to be stopped and financial losses due to an operational standstill are avoided.

Advantageous further developments of the invention are specified in the subclaims. It should be noted here that the various embodiments and in particular their features can each be combined with one another.

The pivot axis is preferably formed by means of a pivot bolt with a recess which, in the plugged-on state, engages in a self-locking manner with a nose of the gripping section located inside a recess. The pivot bolt is a robust and stable connection element between the gripping section and the gripping arm body (also referred to as a base body). While one end of the pivot pin is preferably non-rotatably fastened by means of a form fit in the gripping arm body, the other end of the pivot pin is rotatable in the gripping section and fastened by means of the nose and an in particular circular recess. In addition, the aforementioned nose has the advantage that no additional fastening means to be introduced from the outside, on which dust and dirt can accumulate, are necessary. In addition, the nose and the recess enable a stable, but also releasable fastening or connection and are hardly subject to wear. Furthermore, alternative embodiments to the pivot pin are possible, e.g. as one-piece or two-piece hollow cylinders that can be plugged into one another.

The gripping section preferably has a projection in the connection area to the pivot axis which, in the plugged-on state, comes into engagement with a gap in a base body of the gripping arm which limits a pivoting angle of the gripping section. With the help of this further development, the gripping section cannot be rotated into a position in which, for example, the gripping fingers, in particular their inside, are directed horizontally or outwards, making it impossible to grasp a container. Another advantage is the functionally correct combination of gripping section and base body, since otherwise the gripping section could assume the aforementioned positions. The gap in the base body, also called the recess, is wider than the projection of the gripping section. In particular, this defines the swivel angle or swivel range. The projection and the gap are preferably formed on the outside of the gripping section and the base body, but can also be positioned at a different location. The pivoting range can alternatively be limited by the aforementioned recess, in which case the recess forms a segment of a circle on the circumference of the bolt and is therefore limited in its length.

In a further development of the gripping arm, the pivot axis runs centrally and / or symmetrically to the gripping section. As a result, the same leverage forces act on the gripper fingers when gripping, for example, which are thus evenly loaded. In addition, the center of gravity lies in the center of the gripping section and allows the gripping section to rotate more easily or to remain in a rotational position which is advantageous for gripping the container. Alternatively or additionally, the pivot axis and / or the gripping section can also be designed such that the center of gravity of the gripping section is arranged below the pivot axis (e.g. by a lower gripping finger that is heavier than the upper gripping finger) and the gripping section assumes a vertical position by itself. Through the simultaneous implementation of the aforementioned features “symmetrical arrangement of the pivot axis” and “below the Swivel axis arranged center of gravity ”, the advantages mentioned above can be combined.

A second receptacle for a second closing means for moving the gripping section of the gripping arm from the open position into the gripping position is advantageously formed in the gripping arm according to the invention. The second receptacle with the second closing means has the advantage that it can be used to increase the gripping force or holding force of the gripping device. The first and / or second receptacle can each be designed as at least one blind hole.

Furthermore, the gripping arm preferably has at least one first hole between the bore and the end of the gripping arm opposite the gripping section as the first receptacle and / or between the bore and the gripping section at least one second hole as the second receptacle, into which the first and the second closing means can be used when assembling the gripper arm. The gripping force is dosed as a function of the opening angle of the gripping device through the various positions of the receptacles and the corresponding closing means that can be used therein. In addition, various types of closing means can be used and inserted in the aforementioned receptacles.

The first closing means are preferably designed as a magnet of a magnet pair repelling each other or as a spring and / or the second closing means are designed as a magnet of an attracting magnet pair. Compared to closing means such as a spring, a magnet hardly offers any possibilities of collecting dirt such as dust, dirt, liquids or grease. This advantage is due in particular to the homogeneous surface structure of the magnet, which, in contrast to a spring, has no or hardly any depressions or gaps, as well as its small number of movable elements. The fastening of the magnets as closing means is relatively complex if it is done by welding or screwing. On the one hand, heat is generated during the welding process, which considerably weakens the strength of the magnet, while on the other hand, the screw connection attracts dirt. The at least one blind hole as a receptacle can be dimensioned in such a way that it securely holds the at least one magnet without further fastening means, in particular by means of a form fit. However, the at least one blind hole can also have a protruding edge or a bulge that is arranged on the inside of the blind hole and interacts with a notch of the magnet, whereby the magnet is locked and prevented from falling out. Since the first closing means is arranged at the end of the gripping body opposite the gripping section and is therefore not in the vicinity of the control cam and the container to be gripped, it can be designed as a spring in contrast to the second closing means without further structural adaptations.

In a further development of the gripper arm according to the invention, the gripping section is at least partially fork-shaped and has at least two gripping fingers with which a container can be held in the gripping position and / or the gripping section is made in one piece from plastic, in particular from fiber-reinforced polyetheretherketone. Conventional gripping arms are made of stainless steel and are therefore relatively expensive, and it has also been shown in the operation of the gripping devices in question that the metallic gripping arms occasionally bend, which is difficult to detect when the gripping device is in operation and, on the other hand, leads to damage to the gripping device gripping and transporting container and / or the opposite gripping arms, which transfer or take over the container, and / or can lead other fittings. If, on the other hand, the gripping arms are made of plastic, they can be manufactured very cheaply as disposable items using the injection molding process. Furthermore, plastic has better properties than stainless steel for this application, so that overstressing the gripper arm does not lead to bending, but to immediate breakage, which does not result in any consequential damage to the bottle and enables the overstrained gripper arm to be recognized immediately. Then, for example, the gripping section can be replaced very quickly and inexpensively due to its one-piece design. Fiber-reinforced polyetheretherketone has proven to be an advantageous plastic, since it has good rigidity with sufficient flexibility at the same time. PEEK is a high-temperature-resistant thermoplastic and the fiber reinforcement enables a fiber-plastic composite with high specific stiffness and strength. In contrast to conventionally used metal or stainless steel, plastic shows hardly any signs of wear when cleaned with water. A plastic-molded gripper arm creates an easily replaceable product that can be removed after it has worn out and replaced without great expense or manufacturing time. The fork-like shape of the gripping section made up of at least two gripping fingers permits stable gripping of the container, but also saves material compared to shovel-shaped gripping sections. In particular in connection with the pivot axis, the gripping section can be angled or rotated towards the container with the gripping fingers, thus adapting itself to the shape of the container and holding the container in a more stable manner.

The gripping arm advantageously has a third arranged on the inside of the gripping arm between the bore and the gripping arm section Recording for the rotatable fastening of a rolling element, which cooperates with the control cam when moving from the gripping position to the open position. The roll-off element has the advantage that when the control cam acts on the gripper arm, the gripper arm itself is not touched and thus no material is worn off. This advantage protects the gripper arm and makes it less susceptible to repair and consequently it does not have to be replaced as often. The rolling element is rotationally symmetrical, for example in the form of a cylinder, and can be made of plastic. Due to the fact that the rolling element is rotatably fastened on an axis in the third receptacle, the rolling element can rotate when it interacts with the control cam and there is no one-sided wear. The third receptacle can additionally have a protruding material section which extends in the direction of the control cam and which is formed both by the edge of the upper side of the gripping arm and by the edge of the lower side of the gripping arm. This material bulge enables the rolling element to be positioned between the two material extensions closer to the control cam and the diameter of the control cam can be made smaller or the same size compared to the prior art. With a smaller diameter of the control cam, the lever arm of the control cam on the gripper arm is reduced. This means that less force is required to open the gripping device and less material abrasion of the rolling element is to be expected.

The present invention also relates to a gripping arm according to the invention for a gripping device for gripping, holding and guiding particularly bottle-like containers, which has a rotatably mounted control cam for moving a gripping section of the gripping arm from a gripping position into an open position, with a bore for mounting a bearing pin for pivotably securing the gripping arm in the gripping device, with a first receptacle for a first closing means for moving the gripping section of the gripping arm from the open position to the gripping position, the gripping arm having a toothed section in the axial direction of the bore, which is arranged in the center of the gripping arm. The feature relating to the toothed section, which can also be used in combination with the other features mentioned above, has the advantage that these gripping arms can be used both as left and right gripping arms in a gripping device. The gripping arms can be rotated 180 degrees around the longitudinal axis of the gripping arm and exchanged, inserted and used as opposing gripping arms in the gripping device. This means that the first gripping arm to be used, which is provided for a gripping device, does not have a predefined position in the gripping device. Another advantage is that the teeth of the toothed sections of the two gripping arms always come into mutual engagement along their entire length regardless of the position of the gripping arm on a right or left bearing pin of the gripping device. As a result, the force distribution is always evenly distributed over the teeth and the toothed section is additionally protected against premature wear.

The toothed section is preferably designed with teeth arranged at least in segments concentrically around the bore on the inside of the gripping arm for synchronous pivoting of the gripping arm with a complementarily designed gripping arm of the gripping device. As a result, for example, the previously described second gripper arm to be used has such a toothed section which interacts with the toothed section of the first gripper arm to be used and produces symmetry of the pair of gripper arms and their gripping movement. This feature has the advantage of providing the mentioned effect with few and simple means on the gripping arm.

The present invention further relates to a control cam according to the invention for a gripping device with a pair of gripping arms consisting of a first gripping arm and a complementary second gripping arm, wherein the control cam can be anchored by a securing means in a bearing unit according to the invention, which is described below, and wherein the securing means is formed from a pin-like projection which runs through the bearing unit perpendicular to the bore for the extension element of the control cam, engages in an L-groove in the extension element and forms a type of bayonet lock. In addition, the control cam can be inserted into the gripping device described below and used with the gripping arms according to the invention described above. The L-groove ensures that the control cam is used correctly in a bearing unit of a gripping device; In particular, an actuating element mentioned below can be arranged in the correct function. While the vertical part of the L-groove, which runs parallel to the longitudinal axis or axis of rotation of the control cam, determines the vertical positioning of the control cam within the gripping device, the horizontal part of the L-groove is used to determine the swivel range or swivel angle of the control cam, in particular between the open position and the gripping position. The pivot angle is preferably 90 degrees (plus / minus 5 degrees tolerance).

The control cam is preferably distinguished by an actuating element arranged above the control cam. The advantage of one arranged above the pair of gripper arms The actuating element is easy to check and, under certain circumstances, to adjust, since a technician has good access to the upper area of the gripping device. In addition, the control cam is preferably firmly connected to the actuating element and can be pulled out of a bearing unit as a whole with the actuating element.

The present invention also relates to a bearing unit for a gripping device with a pair of gripping arms made up of a first gripping arm and a second gripping arm which is designed to be complementary or opposite, the bearing unit having a securing means for anchoring a control cam according to the invention described above, the securing means being composed of a pin-like projection is formed, which passes through the bearing unit perpendicular to the bore for the extension element of the control cam, engages in an L-groove in the extension element and forms a kind of bayonet lock. The cross section of the projection is preferably round or rounded, the horizontal diameter and the vertical diameter essentially coinciding with the width of the L-groove and at the same time allowing the projection to slide or slide through the L-groove.

Furthermore, the invention relates to a gripping device for gripping, holding and guiding particularly bottle-like containers, with at least one pair of gripping arms comprising a first gripping arm according to the invention and a complementarily designed, second gripping arm according to the invention, at least one rotatably mounted control cam according to the invention for moving gripping sections of the pair of gripping arms from one Gripping position in an open position, at least one bearing unit according to the invention for storing the pair of gripping arms, the bearing unit having at least one first and second bearing pin for pivotably securing the first and second gripping arm, and with at least one first and one second closing means for moving the gripping sections of the pair of gripping arms from one Open position into a gripping position, the first and second closing means being arranged in the first and second gripping arms, respectively. This invention has the advantage of providing a compact, flexibly functional and simple device for gripping containers and of combining all of the aforementioned advantages in one device.

Advantageously, the first and second gripping arms of the pair of gripping arms can be slipped onto the first and second bearing bolts and / or the at least one control cam is arranged between the first and second gripping arms of the pair of gripping arms and / or can be inserted into the bearing unit. This development enables simple repair or replacement of the gripping arms or the control cam.

Further details and advantages of the invention will now be explained in more detail with reference to the exemplary embodiments shown in the drawings.

• 1 einen Querschnitt einer erfindungsgemäßen Greifeinrichtung mit einem Greifarm gemäß einer ersten Ausführungsform;
• 2 eine Draufsicht auf die erfindungsgemäße Greifeinrichtung;
• 3 eine perspektivische Ansicht der erfindungsgemäßen Greifeinrichtung;
• 4 eine Seitenansicht eines erfindungsgemäßen Greifarms gemäß einer zweiten Ausführungsform;
• 5 einen Querschnitt des Greifarms aus 4 mit einer Detailvergrößerung „Z“;
• 6 eine Vorderansicht des Greifarms gemäß 4;
• 7 eine perspektivische Ansicht des Greifarms gemäß 4;
• 8 eine Unteransicht einer erfindungsgemäßen Lagereinheit einer Greifeinrichtung;
• 9 eine perspektivische Ansicht zweier miteinander verbundener Lagerbolzen für oder als eine Lagereinheit;
• 10 einen Querschnitt der Lagereinheit aus 8; und
• 11 eine perspektivische Ansicht der Lagereinheit aus 8.

Show it:

• 1 a cross section of a gripping device according to the invention with a gripping arm according to a first embodiment;
• 2 a plan view of the gripping device according to the invention;
• 3 a perspective view of the gripping device according to the invention;
• 4th a side view of a gripper arm according to the invention according to a second embodiment;
• 5 a cross section of the gripper arm 4th with an enlarged detail "Z";
• 6th a front view of the gripper arm according to 4th ;
• 7th a perspective view of the gripper arm according to 4th ;
• 8th a bottom view of a storage unit according to the invention of a gripping device;
• 9 a perspective view of two interconnected bearing bolts for or as a bearing unit;
• 10 a cross section of the storage unit 8th ; and
• 11 a perspective view of the storage unit from 8th .

1 shows a cross section of a gripping device according to the invention 1 for gripping, holding and guiding particularly bottle-like containers with a gripping arm 2 according to a first embodiment; in particular the inside of the gripper arm 2 . The gripper arm 2 becomes from the gripping section 5 and the gripper arm body 14th , also called the base body, formed by means of a - connecting element - not shown here, in particular a pivot pin 9 , are connected to each other. The gripper arm 2 also has a pivot axis 8th perpendicular to a - bearing bore - not shown here 10 on. On the axis 8th runs a plane of symmetry of the gripper arm 2 which is perpendicular to the axis of the bearing bore. That means the parts of the gripper arm 2 above the pivot axis 8th mirror-symmetrical to part of the gripper arm 2 below the pivot axis 8th is. The gripping section 5 has two gripper fingers at one end 3 , 4th and at the opposite end a receptacle, in particular a bore, for the pivot pin. The gripper arm body 14th has a receptacle at one end 6th for one - not here shown - closing means and at the opposite end a recess, in particular a blind hole, for the pivot pin. The gripping device 1 has a rotatably mounted control cam 11 to move the gripper arm 2 from a gripping position to an open position. In addition, the gripping device 1 a storage unit 30th , also called the bearing block, into which the control cam 11 is used. On the - not shown here - bearing bolts 18th and 19th the storage unit 30th are the gripping arms 2 and another, essentially complementary - not shown here - gripper arm 2a set. The control cam 11 additionally has an actuating element 31 and an extension element that can be inserted into the bearing block 42 on. In a shot of the bearing block 30th for the extension element is a projection 34 formed with an L-groove 35 of the extension element 42 of the control cam 11 cooperates and engages. The storage unit 30th is by means of a fastening means, in particular a screw 33 , on a preferably round carrier plate 32 attached. The hole 10 is used for storage on a bearing pin and for swiveling attachment of the gripper arm 2 in the gripping device. Likewise, the gripper arm body 14th the recording 6th for a first closing means for moving the gripper arm 2 from the open position to the gripping position, the gripping portion 5 is at least partially shaped like a fork and two gripping fingers arranged parallel to one another 3 , 4th which are designed and designed to serve in the gripping position for holding a container. The recording 6th is formed by three cylindrical recesses, in particular blind holes. Closing means can be used therein as magnets and / or springs, which preferably hold in the receptacle or are firmly anchored in it due to a form fit. The gripper arm body 14th has a laterally arranged hole or a receptacle 12th with a roll-off element 13th and a fastening element, but in this figure by the control cam 11 are covered. In this shot 12th is the rolling element 13th arranged and is by means of a parallel to the bore 10 arranged fastening element preferably rotatably mounted. The fastening element can be a bolt or rod which is fastened in the frame or web of the upper side of the gripper arm and / or in the frame of the underside of the gripper arm. To the recording 12th the hole closes 10 which is formed from a continuous cylindrical hole between the upper side of the gripper arm and the underside of the gripper arm. The gripper arm 2 extends substantially perpendicularly from the axis of the bore 10 . When drilling 10 is a gear section 16 provided, which has three teeth. At the end of the gripper arm is next to the hole 10 the recording 6th designed for the first closing means.

In 2 is a plan view of the gripping device according to the invention 1 according to 1 shown, with essentially the top of the pair of gripping arms from a first gripping arm 2 and an opposing gripper arm 2a as well as the actuator 31 of the control cam 11 you can see. Next to the gripping section 5 and the gripper arm body 14th are also the bearing pin 18th the storage unit 30th and the previously described bearing bore 10 of the first gripper arm 2 recognizable. The toothed section 16 of the two gripping arms 2 , 2a each have a different number of teeth or at least an offset of the teeth so that the gripper arms 2 , 2a can be arranged mirror-symmetrically to one another in the gripping device and move synchronously and / or symmetrically. The outside of the gripping section 5 and the gripper arm body essentially form at least one straight line and / or a flat surface, as a result of which accumulations of dirt and dust are reduced.

3 shows a perspective view of the gripping device according to the invention 1 out 1 . The gripping device 1 is on a round carrier plate 32 fastens and grabs a bottle. The carrier plate 32 has additional holes, in particular three holes arranged next to one another, in order to be able to accommodate and fasten further gripping devices. The middle hole serves as a receptacle for the fastening means 33 and the two adjacent holes or depressions as a receptacle for further fastening means or preferably for locking means such as cylindrical projections or bolts of the bearing unit 30th . The locking means are fixed to the storage unit 30th connected and are only inserted into the two holes of the carrier plate 32 used to a horizontal position or a certain position of the storage unit 30th (and thus the gripping device 1 ) on the carrier plate 32 to take and hold. The storage unit 30th is preferably on the outer edge of the carrier plate 32 arranged and lies completely on the carrier plate 32 or preferably does not protrude over the edge of the plate 32 out. Furthermore, the bearing pins have 18th and 19th or the hole 10 compared to the control cam 11 and its actuator 31 a greater distance from the gripping section 5 . The aforementioned recording 12th for the rolling element arranged therein 13th extends from the inside to the outside of the gripper arm 2a .

In 4th Figure 3 is a side view of a gripper arm according to the invention 2 B , in particular its inside, shown according to a second embodiment. The features of the gripper arm 2 B are essentially the same as the features of the gripper arm 2 B from the figures shown and described above. In addition, there are the gripping surfaces 21 , 22nd , 23 , 24 , also called contact surfaces, recognizable as they can also be formed in the gripping arms described above. The gripper fingers 3 , 4th are arranged parallel to one another and each have the two gripping surfaces 21 , 22nd , 23 , 24 on. The gripping surfaces are raised and form the primary contact between the gripping finger and the container in the gripping position. Further contact points between the container and the gripping finger and / or the container and the gripping device are possible. The first gripping surface is at the end or at the tip of the gripping finger. The second gripping surface is spaced from the first gripping surface. With regard to the shape and spacing of the gripping surfaces, these are the same for the two gripping fingers 3 , 4th designed identically. The first gripper finger 3 is via a first flank element with the gripper arm 2 connected, while the second gripper finger 4th is connected via a second flank element. The gripping section 5 that the gripper fingers 3 , 4th comprises, is designed such that when pivoting the gripper arm about one in the bore 10 mounted bearing pin 18th in the gripping position, all contact surfaces preferably come into contact with the container at the same time. In addition, the contact surfaces are designed in such a way that the forces applied to the container when gripping the container do not generate any resulting force in total. A possible exception would be a resulting force directed towards the gripping device in order to at least partially compensate for the centrifugal force acting on the container during transport. A difference in the gripper arm 2 B to the aforementioned gripper arms 2 lies in that inclusion 6th is formed from two instead of three blind holes arranged side by side. Another difference is the additional second shot 7th for - not shown here - closing means, the second recording 7th is formed from two blind holes. These two blind holes of the second receptacle are spaced apart from one another, with the receptacle for the pivot pin in between 9 is trained. In addition, these blind holes do not hinder the pivoting range of the gripping section 5 nor the control cam 11 or their actuating element 31 .

5 shows a cross section of the gripper arm 2 B out 4th and an enlarged section Z from the gripper arm 2 B . In this illustration are the features of the gripper arm 2 B identical to the gripper arm 2 B out 4th . The toothed section 16 , the one on the inside of the gripper arm next to the hole 10 is formed, has two teeth arranged radially to the bore. During the second shot 7th (please refer 4th ) parallel to the swivel axis 8th is arranged (ie the bottom or the opening of the receptacle is arranged parallel to the pivot axis), is the first receptacle 6th to the swivel axis 8th angled. The angle is preferably selected such that in the open position of the gripping device 1 the first two recordings 6th of the two gripping arms are arranged parallel to each other or are positioned. The repulsive forces of the closing means can thereby be perpendicular to the surface of the gripping arm 2 B act that are greatest in the open position. In addition, if springs are used as the closing means, the risk of jumping out of the receptacle is reduced. On the outside of the gripper arm 2 B are a head start 26th of the gripping section 5 and a gap 27 of the gripper arm body 14th formed, which are arranged one inside the other and define the pivoting range. The gripping section 5 has a receptacle at one end 43 for the pivot bolt 9 which consists essentially of a bore and is rotatably attached to the pivot pin. The gripper arm body 14th has a receptacle at one end 44 for the pivot bolt 9 on, which is designed as a recess or blind hole. This recording 44 can also be designed as a bore, provided the pivot pin is well secured, for example by means of a press fit. The image is in the enlarged section Z. 43 of the gripping section 5 shown in which the pivot pin 9 is used. The pivot bolt 9 has at one end a around the circumference of the bolt 9 extending, circular depression 24 on. This depression 24 comes with one on the inside of the intake 43 arranged projection or a nose 25th engaged, causing the bolt 9 with the recording 43 is rotatably attached.

In 6th Figure 11 is a front view of the gripper arm 2 B out 4th shown. As in 4th becomes the mirror symmetry of the areas of the gripper arm 2 B above and below (in this figure - right and left) of the pivot pin 9 or the pivot axis 8th clear.

7th Figure 3 shows a perspective view of the gripper arm 2 B out 4th . In addition to the identical characteristics is in the inclusion 12th additionally the mounting bracket 15th for a - not shown here - fastening element for a rolling element 13th shown. The fastening mount 15th can be designed as a bore or as a blind hole. The bore or the blind hole is located both on the upper side and on the lower side of the receptacle 15th from the gripper arm 2 B in order to insert and fasten the fastening element, for example a shaft or rod, therein.

8th shows a bottom view of a storage unit according to the invention 40 a gripping device. Although this storage unit 40 is a second embodiment, the storage unit 40 Be part of a previously described gripping device according to the invention and have the features of the aforementioned storage units additionally or alternatively. The storage unit 40 has a hole 36 for an extension element 42 a control cam 11 , a first and a second hole 28 , 29 for a first and second bearing pin 18th , 19th as well as a hole 37 for a fastening screw 33 out. Alternatively, these bores can also be designed as suitable receptacles. The bores mentioned are preferably all arranged parallel to one another. In the holes 28 and 29 are the bearing bolts 18th and 19th attached or attachable. In the hole 37 can preferably have a thread for the screw 33 be cut. On the inside of the hole 36 for the extension element 42 is an extension or protrusion 34 perpendicular to the inner wall of the bore 36 formed with an L-groove 35 of the extension element 42 comes into engagement. In this embodiment the projection is located 34 on a plane of symmetry of the storage unit 40 to insert the extension element 42 and in particular the insertion of the protrusion 34 into the L-groove 35 to facilitate. The plane of symmetry is defined by the parallel longitudinal axes of the hole 36 for the extension element 42 and the hole 37 for the fastener 33 educated.

In 9 Figure 3 is a perspective view of two bearing pins connected to one another 18th and 19th shown for or as a storage unit. The two bearing bolts 18th , 19th are by means of a first and a second connecting web 38 , 39 connected with each other. The first bridge 38 is above the second web 39 and arranged at a distance from this. The second bridge 39 has an additional recording 42 for a fastening screw that is between the two bearing bolts 38 , 39 is arranged to this bearing pin arrangement on a support plate 32 to be able to assemble. Because the second bridge 39 with the ends of the bolts 38 , 39 is not flush, the projections or end pieces of the bolts are used as locking means (as in 3 described). On opposite ends of the studs 38 , 39 gripper arms are attached. The first bridge 38 has the function of preventing the bolts from spreading apart, in particular when gripping arms are placed on the bolt and the locking means and control cam press the gripping arms away from one another. This particular arrangement of bearing bolts can be part of the bearing unit according to e.g. 8th be. On the other hand, this arrangement can also only be used for positioning and receiving the gripping arms. In the latter case, a corresponding device or holder for the control cam is provided in order to form a gripping device with two gripping arms and one control cam.

10 shows a cross section of the storage unit 40 out 8th , in particular along the plane of symmetry described above through the two parallel longitudinal axes of the bore 36 and the mounting bracket 37 is formed. The lead 34 is preferably at the bottom of the bore 36 arranged so that an extension element 42 first inserted and then only by turning the projection 34 can be brought into engagement with its L-groove. That means the lead 34 below center along the longitudinal axis of the hole 36 lies.

In the 11 Figure 11 is a perspective view of the storage unit 40 out 8th shown. The outside of the storage unit 40 is cylindrical in shape or is essentially identical in shape to the bores of the bearing unit and offers compared to the bearing unit 30th from e.g. 3 Material savings opportunities.

List of reference symbols

1

Gripping device

2

Gripper arm ( 1 . Embodiment)

2a

Opposite gripper arm ( 1 . Embodiment)

2 B

Gripper arm ( 2 . Embodiment)

3rd

First gripper finger

4th

Second gripper finger

5

Gripping section

6th

First shot

7th

Second shot

8th

Swivel axis

9

Pivot pin

10

drilling

11

Control cam

12th

Third receptacle (for roll-off element)

13th

Roll-off element (roll-off tire)

14th

Gripper arm body (base body)

15th

Fastening receptacle (hole for the shaft of the rolling element)

16

Gear section

17th

Tooth of the toothed section

18th

First bearing pin

19th

Second bearing pin

20th

First gripping surface of the first gripping finger

21

Second gripping surface of the first gripping finger

22nd

First gripping surface of the second gripping finger

23

Second gripping surface of the second gripping finger

24

Recess in the pivot bolt

25th

Nose in receptacle for swivel bolt

26th

Protrusion of the gripping portion

27

Gap in the gripper arm body

28

Hole for the first bearing pin

29

Hole for second bearing pin

30th

Storage unit (storage block) ( 1 . Embodiment)

31

Actuator

32

Carrier plate

33

Fastening screw

34

Protrusion in storage unit for extension element

35

L-groove of the extension element

36

Hole for extension element

37

Hole for fastening screw

38

First connecting bridge

39

Second connecting bridge

40

Storage unit ( 2 . Embodiment)

41

Holder for fastening screw

42

Extension element (of the control cam)

43

Mount in the gripping section for pivot bolts

44

Mounting in the gripper arm body for pivot bolts

Claims (16)

Gripping arm (2) for a gripping device (1) for gripping, holding and guiding containers, which has a rotatably mounted control cam (11) with a bore for moving a gripping section (5) of the gripping arm (2) from a gripping position to an open position (10) for mounting a bearing pin (18) for pivotably securing the gripping arm (2) in the gripping device (1), and with a first receptacle (6) for a first closing means for moving the gripping section (5) of the gripping arm (2) from the opening position into the gripping position, characterized in that the gripping section (5) is mounted pivotably about a pivot axis (8) running perpendicular to the bore (10). Gripper arm (2) Claim 1 , characterized in that the pivot axis (8) is formed by means of a pivot pin (9) with a recess (24) which, when plugged on, engages in a self-locking manner with a nose (25) of the gripping section (5) located inside a recess. Gripper arm (2) Claim 1 or 2 , characterized in that the gripping section (5) in the connection area to the pivot axis (8) has a projection (26) which, when plugged on, engages in a gap (27) in a base body (14) of the gripping arm (2), which gap (27) limits a pivot angle of the gripping section (5). Gripping arm (2) according to one of the preceding claims, characterized in that the pivot axis (8) runs centrally and / or symmetrically to the gripping section (5). Gripping arm (2) according to one of the preceding claims, characterized by a second receptacle (7) for a second closing means for moving the gripping section (5) of the gripping arm (2) from the open position into the gripping position. Gripper arm (2) Claim 5 , characterized in that the gripping arm (2) between the bore (10) and the end of the gripping arm (2) opposite the gripping section (5) has at least one first hole as the first receptacle (6) and / or between the bore (10) and the gripping section (5) has at least one second hole as the second receptacle (7) into which the first and second closing means can be inserted when the gripping arm (2) is being assembled. Gripper arm (2) Claim 5 or 6th , characterized in that the first closing means are designed as a magnet of a magnet pair repelling each other or as a spring and / or the second closing means are designed as a magnet of an attracting magnet pair. Gripping arm (2) according to one of the preceding claims, characterized in that the gripping section (5) is at least partially shaped like a fork and has at least two gripping fingers (3; 4) with which a container can be held in the gripping position and / or the gripping section (5) is made in one piece from plastic, in particular from fiber-reinforced polyetheretherketone. Gripper arm (2) according to one of the preceding claims, characterized in that the gripper arm (2) has a third receptacle (12) arranged on the inside of the gripper arm for rotatably attaching a roll-off element (13) between the bore (10) and the gripping section (5) which cooperates with the control cam (11) when moving from the gripping position to the open position. Gripper arm (2) after one of the Claims 1 to 9 for a gripping device (1) for gripping, holding and guiding particularly bottle-like containers, which has a rotatably mounted control cam (11) for moving a gripping section (5) of the gripping arm (2) from a gripping position to an open position, with a bore (10 ) for mounting a bearing pin (18) for pivotably securing the gripping arm (2) in the Gripping device (1), with a first receptacle (6) for a first closing means for moving the gripping section (5) of the gripping arm (2) from the open position into the gripping position, characterized in that the gripping arm (2) has a toothed section (16) in Has the axial direction of the bore (10) which is arranged centrally to the gripping arm (2). Gripper arm (2) Claim 10 , characterized in that the toothed section (16) is formed with teeth (17) arranged at least in segments concentrically around the bore (10) on the inside of the gripper arm for synchronous pivoting of the gripper arm (2) with a complementarily designed gripper arm (2a) of the gripping device (1) is. Control cam (11) for a gripping device (1) with a pair of gripping arms consisting of a first gripping arm (2) and a complementary second gripping arm (2a), characterized in that the control cam (11) is secured by a securing means in a bearing unit (30) according to Claim 14 can be anchored, the securing means being formed from a pin-like projection (34), which runs through the bearing unit (30) perpendicular to the bore (36) for the extension element (42) of the control cam (11), in an L-groove (35) in the Extension element (42) engages and forms a type of bayonet lock. Control cam (11) Claim 12 , characterized by an actuating element (31) arranged above the control cam (11). Storage unit (30) for a gripping device (1) with a pair of gripping arms consisting of a first gripping arm (2) and a complementary second gripping arm (2a), characterized in that the bearing unit (30) has a securing means for anchoring a control cam (11) according to Claim 12 or 13th wherein the securing means is formed from a pin-like projection (34), which passes through the bearing unit (30) perpendicular to the bore (36) for the extension element (42) of the control cam (11), into an L-groove (35) in the extension element (42) engages and forms a kind of bayonet lock. Gripping device (1) for gripping, holding and guiding containers, with - at least one pair of gripping arms made up of a first gripping arm (2) and a complementary, second gripping arm (2a) according to one of the Claims 1 to 11 - After at least one rotatably mounted control cam (11) Claim 12 or 13th for moving gripping sections (5) of the pair of gripping arms from a gripping position to an open position, - to at least one storage unit (30) Claim 14 for supporting the pair of gripping arms, wherein the bearing unit (30) has at least one first and second bearing pin (18; 19) for pivotably securing the first and second gripping arm (2; 2a), and with - at least one first and one second closing means (8; 9) for moving the gripping sections (5) of the pair of gripping arms from an open position to a gripping position, the first and second closing means (8; 9) being arranged in the first and second gripping arms (2; 2a), respectively. Gripping device (1) Claim 15 , characterized in that the first and second gripping arms (2; 2a) of the pair of gripping arms can be plugged onto the first and second bearing bolts (18; 19) and / or between the first and second gripping arms (2; 2a) of the pair of gripping arms the at least one control cam (11) is arranged and / or can be inserted into the storage unit (30).

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