DE102020120280A1 - Device for gripping and transporting objects - Google Patents

Abstract

The invention relates, inter alia, to a device (10A; 10B; 10C; 10D) for gripping and transporting objects. A planar drive system (12) has a base member (14), a first mover (16) and a second mover (18) movable with respect to the base member (14). A carrier (22) carries at least one gripper element (28, 30) for gripping an object. A first link member is pivotally connected at one end to the first mover and at an opposite end pivotally connected to the carrier. A second linkage member (26) is pivotally connected at one end to the second mover (18) and at an opposite end pivotally connected to the bracket (22). The device advantageously creates a planar drive system with gripper functionality.

Description

technical field

The present disclosure relates to a device for gripping and transporting objects, preferably containers, with a planar drive system. The present disclosure also relates to a container treatment plant for treating containers with a device for gripping objects.

Technical background

Containers in different geometries and shapes are transported through the individual parts of the system in filling and packaging systems, where they are filled, sealed, labeled, inspected and discharged, grouped and packaged.

the EP 3 172 156 B1 discloses a drive surface that covers two transport systems transversely to their transport direction. The drive surface is arranged slightly above the top of the transport systems in such a way that movers are able to pick up supplied products with at least partial vertical movement and deposit them in a container. Two movers each grab a group of supplied products. A handling device of the mover is, for example, L-shaped and includes several receptacles for the products. All recordings are directed parallel downwards when picking up the products.

the DE 10 2013 206 125 A1 discloses an article handling apparatus. The device comprises at least one group of a total of four carriages that are driven to move independently of one another along two closed, revolving guideways. A first pair of carriages of the group is movably driven along a first, closed revolving guideway and a second pair of carriages of the group is movably driven along a second, closed revolving guideway. All carriages of the group are connected to one another in an articulated manner via a linkage comprising four linkage elements and a coupling element. The coupling element is located in the center of the linkage. Each of the carriages of the group is connected in an articulated manner to the coupling element via a linkage element. The four linkage elements are each connected at a first end in an articulated manner to the coupling element. Each of the four linkage elements is pivotally connected to a carriage of the group by a remaining second end remote from the first end.

The invention is based on the object of creating an alternative and/or improved device for gripping objects, preferably containers.

Summary of the Invention

The object is achieved by the features of independent claim 1. Advantageous developments are specified in the dependent claims and the description.

One aspect of the present disclosure relates to a device for gripping and transporting objects, preferably containers. The apparatus includes a planar (e.g., magnetic) drive system having a base member, a first mover, and a second mover. The first mover and the second mover are moveable (e.g., by means of magnetic interaction) with respect to the base member (e.g., independently). The device has a carrier that carries at least one gripper element for gripping an object. The apparatus includes a first link member pivotally connected at one end to the first mover and at an opposite end pivotally connected to the support. The apparatus includes a second linkage member pivotally connected at one end to the second mover and at an opposite end pivotally connected to the support.

The device advantageously creates a planar drive system with gripper functionality. The planar drive system may allow gripper actuation to be performed without external media (electricity or fluid) supply to the gripper. This allows the movement devices to move freely over the base element without having to consider a position of an external media feed (e.g. no entanglement of different media feeds possible).

Preferably, the carrier can be supported by means of the first linkage element and the second linkage element.

In one exemplary embodiment, the device also has an actuating device, which is designed to actuate the at least one gripper element.

In a further embodiment, the carrier or the first movement device carries the actuating device.

In a further exemplary embodiment, the actuating device is designed to move the at least one gripper element, preferably to displace it, and/or the actuating device direction is designed to move two gripper elements relative to each other, preferably to move.

In one embodiment, the actuating device is designed to suck in fluid, preferably air, from the gripper element, and/or the actuating device is designed as a fluid delivery device, preferably a pump or a compressor.

In another embodiment, the planar drive system further includes a third movement device that is moveable with respect to the base member. The actuating device can be driven by the third movement device, preferably by means of moving the third movement device with respect to the base element (e.g. rotary movement and/or linear movement). In this way, a gripper actuation can be implemented in a technically easy-to-implement manner that does not require an external media supply to the gripper. The gripper actuation can be effected simply by a movement of the third moving device.

There can preferably be a driving connection between the third movement device and the actuating device.

In a development, the actuating device can be driven by means of a shaft, which can be driven by a movement of the third movement device.

In one embodiment variant, the shaft can be rotated by a linear movement of the third movement device. Alternatively, for example, a rotation of the shaft can be brought about by a rotary movement of the third movement device.

In a further variant, the shaft can be telescoped. In this way, for example, a driving connection between the actuating device and the third movement device can be maintained even when the actuating device is at different heights.

In a further embodiment variant, the shaft is or can be connected directly to the third movement device, preferably in an articulated manner.

In one embodiment, the first moving device carries a rotating member, preferably a gear or roller, drivingly connected to the shaft, preferably articulated. In addition, for example, the third movement device can carry a drive element, preferably a toothed rack or a roller track, with which the rotating element can be driven.

In a further development, the rotary element can be driven by the drive element by means of a, preferably linear, relative movement between the first movement device and the third movement device, while the rotary element and the drive element are in contact with one another (e.g. roll off one another or mesh or interlock with one another).

In one embodiment, the planar drive system further includes a third mover and a fourth mover moveable (e.g., via magnetic interaction) with respect to the base member.

In a further development, the device also has a further carrier which carries at least one further gripper element for gripping the object. The device may further comprise a third linkage member pivotally connected at one end to the third movement means and at an opposite end pivotally connected to the further support. The apparatus may further comprise a fourth link member pivotally connected at one end to the fourth movement device and at an opposite end pivotally connected to the further support. The at least one gripper element and the at least one further gripper element can preferably form a gripper together. In this way, a gripper actuation can be implemented in a technically easy-to-implement manner that does not require an external media supply to the gripper. The gripper actuation can be brought about simply by a relative movement between the first and second movement device on the one hand and the third and fourth movement device on the other hand.

In one embodiment, the at least one gripper element has a mechanical gripper element and/or a suction gripper element.

In a further embodiment, the first movement device, the second movement device, the first linkage element and the second linkage element form parallel kinematics, preferably parallel rod kinematics, for moving the carrier, preferably as a duopod or as part of a tripod, quadpod, pentapod or hexapod.

It is possible for the device to have a plurality of units each having a first movement device, a second movement device, a carrier, at least one gripper element, a first linkage element, a second linkage element ment and optionally an actuating device, a shaft and/or a third moving device (etc.). In this way, multiple objects can expediently be gripped and transported by the multiple units.

It is also possible for the device to have a plurality of units each having a third movement device, a fourth movement device, a further carrier, at least one further gripper element, a third linkage element and a fourth linkage element.

The present disclosure also relates to a container treatment system for treating containers (e.g. for liquid media, preferably beverages or liquid foodstuffs), having (at least) one container treatment device which is used for manufacturing, cleaning, filling, closing, checking, labeling, printing, Grouping and / or packaging of the container is formed. The container treatment plant also has the device as disclosed herein, which is arranged upstream or downstream of the container treatment device with respect to a container flow or is integrated into the container treatment device.

It is possible that the planar drive system has a control unit that controls a movement of the moving devices, e.g. B. for moving the at least one gripper element and / or for actuating the at least one gripper element.

The term “control unit” can preferably refer to electronics (e.g. with microprocessor(s) and data memory) which, depending on the training, can take on control tasks and/or regulation tasks and/or processing tasks. Even if the term “control” is used here, it can also appropriately include or mean “regulation” or “control with feedback” and “processing”.

The preferred embodiments and features of the invention described above can be combined with one another as desired.

character list

• 1 eine schematische Perspektivansicht einer Vorrichtung zum Greifen und Transportieren eines Objekts gemäß einem Ausführungsbeispiel der vorliegenden Offenbarung;
• 2 eine schematische Perspektivansicht einer Vorrichtung zum Greifen und Transportieren eines Objekts gemäß einem weiteren Ausführungsbeispiel der vorliegenden Offenbarung;
• 3 eine schematische Perspektivansicht einer Vorrichtung zum Greifen und Transportieren eines Objekts gemäß einem weiteren anderen Ausführungsbeispiel der vorliegenden Offenbarung; und
• 4 eine schematische Perspektivansicht einer Vorrichtung zum Greifen und Transportieren eines Objekts gemäß einem weiteren anderen Ausführungsbeispiel der vorliegenden Offenbarung.

Further details and advantages of the invention are described below with reference to the accompanying drawings. Show it:

• 1 a schematic perspective view of a device for gripping and transporting an object according to an embodiment of the present disclosure;
• 2 a schematic perspective view of a device for gripping and transporting an object according to a further embodiment of the present disclosure;
• 3 a schematic perspective view of a device for gripping and transporting an object according to another embodiment of the present disclosure; and
• 4 12 is a schematic perspective view of a device for gripping and transporting an object according to another embodiment of the present disclosure.

The embodiments shown in the figures correspond at least in part, so that similar or identical parts are provided with the same reference symbols and, for their explanation, reference is also made to the description of the other embodiments or figures in order to avoid repetition.

Detailed description of exemplary embodiments

the 1 shows a device 10A for gripping objects (not shown), with which the gripped objects can also be transported. The objects are preferably containers, e.g. B. for liquid, pasty or solid food, etc. The containers can be designed, for example, as bottles, cans, canisters, etc.

Particularly preferably, the device 10A (10B-10D) can be used in a container treatment plant (not shown separately) for container transport. The container treatment plant can have at least one container treatment device for treating containers. For example, the container treatment device can be designed to produce, clean, fill, close, test, label, print, group and/or pack containers. The device 10A (10B-10D) may be part of the container handling device, transport containers to the container handling device and/or transport containers away from the container handling device. However, it is also possible for the device 10A (10B-10D) to be used in other systems for transporting objects.

The device 10A (10B-10D) includes a planar drive system 12 . The planar drive system 12 is preferably a magnetic planar drive system.

The planar drive system 12 has a base element 14 and a plurality of movement devices (movers or runners) 16, 18, 20. The movement devices 16, 18, 20 can be moved over the base element 14 freely and independently of one another by means of magnetic interaction with the base element 14. The movers 16, 18, 20 may also be rotated (e.g., yaw) with respect to the base 14 via magnetic interaction with the base 14. The movers 16, 18, 20 may also be tilted (e.g., pitch and/or roll) relative to the base 14 via magnetic interaction with the base 14. The movement devices 16, 18, 20 can also perform a lifting movement with respect to the base element 14 by means of magnetic interaction with the base element 14 upwards or downwards. A number of movement devices 16, 18, 20 can be freely selected depending on the application.

The base element 14 forms a stator of the planar drive system 12. The movement devices 16, 18, 20 form runners of the planar drive system 12. The movement devices 16, 18, 20 are carried by the base element 14 without contact, preferably on an upper side of the base element 14. The base element 14 can for example, several distributed electromagnets, z. B. electrical coils have. The movement devices 16, 18, 20 can have permanent magnets. The electromagnets are preferably arranged in a matrix which extends in a plane of the base element 14 (here preferably a horizontal plane). A control unit (not shown) of the planar drive system 12 can control a power supply to the electromagnets of the base element 14 in order to establish electromagnetic fields at a desired position of the base element 14 with a desired field strength. A propulsion, a rotation, an inclination and/or a stroke of the movement devices 16, 18, 20 can be brought about by corresponding electromagnetic fields of the electromagnets of the base element 14. The base element 14 is preferably aligned in a horizontal plane. However, other orientations are also conceivable, e.g. B. a vertical orientation.

The plurality of movement devices 16, 18, 20 can be movably arranged on an upper side of the base element 14, as illustrated. However, it is also possible, for example, for the multiple movement devices 16 , 18 , 20 to be arranged so as to be movable overhead or on an underside of the base element 14 .

The multiple movement devices 16, 18, 20 have a first movement device 16, a second movement device 18 and a third movement device 20.

The first movement device 16 and the second movement device 18 carry a carrier (or a coupling element) 22 via parallel kinematics, preferably rod parallel kinematics. For example, the carrier 22 can be raised, lowered, rotated, pivoted and displaced by a correspondingly adapted movement of the movement device 16 and/or 18 .

Specifically, the first movement device 16 can carry a first linkage element 24 . The first linkage element 24 is pivotally connected to the first moving device 16 at one end. At an opposite end, the first link member 24 is pivotally connected to the bracket 22 . The second mover 18 may carry a second linkage member 26 . The second linkage element 26 is pivotally connected to the second movement device 18 at one end. At an opposite end, the second linkage member 26 is pivotally connected to the bracket 22 . The linkage elements 24, 26 can each have one or more, preferably parallel, rods. The bars are preferably designed as tension/compression bars.

In the embodiment of 1 (and the 2 until 4 ) Carry two movement devices, for example the first movement device 16 and the second movement device 18, the carrier 22 by means of parallel kinematics. The movement devices 16, 18, the carrier 22 and the linkage elements 24, 26 thus form a so-called duopod parallel kinematic configuration. It is also possible that additional moving devices with additional linkage elements support the carrier 22 . For example, tripod, quadpod, pentapod or hexapod parallel kinematic configurations can also be provided.

The carrier 22 carries two gripper elements 28, 30 and an actuating device 32.

The gripper elements 28, 30 together form a mechanical gripper. The gripper elements 28, 30 are designed purely by way of example as gripper paddles. The actuating device 32 is designed to actuate the gripper elements 28 , 30 . In the exemplary embodiment shown, the gripper elements 28, 30 can be moved, preferably shifted, by means of the actuating device 32. The gripper elements 28, 30 can be moved towards one another by means of the actuating device 32 be used, for example to grab an object. The gripper elements 28, 30 can be moved away from one another by means of the actuating device 32, for example in order to release a gripped object. Depending on the design, the actuating device 32 can move one or both of the gripper elements 28, 30, for example.

The actuating device 32 can be driven by the third movement device 20 . By means of a preferably mechanical operative connection between the third movement device 20 and the actuating device 32, a movement of the third movement device 20 (relative to the base element 14) can be transmitted to the actuating device 32 for actuating the gripper elements 28, 30.

For example, the third mover 20 may be drivingly connected to the actuator 32 by a rotatable shaft 34 . A rotation of the shaft 34 can be brought about by a rotation of the third movement device 20 about its own central axis. Mechanics or gearing of the actuating device 32 can translate a rotary movement of the shaft 34 into a displacement movement of the gripper elements 28 , 30 .

The shaft 34 may be or be articulated at one end to the actuating device 32 and at an opposite end to the third moving device 20 .

The shaft 34 can be telescopic. In this way, it is preferably possible to drive the actuating device 32 at different heights of the carrier 22 .

A rotation of the third movement device 20 in a circumferential direction can cause an actuation of the gripper elements 28, 30 by means of the actuation device 32 to move towards one another. Rotation of the third mover in an opposite circumferential direction may cause actuation of the gripper members 28, 30 by means of the actuator 32 to move apart.

The third movement device 20 preferably moves essentially between the first and second movement device 16, 18 or below the carrier 22 or the tool center point of the gripper 28, 30.

the 2 10 shows a further embodiment of a device 10B for gripping objects, with which the gripped objects can also be transported. Device 10B is similar to device 10A. There is a difference in the drive of the actuating device 32.

The shaft 34' is pivotally connected to the actuator 32 at one end. At an opposite end, the shaft 34' is pivotally connected to a rotary member 36. As shown in FIG. The rotary member 36 is rotatably mounted on the first moving device 16 . Rotation of the rotary member 36 causes the shaft 34' to rotate and thereby actuate the gripper members 28, 30 by the actuator 32. The shaft 34' extends substantially parallel to the linkage member 24. The shaft 34' is preferably non-telescoping.

The rotating member 36 can be rotated by the third moving device 20 . For this purpose, the third movement device 20 can have a drive element 38 . The driving element 38 can contact the rotating element 36 . If the third movement device 20 is moved (translationally) along the first movement device 16 while the drive element 38 is in contact with the rotary element 36, the drive element 38 rotates the rotary element 36. The rotary element 36 can be designed, for example, as a roller or a gear. The drive element 38 is adapted to an embodiment of the rotary element 36 . For example, the drive element 38 can be designed as a roller track or a toothed rack. The drive element 38 is preferably firmly connected to the third movement device 20, preferably on an outer peripheral side of the third movement device 20.

the 3 shows a further embodiment of a device 10C for gripping objects, with which the gripped objects can also be transported. Device 10C is similar to device 10A. There is a difference in the arrangement and operation of the gripper elements 28, 30.

The planar propulsion system 12 of 3 has a third movement device 40 and a fourth movement device 42 .

The third movement device 40 and the fourth movement device 42 carry a further carrier 44 via parallel kinematics, preferably rod parallel kinematics. Depending on a movement of the movement devices 40, 42, the further carrier 44 can be moved. For example, the further carrier 44 can be raised, lowered, rotated, pivoted and displaced by a correspondingly adapted movement of the movement device 40 and/or 42 .

In particular, the third moving device 40 can carry a third linkage element 46 . The third linkage element 46 is pivotally connected to the third movement device 40 at one end. At an opposite end, the third linkage element 46 is connected in an articulated manner to the further carrier 44 . The fourth mover 42 may include a fourth linkage member 48 . The fourth linkage member 48 is pivotally connected to the fourth mover 42 at one end. At an opposite end, the fourth linkage element 48 is connected in an articulated manner to the further carrier 44 . The linkage elements 46, 48 can each have one or more, preferably parallel, rods. The bars are preferably designed as tension/compression bars.

The carrier 22 carries the first gripper element 28. The first gripper element 28 is firmly connected to the carrier 22. The carrier 44 carries the second gripper element 30. The second gripper element 30 is firmly connected to the carrier 44. The gripper elements 28, 30 together form a gripper. To actuate the gripper, the carriers 22, 44 can be moved towards or away from one another. The movement of the carriers 22, 44 can be brought about by a corresponding movement of the movement devices 16, 18, 40 and/or 42.

the 4 10 shows a further embodiment of a device 10D for gripping objects, with which the gripped objects can also be transported. Device 10D is similar to device 10A. One difference is in the design of the actuator 32' and the gripper member 28'.

The actuating device 32' is designed as a (e.g. vacuum) pump or a compressor. The gripper element 28' is designed as a suction gripper or vacuum gripper. The actuator 32' is in fluid communication with the gripper member 28', for example by means of a hose line. The actuator 32' may draw air from the gripper member 28', e.g. B. to grab an object. The actuator 32' may terminate air intake or supply air to the gripper member 28', for example to release a gripped object. It is possible for the carrier 22 to have at least one additional gripper element, preferably designed as a suction gripper or vacuum gripper.

The actuating device 32 ′ can be driven by the third movement device 20 by means of the rotatable shaft 34 . For example, it is also possible that the actuating device 32 'by means of a rotating element, as in the embodiment of 2 shown, is driven.

The actuator 32' is carried by the bracket 22. As shown in FIG. It is also possible that the actuating device 32' is carried directly by the first moving device 16, for example, and is in fluid communication with the gripping element 28' by means of a hose line which runs along the first linkage element 24.

The invention is not limited to the preferred embodiments described above. Rather, a large number of variants and modifications are possible, which also make use of the idea of the invention and therefore fall within the scope of protection. In particular, the invention also claims protection for the subject matter and the features of the subclaims independently of the claims referred to. In particular, the individual features of independent claim 1 are each disclosed independently of one another. In addition, the features of the dependent claims are also disclosed independently of all features of independent claim 1 and, for example, independently of the features relating to the presence and/or configuration of the planar drive system, the carrier, the first linkage element and/or the second linkage element of independent claim 1.

Reference List

10A-10D

Device for gripping and transporting objects

12

planar drive system

14

basic element

16

(first) moving device

18

(second) moving device

20

(third) moving device

22

carrier

24

(first) linkage element

26

(second) linkage element

28

(first) gripper element

30

(second) gripper element

32

operating device

34

wave

36

rotary element

38

drive element

40

(third) moving device

42

(fourth) moving device

44

(further) carrier

46

(third) linkage element

48

(fourth) linkage element

QUOTES INCLUDED IN DESCRIPTION

This list of the documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• EP 3172156 B1 [0003]
• DE 102013206125 A1 [0004]

Claims (15)

Device (10A; 10B; 10C; 10D) for gripping and transporting objects, preferably containers, comprising: a planar drive system (12) having a base (14), a first mover (16) and a second mover (18), the first mover (16) and the second mover (18) being moveable with respect to the base (14); a carrier (22) carrying at least one gripper element (28, 30) for gripping an object; a first link member (24) pivotally connected at one end to the first mover (16) and at an opposite end pivotally connected to the support (22); and a second link member (26) pivotally connected at one end to the second mover (18) and at an opposite end pivotally connected to the support (22). Device (10A; 10B; 10D) according to claim 1 , further comprising: an actuating device (32) which is designed to actuate the at least one gripper element (28, 30). Device (10A; 10B; 10D) according to claim 2 wherein: the carrier (22) or the first movement device (16) supports the actuating device (32). Device (10A; 10B) according to one of claims 2 until 3 , wherein: the actuating device (32) is designed to move, preferably to shift, the at least one gripper element (28, 30); and/or the actuating device (32) is designed to move, preferably shift, two gripper elements (28, 30) relative to one another. Device (10D) according to any one of claims 2 until 3 wherein: the actuating device (32') is adapted to suck fluid, preferably air, from the gripper element (28, 30); and/or the actuating device (32') is designed as a fluid delivery device, preferably a pump or a compressor. Device (10A; 10B; 10D) according to any one of claims 2 until 5 wherein: the planar drive system (12) further comprises a third mover (20) moveable with respect to the base member (14); and the actuating device (32) can be driven by the third movement device (20), preferably by means of moving the third movement device (20) with respect to the base element (14). Device (10A; 10B; 10D) according to claim 6 wherein: the actuating device (32) is drivable by means of a shaft (34) drivable by movement of the third movement device (20). Device (10A; 10B; 10D) according to claim 7 wherein: rotation of the shaft (34) is operable by linear motion of the third motion device (20); or a rotation of the shaft (34) can be brought about by a rotary movement of the third movement device (20). Device (10A; 10D) according to claim 7 or claim 8 wherein: the shaft (34) is telescopic; and/or the shaft (34) is or can be connected directly to the third movement device (20), preferably in an articulated manner. device (10B). claim 7 or claim 8 wherein: the first moving device (16) carries a rotary member (36), preferably a gear or roller, drivingly connected to the shaft (34), preferably articulated; and the third movement device (20) carries a drive element (38), preferably a toothed rack or a roller track, with which the rotary element (36) can be driven. device (10B). claim 10 , wherein: the rotary element (36) by the drive element (38) by means of a, preferably linear, relative movement between the first movement device (16) and the third movement device (20), while the rotary element (26) and the drive element (38) contact each other , is drivable. device (10C). claim 1 wherein: the planar drive system (12) further comprises a third mover (40) and a fourth mover (42) moveable with respect to the base member (14); and wherein the device (10C) further comprises: a further carrier (44) carrying at least one further gripper element (30) for gripping the object; a third link member (46) pivotally connected at one end to the third mover (40) and at an opposite end pivotally connected to the further support (44); and a fourth linkage member (48) pivotally connected at one end to the fourth moving device (42) and at an opposite end pivotally connected to the further support (44), preferably wherein: the at least one gripper member (28) and the at least one further gripper element (30) together form a gripper. Apparatus (10A; 10B; 10C; 10D) according to any one of the preceding claims, wherein: the at least one gripper element (28, 30) has a mechanical gripper element and/or a suction gripper element. Apparatus (10A; 10B; 10C; 10D) according to any one of the preceding claims, wherein: the first movement device (16), the second movement device (18), the first linkage element (24) and the second linkage element (26) form parallel kinematics, preferably parallel rod kinematics, for moving the carrier (22), preferably as a duopod or as a Part of a tripod, quadpod, pentapod or hexapod. Container treatment system for treating containers, comprising: a container treatment device which is designed to produce, clean, fill, seal, test, label, print, group and/or pack the containers; and the device (10A; 10B; 10C; 10D) according to any one of the preceding claims, which is arranged upstream or downstream of the container treatment device with respect to a container flow or is integrated into the container treatment device.

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