EP1765720B1 - Gripper for containers and container handling machine - Google Patents

Description

The invention relates to a gripper for containers and a container handling and / or transport machine.

Grippers for containers, such as bottles, are used in container handling machines, such as bottle handling machines, to grip the containers. In the gripped position the containers can be worked. This may include attaching or removing labels, coating, transporting, filling, sealing, and the like.

In particular, in the handling of PET bottles such grippers are provided to hold bottles at their neck area at a designated collar.

Is known from the EP 0 486 439 B1 For example, a gripper with two pivot levers, which are coupled for pivoting.

A disadvantage of this gripper that the bottles with corresponding forces, as they arise, for example, in the transfer of bottles, can press on the gripper in a movement in the direction of the pivot axes of the pivot lever.

Furthermore, it is disadvantageous in this gripper that it is only suitable for a bottle size.

From the SU 1 093 660 is a gripper for objects with different diameters known. A forward and zurückbewegbarer piston is coupled with pivot levers, so that the piston together with the pivot levers objects of different sizes with a support at three points can hold so that the centers of the various objects are always positioned the same.

The execution of the forward and zurückbewegbaren piston and the type of coupling with the pivot levers leads to great mechanical effort or large game, resulting in inaccuracies in the holding of the objects.

From the DE 199 03 319 A1 For example, cells are known in which bottles are taken up and which can have different sizes. At four points, a container is held in the cell. For each point, a pivot lever is provided, which are coupled together in different ways. One of the pivot lever has an articulation lever, which can be controlled by a cam.

Another disadvantage is the great mechanical effort by the four pivot lever for the at least four points of contact between the bottle and the levers. This effort also leads to a considerable game.

Object of the present invention is therefore to provide a gripper that is suitable for different container sizes and as simple as possible in its construction and has as little play. Furthermore, it is an object of the invention to provide a container treatment machine with corresponding grippers.

The object is achieved with a gripper according to claim 1 and a Behälterbehandlungs- and / or -transportmaschine according to claim 15. Advantageous embodiments are disclosed in the dependent claims.

The gripper has three pivot levers, which are designed so that it is possible with the three pivot levers to hold a container. This refers in particular to containers with a round cross-section at the holding position. Here, a pivot lever is provided with an actuating arm with which the gripper is actuated, d. H. can be opened and closed. The second and third pivot levers are respectively coupled to the first pivot lever. Characterized in that the second and third pivot levers are respectively coupled directly to the first pivot lever having the actuating arm, the game is small overall.

Also advantageous is the coupling between the pivot levers by means of gear segment pieces, as no further mechanical elements such as push rods or the like are required and an accurate backlash or low-backlash coupling is possible.

Also advantageous is a biasing element for the first pivot lever, which preferably acts on the actuating arm of the first pivot lever and further preferably biases in the position in which the gripper is closed.

Furthermore, an arrangement is advantageous in which the position at which the third pivot lever can engage the container, between the container and the pivot axes, such as the pivot axis of the first pivot lever is because thus dislocation of the container in the direction of the pivot axes is prevented. Such dislocation can occur in particular when loading and unloading the containers in the gripper.

Particularly advantageous is an embodiment in which the first and second and possibly also the third pivot lever have a contoured attack surface, with which they can attack a container, so that each pivot lever engages the container at at least two positions. Particularly advantageous in this case is a variant in which the attack at two different positions for different sized containers is possible, so they are always different sized containers with different diameters always centered in the same place. This is advantageous, for example, for filling the containers, so that the filling valve is always arranged centrally above the container opening, irrespective of the size of the container opening. In this case, a variant is preferred in which the containers can have diameters between 24 mm and 38 mm. By holding the container in two places by the first and second pivot lever and the holding by the third pivot lever, so a total of five points, the pressure on the container by the gripper is evenly distributed over the circumference, so that a too large deformation of the Container is avoided.

Further advantageous is an embodiment in which the actuating arm is coupled to a rod via a slot. Through the slot different positions of the gripper can be compensated in the closed position with different diameters. The rod is preferably coupled to an eccentric, so that by rotation of the Excenters a forward and backward movement of the rod for operating the gripper is possible.

In one embodiment, a gripper for containers is provided which has pivoting levers which can engage the container. One of the pivot levers has an actuating arm biased by a spring so that the pivot levers are biased to a closed position. An eccentric is coupled via a rod with the actuating arm in such a way that the open position lies beyond a dead center of the spring force, starting from the closed position.

In the open position, the spring thus acts to hold the gripper in the open position. Between the open position and the closed position can then be switched by acting on the eccentric back and forth, in each case over the dead center of the spring force actuation takes place. This coupling between the different components is designed so that different container sizes are possible. This can be achieved for example by a slot on the actuating arm of the rod or the Excenters.

A further advantage is a stop for the eccentric for both the open and the closed position, so that the eccentric is pressed in the open or a closed position by the spring force against the stop. Here, the eccentric itself may be shaped so that it abuts against the stop or a component connected to it. The gripper preferably has three pivot levers, the so to a container with a round Cross section attack that is held by the attacking at the three positions of the container.

Figur 1

eine dreidimensionale schematische Darstellung des Greifers;

Figur 2

eine schematische Draufsicht auf den Greifer in der Geschlossen-Stellung für einen kleinen Behälter;

Figur 3

eine schematische Draufsicht auf den Greifer in einer Geschlossen-Stellung für einen großen Behälter; und

Figur 4

eine schematische Draufsicht auf den Greifer in einer Geöffnet-Stellung.

An embodiment of the gripper according to the invention will be explained with reference to FIGS. Showing:

FIG. 1

a three-dimensional schematic representation of the gripper;

FIG. 2

a schematic plan view of the gripper in the closed position for a small container;

FIG. 3

a schematic plan view of the gripper in a closed position for a large container; and

FIG. 4

a schematic plan view of the gripper in an open position.

FIG. 1 shows a gripper 1 with a base plate G and a first and second pivot lever 2, 3. The pivot levers comprise a container position on opposite sides. Between the first and second pivot levers 2, 3, a container for holding can be arranged. The first and second pivot levers 2, 3 are via gear segment 8a, 8b (see FIG. 2 ) Coupled with each other for pivoting. Due to the direct coupling of the two pivot levers 2, 3 with each other, they have only a very little or no play.

A third pivot lever 4 is connected to the first pivot lever 2 also via gear segments 7a, 7b (see FIG. 2 ) coupled. Again, the direct coupling causes the least possible game. The third pivot lever 4 is arranged so as to intersect with the first pivot lever 2. As a result, the coupling between the first and third pivot levers 2, 4 by the gear segments on one side of the first pivot lever 2, the attack position of the third pivot lever 4 on the container, however, on the other side of the first pivot lever. 2

With the first, second and third pivot lever 2, 3, 4, the container can be touched in at least three places, these three locations are such that the container is held and centered in the center Z. The pivoting levers 2, 3, 4 can be pivoted on the one hand in order to open or close the gripper, but also to grasp containers of different sizes. The pivoting levers 2, 3, 4 are therefore designed to be synchronous from the center Z (see FIG Figures 2 . 3 . 4 ) of the container position can be pivoted outwards, but can also be pivoted in synchronism with the center Z of the container position. The pivot axes of the three pivoting levers 2, 3, 4 are formed here by bolts 10a, 10b, 10c, which are screwed into the base plate G on a straight connecting line.

The first pivot lever 2 has an actuating arm 5. The actuating arm 5 extends away from the first pivot lever 2 starting from the axial position of the pivot axis 10a. The actuating arm 5 thus lies with respect to the connecting line of the three pivot axes 10a, 10b, 10c on the opposite side of the container position. By pivoting the actuating arm 5, the three pivoting levers 2, 3, 4 are pivoted synchronously to open or close. At the end of the actuating arm 5, this has a fork-shaped Opening into which a rod 11 engages. The rod 11 has a slot 12 in which a pin 18 of the actuating arm 5 engages, so that the rod 11 relative to the actuating arm 5 in the context of the elongated hole 12 is movable.

At the end of the fork-shaped opening of the actuating arm 5, a spring 9 is articulated, whose other end is attached to a bolt 19 which is adjustably mounted in position in the base plate G. By adjusting the position of the bolt, the spring force can be varied. The spring 9 pulls on the actuating arm 5 so that it biases the pivot lever 2, 3, 4 in the direction of the center Z of the container position.

At the end of the rod 11, which is not coupled to the actuating arm 5, the rod 11 is rotatably coupled by a hinge 16 with an eccentric 13. By rotation of the mounted in the base plate G eccentric 13, the rod 11 can be moved back and forth and with sufficiently large movement, which is no longer compensated by the slot 12, the actuating arm 5 is actuated to open and close the gripper. By turning the Excenters 13 thus the gripper can be opened and closed. In the closed position, the pivot levers 2, 3, 4 are pressed by the spring 9 against the container to hold it. Because of the elongated hole 12, namely, the spring force is not absorbed by the rod 11. Through the slot 12, it is also possible to hold different sized containers in which the actuating arm 5 can assume different positions relative to the rod 11.

The eccentric 13 is rotatably coupled via its axis 17 with a stop member 15. The stop member 15 is provided with two wings which can abut against a stopper bolt 14 fixed in the base plate G. To rotate the Excenters can attack by other machine parts or by hand to the stop member 15 a force so as to operate the gripper.

In the FIGS. 2 to 4 Different states of the gripper are shown.

In FIG. 2 the gripper 1 is shown in a closed position in which a small container 6 is held. The actuating arm 5 is in this case relative to the slot 12 close to the left end of the slot 12. The stop member 15 is with a first wing in abutment against the stop pin 14. The eccentric 13 is here designed as a lever-shaped element, which is non-rotatable with the stop member 15 is connected and stored together with this by a shaft 17 in the base plate.

In FIG. 3 is the stop member 15 with the same first wing in abutment against the stop pin 14, the actuating arm 5, however, is located close to the right end of the slot 12. In FIG. 3 This makes it possible to hold a larger container 6 '. The containers 6 and 6 'in Figures 2 and 3 are held so that they are arranged with their center Z at the same position relative to the gripper 1.

In FIG. 4 the gripper is shown in an open position, in which the pivot levers 2, 3, 4, the container 6 'does not hold. The container 6 'can in a movement in FIG. 4 be removed from the top of the gripper 1 without that the pivot lever 2, 3, would disturb this. As in FIG. 4 can be seen, that stop member 15 has been rotated counterclockwise far enough that it abuts with the second wing to the stop pin 14. The eccentric 13 is rotated so far that the rod 11 has been pushed quite far to the right, whereby it has the actuating arm 5 also deflected to the right and thus the first pivot lever 2 to the left. The spring 9 pulls the actuating arm 5 to the left. However, that the junction 16 between the eccentric 13 and the rod 11 is above a connecting line between the pivot point 17 of the eccentric 13 and the connection between the actuating arm 5 and the rod 11, the gripper is in a self-locking, the closing of the Gripper prevented by the spring 9. The spring 9 pulls the actuating arm 5 to the left, whereby the rod 11 is also pushed to the left, which would follow in a rotational movement of the eccentric 13 in the counterclockwise direction, but is prevented by the stop 14. The spring 9 pulls in this position thus the eccentric 13 with the stop member 15 against the stop pin 14, whereby the gripper is held in the open position. By turning the stop member 15 clockwise, the gripper can be brought back into a closed position. Runs the gripper 1 on a circular path, so this can be done in a simple manner by stationary control pins that engage the stop member 15. Instead of a mechanical spring and a pneumatic biasing element can be used.

Such grippers can be used in container handling machines such as fillers, labellers, label removers, coaters, sterilizers, etc. or in container transport machines such as conveyors or transfer stars.

Claims (15)

1. Gripper (1) for containers (6, 6'), and in particular ones, such as bottles say, which are at least partly of circular cross-section, having a first, a second and a third pivoting lever (2, 3, 4) which are able to engage with a container at a first, a second and a third point respectively, the first pivoting lever (2) having an actuating arm (5) which is used to actuate the gripper (1), and the first pivoting lever (2) being coupled to the second pivoting lever (3) to pivot it and the first pivoting lever (2) being coupled to the third pivoting lever (4) to pivot it, and the container being able to be held by the engagement of the three pivoting levers (2, 3, 4) at the three points, characterised in that the gripper comprises only a first, a second and a third pivoting lever.
2. Gripper according to claim 1, characterised in that the first pivoting lever (2) is coupled to the second pivoting lever (3), and/or the first pivoting lever (2) is coupled to the third pivoting lever (4), by means of sectors (7a, 7b, 8a, 8b) having gear teeth.
3. Gripper according to claim 1 or 2, characterised in that a pre-loading member, such as a spring (9) say, engages with the actuating arm (5).
4. Gripper according to one of claims 1 to 3,
   characterised in that the point at which the third pivoting lever (4) engages is situated between the first and second pivoting levers (2, 3).
5. Gripper according to one of claims 1 to 4,
   characterised in that the point at which the third pivoting lever (4) engages is situated between the position of the container and the axes of pivot (10a, 10b, 10c) of the pivoting levers (2, 3, 4).
6. Gripper according to one of claims 1 to 5,
   characterised in that the axes of pivot (10a, 10b, 10c) of the three pivoting levers (2, 3, 4) lie in a plane.
7. Gripper according to one of claims 1 to 6,
   characterised in that the first and third pivoting levers (2, 4) intersect.
8. Gripper according to one of claims 1 to 7,
   characterised in that the first and/or second pivoting levers (2, 3) have a contoured engaging surface so that the given pivoting lever (2, 3) engages with the container (6, 6') at at least two points.
9. Gripper according to one of claims 1 to 8,
   characterised in that, to actuate the gripper (1), a bar (11) engages with the actuating member (5) via a slotted hole (12).
10. Gripper according to claim 9, characterised in that the bar (11) is hinged to a rotatable eccentric member (13) at one end.
11. Gripper according to claim 1, having pivoting levers (2, 3, 4) which are able to engage with the container (6) and which, in a closed position, are able to hold it, wherein one of the pivoting levers has an actuating arm (5) which is pre-loaded to the closed position by an elastic member, such as a spring (9) say, and the gripper (1) has an eccentric member (13) which is coupled to the actuating arm (5) by a bar (11), the eccentric member (13), the actuating arm (5), the elastic member and the bar (11) being connected together in such a way that, at the alternating switching between an open position and the closed position, the actuation takes place beyond a dead-centre point of the force from the elastic member (9) and, when in the open position beyond the dead-centre point, starting from the closed position, the gripper (1) is in a self-locking state which stops the gripper from closing, solely by means of the force exerted by the elastic member (9).
12. Gripper according to claim 11, characterised in that the actuating arm (5) and the bar (11) and/or the bar (11) and the eccentric member (13) are coupled together by means of a slotted hole (12), the gripper (1) assuming different closed positions for containers of different sizes.
13. Gripper according to either of claims 11 and 12, characterised in that a stop (14) is provided, preferably in the form of a pin, against which the eccentric member, and/or a stopping member (15) connected thereto, can be stopped in the open position and/or in a closed position.
14. Gripper according to one of claims 11 to 13, characterised in that the gripper (1) has three pivoting levers (2, 3, 4) which are able to engage at at least three points in such a way that they can hold the container.
15. Container handling and/or transporting machine having at least one gripper according to one of claims 1 to 14.

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