EP4739471A1

EP4739471A1 - Smart manipulator for manipulating containers with compact motor group

Info

Publication number: EP4739471A1
Application number: EP23741302.6A
Authority: EP
Inventors: Mauro Lanzi
Original assignee: Sidel Participations SAS
Current assignee: Sidel Participations SAS
Priority date: 2023-07-07
Filing date: 2023-07-07
Publication date: 2026-05-13
Also published as: WO2025011731A1; AR133176A1

Abstract

Manipulator (1) for manipulating containers, comprising: a head (2);a gripper (3) for gripping the containers and supported by the head (2), the gripper (3) comprising a first jaw (31) and a second jaw (32), so that a movement of the first jaw (31) and the second jaw (32) with respect to the head (2) corresponds to a regulation of the opening degree of the gripper (3), and a space (S) is defined between the jaws (31) and (32) to grip the containers; a first motor (41) for generating said movement of the jaws (31) and (32);a second motor (42) for rotating the head (2) on itself, around a rotational axis (X) of the head (2), the first motor (41) being mounted on the head (2) along the rotational axis (X) of the head (2), the head (2) supporting the gripper (3) to make the gripper (3) integral with the rotational motion of the head (2) on itself; a first transmission device (9) for converting the rotation in output from the first motor (41) in the movement of the jaws (31) and (32).

Description

SMART MANIPULATOR FOR MANIPULATING CONTAINERS WITH COMPACT MOTOR GROUP TECHNICAL FIELD The present invention relates to a manipulator for containers and a palletizing machine for palettizing containers and comprising the manipulator. BACKGROUND ART In the field of packaging of pourable products by means of containers, it is known to use palletizing machines for palletizing the filled, closed, decorated, and possibly wrapped or packed containers. Commonly, the palletizing machine may comprises a manipulator for manipulating the containers to create the pallet. The manipulator comprises a gripper and a head supporting the gripper. The manipulator comprises two first motors for moving the jaws of the gripper to regulate the opening degree of the gripper, and a second motor for rotating the head on itself. The second motor and the two first motors act in series, in the sense that the second motor rotates the head and the first motors generate the movement of the jaws with respect to the head, said movement of the jaws corresponding to the regulation of the opening degree. Therefore, the first motors need to be positioned very close to the head, reducing the accessibility of the head and increasing the mechanical complexity of the manipulator. DISCLOSURE OF INVENTION A manipulator according to present description or according to any one of the appended manipulator claims, presents a very less complex mechanical configuration with respect to manipulators belonging to prior art. A manipulator according to present description or according to any one of the appended manipulator claims, improves accessibility of the head supporting the gripper, for example to improve the cleanability of the manipulator. A palletizing machine according to present description or according to any of the appended machine claims comprises a manipulator according to present description or according to any one of the appended manipulator claims. The following brief description of the drawings and detailed description of the invention will be referred to a possible example embodiment of a manipulator according to present description and a possible example embodiment of a palletizing machine according to present description. In the following brief description of the drawings and detailed description of the invention, the example embodiment of the manipulator will be defined for the sake of convenience as “manipulator”. In the following brief description of the drawings and detailed description of the invention, the example embodiment of the palletizing machine will be defined for the sake of convenience as “machine”. BRIEF DESCRIPTION OF THE DRAWINGS The following detailed description will be referred to the accompanying drawings, in which: Figure 1 is a perspective view of the manipulator, while a gripper belonging to the manipulator is adopting a first condition; Figure 2 is a perspective view of the manipulator, while the gripper is adopting a second condition; Figure 3 is a perspective view of the manipulator, while the gripper is adopting a third condition; Figure 4 is a perspective view of the manipulator from above and with some components removed to show some components of a first transmission device of the manipulator; Figure 5 is a frontal cross section view of the manipulator, while the jaws of the gripper belonging to the manipulator are adopting with respect to a head of the manipulator a position corresponding to the first condition; Figure 5A is a detail of Figure 5; Figure 6 is a frontal cross section view of the manipulator, while the jaws are adopting with respect to the head a position corresponding to the second condition or the third condition; Figure 6A is a detail of Figure 6; Figure 7 is a perspective view of the manipulator from below, with some components which are not visible to show other components which are visible; Figure 8 is a block diagram related to an aspect related to an automatic control of the manipulator; Figure 9 shows another perspective of the manipulator; Figure 10 is a further perspective of the manipulator; Figure 11 is a perspective view of the manipulator during a first method of use of the Manipulator, while the gripper is adopting a fourth condition; Figure 12 is a perspective view of the manipulator during a second method of use of the manipulator, while the gripper is adopting the third condition ; Figure 13 is a perspective view of the manipulator during a third method of use of the manipulator, while the gripper is adopting the second condition; Figure 14 is a perspective view of the manipulator during a fourth method of use of the manipulator, while the gripper is adopting a fifth condition. DETAILED DESCRIPTION OF THE INVENTION The manipulator 1 is configured for manipulating containers C. Some containers C are indicated in Figure 2. The containers may be cans or bottles or flacons or jars or kegs or any other kind of containers. The bottles may be glass bottles or plastic bottles. In the figures the containers are cans. The containers to be manipulated may be layers of containers. The containers to be manipulated may be already wrapped or packed. The manipulator 1 comprises a head 2 supporting a gripper 3 for gripping the containers. The gripper 3 comprises a first jaw 31 and a second jaw 32, so that a movement of the first jaw 31 and the second jaw 32 with respect to the head 2 corresponds to a regulation of the degree of opening of the gripper 3, a space S being defined between the jaws 31 and 32 to grip the containers. The space is indicated in Figures 2 and 3. In Figure 1, the gripper 3 adopts a first condition in which the jaws 31 and 32 define a first opening degree of the gripper 3. When the jaws define the first opening degree, the gripper 3 cannot grip containers. In Figure 2, the gripper 3 adopts a second condition in which the jaws 31 and 32 define a second opening degree of the gripper 3. When the jaws 31 and 32 define the second opening degree, the gripper 3 can grip containers. In the second condition which is shown in Figure 2, the gripper 3 is gripping only a first group G1 of containers. In the third condition of the gripper 3, which is shown in Figure 3, the jaws 31 and 32 define the second opening degree of the gripper 3, as in Figure 2, but the gripper 3 is gripping a first group G1 of containers and a second group G2 of containers. The gripper 13 adopts the third condition also in Figure 12. The gripper 3 adopts the second condition also in Figure 13. The jaws define the second opening degree also in Figures 12 and 13. In Figure 11, the gripper 3 adopts a fourth condition, in which the jaws 31 and 32 define a third opening degree of the gripper 3. When the jaws define the third opening degree, the gripper is less opened, or more closed, than when the jaws define the second opening degree. A movement of the jaws 31 and 32 with respect to the head 2 therefore occurs between situations shown in Figures 1 and 2, or between situations shown in Figure 1 and 3. The first condition of Figure 1 corresponds to an opened condition of the gripper 3. The second condition and the third condition of Figures 2 and 3 correspond to a closed condition of the gripper 3. Also the fourth condition of Figure 11 corresponds to a closed condition of the gripper 3. Also in Figures 5 and 5A the gripper 3 adopts the opened condition. Also in Figures 6 and 6A the gripper 3 adopts the closed condition corresponding to the second condition or to the third condition. In Figures 6 and 6A the containers are not shown. The manipulator 1 comprises a motor group 4. The motor group 4 comprises a first motor 41 for generating said movement of the jaws 31 and 32 with respect to the head 2. The motor group 4 comprises a second motor 42 for generating a rotational motion of the head 2 on itself or around itself. The rotational motion of the head 2 on itself occurs around a rotational axis X of the head 2. The gripper 3 is supported by the head 2 so that the gripper 3 is integral with the rotational motion of the head 2 on itself. In Figures 9 and 10, the gripper 3 adopts the closed condition corresponding to the third condition. Between the Figures 9 and 10, a rotational motion of the head 2 occurs. The rotational motion is around the rotational axis X of the head 2. The first motor 41 is mounted on the head 2 along the rotational axis X of the head 2. The motorized axis of the first motor 41 is in particular parallel to and preferably coincident with the rotational axis X of the head 2. The manipulator 1 comprises a first transmission device 9 for converting the rotation in output from the first motor 41 into the movement of the jaws 31 and 32 with respect to the head 2. The first transmission device 9 is shown in Figure 4, in which the motor group 4 is removed to show the components of the first transmission device 9 from above. A part of the first transmission device 9 is shown in Figures 5 and 5A, and in Figures 6 and 6A. The first transmission device 9 is visible also in Figure 7, from below. In Figure 7 some components of the manipulator 1 are removed to show the components of the first transmission device 9. In this way the part of the motor group 4 which is dedicated to produce the movement of the jaws 31 and 32 can be located in a position such that to improve accessibility of this part and/or the accessibility of the head 2, and/or to reduce mechanical complexity of the manipulator 1, so that also the cleanability of the manipulator 1 may be improved. Moreover, a big simplification results from the fact according to which, thanks to the first transmission device 9, less motors can be used to generate the movement of the jaws 31 and 32, for example only one single motor. Thanks to the configuration of the manipulator 1, the first motor 41 can be located in a position such that to improve accessibility of the first motor 41, and/or to reduce mechanical complexity of the manipulator 1, so that also the cleanability of the manipulator 1 may be improved. The manipulator 1 comprises a second transmission device 10 for converting a rotation in output from the second motor 42 into the rotational motion of the head 2. The second transmission device 10 is indicated in Figures 1, 2, 3, 5, 6, 7, 9 and 10. The first motor 41 is positioned through the second transmission device 10. In this way, the manipulator 1 is configured for generating the movement of the jaws and the rotational motion of the head 2 on itself with a very compact design. The motorized axis Y of the second motor 42 is offset with respect to the motorized axis of the first motor 41. The motorized axis Y of the second motor 42 is parallel to the motorized axis of the first motor 41. The motorized axis of the first motor 41 is coincident with the rotational axis X of the head 2. The second transmission device 10 comprises a first transmission element 101 which can receive the torque from the second motor 42 and a second transmission element 102 which can be rotated by the first transmission element 101. The second transmission element 102 is integral with the head 2, so that the head 2 is integral with the rotation of the second transmission element 102. The rotation of the second transmission element 102 generates the rotational motion of the head 2 on itself. The first motor 41 comprises a fixed part 411 which is positioned through the second transmission element 102 and is fixed to the head 2, and a rotating part 412 which can rotate with respect to the first part 411. The fixed part 411 is integral with the head 2, and therefore with the rotational motion of the head 2 on itself. The rotating part 412 may protrude from the fixed part 411. The first transmission device 9 is operatively interposed between the rotating part 412 and the jaws 31 and 32. The rotating part 412 is indicated in Figures 5A, 6A and 7. The fixed part 411 is fixed to the head 2 so that a rotational motion of the head 2 on itself corresponds to a rotational displacement of the rotating part 412 with respect the fixed part 411, or viceversa. The first transmission device 9 receives the torque of the first motor 41 from the rotating part 412. The rotating part 412 may comprise a reducer gear unit. The second transmission element 102 is preferably coaxial with respect to the rotational axis X of the head 2. The first transmission element 101 is a belt 101. The second transmission element 102 is a pulley. By means of the second transmission element 102, and by means of the fixed part 411 of the first motor 41 being positioned through the second transmission element 102, the first motor 41 can be supported by the head 2 remaining in a position such that the head 2 is more accessible, and the design of the manipulator 1 is very compact. The first transmission device 9 comprises a rocker 91 which is integral in rotation with the rotating part 412 of the first motor 41. The first transmission device 9 comprises a first mechanical linkage 92 which is operatively interposed between the rocker 91 and the first jaw 31, and a second mechanical linkage 93 which is operatively interposed between the rocker 91 and the second jaw 32. Thanks to this configuration, the first motor 41 can be positioned at least mainly on the same side of the head 2 with respect to the second motor 42, to simplify the mechanical configuration of the manipulator 1. The first linkage 92 and the second linkage 93 are shown in Figures 4 and 7. In Figures 5-5A and 6-6A, only the first linkage 92 is shown, because the manipulator is cross sectioned in Figures 5, 5A, 6, and 6A, along a plane which is parallel to the rotational axis X of the head 2. The movement of the jaws 31 and 32 occurs on the plane of Figures 5, 5A, 6 and 6A. Each linkage 92 or 93 comprises preferably a respective lever, and in particular a crankshaft-rod linkage. For each jaw 31 or 32, the manipulator 1 comprises a respective first coupling 5 associated to the jaw 31 or 32 and operatively interposed between the head 2 and the jaw 31 or 32. The manipulator 1 comprises, for each jaw 31 or 32, a respective second coupling 6 associated to the jaw 31 or 32 and operatively interposed between the head 2 and the jaw 31 or 32. For each jaw 31 or 32, the second coupling 6 is mechanically in parallel with respect to the respective first coupling 5. For each jaw 31 or 32, the first coupling 5 and the second coupling 6 define a respective four bar linkage. The first couplings 5 and the second couplings 6 make the jaws 31 and 32 integral with the rotational motion of the head 2 on itself. Each coupling 5 or 6 comprises a respective arm 51 or 61, a first hinge 52 or 62 hinging the arm 51 or 61 to the head 2, and a second hinge 53 or 63 hinging the arm 51 or 61 to the jaw 31 or 32. In this way, for each jaw 31 or 32, the first coupling 5 and the second coupling 6 define a four bar linkage. In Figures 5 and 6, only the arms and the hinges of the couplings connected to the first jaw 31 are indicated. In Figure 4, both the first hinge 62 of the second coupling associated to the first jaw and the first hinge 62 of the second coupling associated to the second jaw are shown. The first linkage 92 is operatively interposed between the rocker 91 and the second coupling associated to the first jaw 31. The second linkage 93 is operatively interposed between the rocker 91 and the second coupling associated to the second jaw 32. The first linkage 92 is operatively interposed between the rocker 91 and the first hinge 62 of the second coupling 6 associated to the first jaw 31, and the second linkage 93 is operatively interposed between the rocker 91 and the first hinge 62 of the second coupling 6 associated to the second jaw 32, so that the rotation of the rocker 91 imparted by the first motor 41 can generate a rotation of the arm 61 of each second coupling 6 around the respective first hinge 62. In this way by means of a rotation of the rocker 91, each linkage 92 or 93 can act on the respective first hinge 62 to cause the movement of the associated jaw 31 or 32. In this way, the jaws 31 and 32 are timely coordinated with each other by means of a mechanical coordination system and the same first motor 41 can be used to generate the movement of the first jaw 31 and the movement of the second jaw 32, leading to a big simplification of the mechanical configuration of the manipulator 1. The head 2 comprises a horizontal frame 21 and a vertical frame 22 which is fixed to the horizontal frame 21. The horizontal frame 21 is transversal or orthogonal with respect to the rotational axis X of the head 1. The fixed part 411 of the motor is fixed to the horizontal frame 21. In this way, the rocker 91 can be positioned on one side of the horizontal frame 21, while at least the main portion of the fixed part 411 of the first motor 41 can be positioned on the opposite side of the horizontal frame 21 with respect to the rocker 91, to make the head 2 more accessible. For each jaw 31 or 32, the first hinge 52 of the first coupling 5 hinges the respective arm 51 to the vertical frame 22 and the first hinge 62 of the second coupling 6 hinges the respective arm 61 to the vertical frame 22. The manipulator 1 comprises a wall 7 which is movable with respect to the head 2 by means of an actuator 8 between an upper not operative position, and a lower operative position in which the wall 7 divides the space S, so that at least two groups of containers may be more easily gripped, while the two groups are located on opposite sides of the wall 7. The actuator 8 is preferably mounted on the head 2. The actuator 8 engages on or is coupled with the wall 7 by mechanical contact or by means of magnetic effect, to generate the movement of the wall 7. The actuator 8 may also a fluid actuator, for example a pneumatical actuator or an electrical or magnetic or electromagnetic actuator. In figure 1 the wall 7 adopts the upper position. In Figures 2 and 3, the wall 7 adopts the lower position. In Figure 5 the wall 7 adopts the upper position. In Figure 6, the wall 7 adopts the lower position. In Figure 2, the gripper 3 is gripping only the first group G1 of containers, which is located on one side of the wall 7. In Figure 3, the gripper 3 is gripping the first group G1 of containers and the second group G2 of containers. The first group G1 and the second group G2 are located on mutually opposite sides of the wall 7, so that the first group G1 is located on the opposite side of the wall 7 with respect to the second group G2 and viceversa. In Figure 11 the wall 7 adopts the upper position. In Figures 12 and 13, the wall 7 adopts the lower position. In Figure 12, a first group G1 of containers is gripped while located on a first side of the wall, and a second group G2 of containers is gripped while located on a second side of the wall 7, so that the wall 7 separates the first group G1 and the second group G2 from each other. In Figure 13, only the first group G1 is gripped while located on the first side of the wall 7. Each group may be defined by a plurality of packed or wrapped containers. In particular, in case the containers are rounded, like bottles or cans, the wall 7 will reduce the risk of or will avoid completely a possible interference between external lateral surfaces of containers belonging to the first group G1 and the external lateral surfaces of containers belonging to the second group G2, and therefore a possible blockages of containers due to this interference. Therefore, the accuracy in operation of the manipulator is therefore improved. The position of the first motor 41 above the head 2 permits the mounting and therefore the positioning of the actuator 8 on the head. Therefore, the global configuration of the manipulator 1 with the first transmission device 9 allows also the use of the wall 7, and therefore an improved versatility of the manipulator 1. In fact, thanks to the firs motor 41 being placed above the head 2, there is more space on the head 2 for the mounting of the actuator 8. The automatic control unit 12 is configured for automatically controlling the wall 7 between said upper and lower position, by means of the actuator 8 and based for example on an input of a user. The automatic control unit 12 is therefore in communication with the actuator 8, as shown in Figure 8. The manipulator 1 comprises an upper frame 11 on which the second motor 42 is supported. The automatic control unit 12 is configured for automatically correlating the rotational position of the head 2 around the axis X of the head 2 with the torque of the first motor 41. This allows to obtain a compensation of the undesired effect of the rotational motion of the head 2 on the gripping action of the gripper 3, when the head 2 is being rotated on itself while the gripper 3 is gripping containers. In fact, the fixed part 411 of the first motor 41 being integral with the rotational motion of the head 2, this rotational motion of the head 2 can cause a rotational displacement of the rotating part 412 of the first motor 41 with respect to the fixed part 411 of the first motor 41, and therefore also a rotational motion of the rocker 91, to generate a variation in the gripping action 3. This variation can result in a reduction or an increase of the gripping action 3. The automatic control unit 12 is programmed for automatically keep the right gripping action independently from the rotational position of the head 2 and from the rotational motion of the head 2. To this end, the automatic control unit 12 is in communication with the second motor 42 and with the first motor 41. This situation is shown in Figure 8. The automatic control unit 12 may be a control system comprising more than one control unit. By having a certain transmission ratio of the reducer gear unit which is comprised in the rotating part 412 of the first motor 41, the use of said correlation made by the automatic control unit 12 may be limited or avoided. The transmission ratio may be for example 1:10. The transmission ratio may be lower than 1:10, for example 1:40. The transmission ratio may be lower than 1:40, for example 1:100. The transmission ratio may be lower than 1:100. The lower is the transmission ratio, the lower is also the impact of a rotational motion of the head 2 on the rotational position of the rotating part 412 with respect to the fixed part 411 of the first motor 41, and therefore the lower is the impact of the rotational motion of the head 2 on the gripping action exerted by the jaws 31 and 32. The manipulator 1 is configured for picking up the containers for example from the surface of a conveyor 13, which is indicated in Figures from 1 to 3. According to a first method of use, the manipulator 1 operates on a conveyor 13 configured for conveying containers to be manipulated and having one input channel 14, while the input channel 14 is active for feeding containers to the conveyor 13. The first method of use is shown in Figure 11. In the first method of use, the gripper 3 adopts the fourth condition, and the jaws therefore define the third opening degree. In the first method of use, the wall 7 adopts the upper position. The containers gripped in the fourth condition of Figure 11 are globally indicated with G. According to a second method of use, the manipulator 1 operates on a conveyor 13 configured for conveying containers to be manipulated and having two input channels 14 and 15, while both the input channels 14 and 15 are active for feeding containers to the conveyor 13. The second method of use is shown in Figure 12. In the second method of use, the gripper 3 adopts the third condition, and the jaws therefore define the second opening degree. In the second method of use, the wall 7 adopts the lower position, for separating the first group G1 from the second group G2 and viceversa, to limit interference between lateral surfaces. Each group may be wrapped or packed. According to a third method of use, the manipulator 1 operates on a conveyor 13 configured for conveying containers to be manipulated and having two input channels 14 and 15, while only one channel 14 is active for feeding containers to the conveyor 13, the other channel 15 being not active. The third method of use is shown in Figure 13. In the third method of use, the gripper 3 adopts the second condition, and the jaws therefore define the second opening degree. In the third method of use, the wall adopts the lower position, so that the first group G1 may be gripped between the wall 7 and the first jaw 31. In Figure 13 the active channel is the one indicated with 14, but in another situation the active channel can be the one indicated with 15. Each of the group G of Figure 11, first group G1 and second group G2, may be wrapped or packed. The first condition of Figure 1 can be considered a first condition of the manipulator 1. The second condition of Figures 2 and 13 can be considered a second condition of the manipulator 1. In the second condition of Figures 2 and 13, the wall 7 adopts the lower position. The third condition of Figures 3 and 12 can be considered a third condition of the manipulator 1. In the third condition of Figures 3 and 12, the wall 7 adopts the lower position. The fourth condition of Figure 11 can be considered a fourth condition of the manipulator 1. In the fourth condition of Figure 11, the wall 7 adopts the upper position, so that the gripper 3 may be centered with respect to the central longitudinal axis of the conveyor 13 also with a conveyor with a single input channel 14. In figure 14 a fourth method of use is shown, in which the gripper 3 adopts a fifth condition. This fifth condition can be considered a fifth condition of the manipulator 1. The fifth condition is equal to the third condition, but with the wall 7 adopting the upper position. In the fifth condition, the first group G1 and the second group G2 are packed or wrapped together. The wall 7 adopts the upper position to allow the gripper 3 to grip together the first group G1 and the second group G2 without the aid of the wall 7. In this case, in fact, there is no problem of interference between lateral surfaces because the containers are all wrapped or packed together. In the fifth condition, the jaws 31 and 32 define the same second opening degree of the Figures 2, 3, 12 and 13. In the fifth condition, the first group G1 and the second group G2 have been fed together by the two input channels 14 and 15. In all the above methods of use the gripper 3 can be always aligned with the central longitudinal axis of the conveyor 13, regardless of the width of the conveyor 13, and therefore regardless of the number of input channels. Thanks to the wall 7 being able to be automatically controlled by the control unit 12, the manipulator 1 can be switched very quickly between the first method of use, the second method of use, the third method of use, and/or the fourth method of use. Therefore, versatility and flexibility of the manipulator 1 are improved. The machine comprises the manipulator 1. The manipulator comprises therefore a transmission system which operates between the motor group and the assembly comprising the jaws and the head 2, to generate movement of the jaws and rotational motion of the head 2. This transmission system presents a kinematics which, from a certain point of view, is more of the parallel type than in prior art, allowing a more simple mechanical configuration of the manipulator 1 and the advantages mentioned above. The movement of the jaws with respect to the head 2 and the rotational motion of the head 2 on itself are in fact obtainer in a more combined manner, leading to a reduction of the mechanical complexity of the manipulator 1. This kind of transmission system allows also to have the wall 7 controlled by the automatic control unit by means of the actuator 8 mounted on the head 2, to obtain the above mentioned improvement in terms of flexibility and versatility of the manipulator 1. The manipulator 1 can operate also within a system for sorting the containers, for reordering the containers in different number of lines or rows.

Claims

CLAIMS 1.Manipulator (1) for manipulating containers (C), comprising: a head (2); a gripper (3) for gripping the containers and supported by the head (2), the gripper (3) comprising a first jaw (31) and a second jaw (32), so that a movement of the first jaw (31) and the second jaw (32) with respect to the head (2) corresponds to a regulation of the opening degree of the gripper (3), and a space (S) is defined between the jaws (31) and (32) to grip the containers; a first motor (41) for generating said movement of the jaws (31) and (32); a second motor (42) for generating a rotational motion of the head (2) on itself, around a rotational axis (X) of the head (2), the first motor (41) being mounted on the head (2) along the rotational axis (X) of the head (2), the head (2) supporting the gripper (3) to make the gripper (3) integral with the rotational motion of the head (2) on itself; a first transmission device (9) for converting the rotation in output from the first motor (41) in the movement of the jaws (31) and (32). 2. Manipulator (1) according to Claim 1, wherein: the manipulator (1) comprises a second transmission device (10) for converting a rotation in output from the second motor (42) in the rotational motion of the head (2) on itself; the first motor (41) is positioned through the second transmission device (10). 3. Manipulator (1) according to Claim 2, wherein: the motorized axis (Y) of the second motor (42) is offset with respect to the motorized axis of the first motor (41), the motorized axis (Y) of the second motor (42) being preferably parallel to the motorized axis of the first motor (41), the motorized axis of the first motor (41) being preferably coincident with the rotational axis (X) of the head (2); the second transmission device (10) comprises a first transmission element (101) which can receive the torque from the second motor (42) and a second transmission element (102) which can be rotated by the first transmission element (101), the second transmission element (102) being integral with the head (2) and being preferably coaxial with the rotational axis (X) of the head (2); the first motor (41) comprises a fixed part (411) which is positioned through the second transmission element (102) and is fixed to the head (2), and a rotating part (412) which can rotate with respect to the fixed part (411), the fixed part (411) being integral with the head (2) so that a rotational motion of the head (2) on itself corresponds to a rotational displacement of the rotating part (412) with respect to the fixed part (411) or viceversa, the first transmission device (9) being operatively interposed between the rotating part (412) and the jaws (31, 32), to receive the torque of the first motor (41) from the rotating part (412). 4. Manipulator (1) according to Claim 3, wherein the rotating part (412) comprises a reducer gear unit having a transmission ration which is less than 1:10, or less than 1:40, or less than 1:100. 5. Manipulator (1) according to Claim 3 or 4, wherein: the first transmission device (9) comprises a rocker (91) which is integral in rotation with the rotating part (412) of the first motor (41); the first transmission device (9) comprises a first mechanical linkage (92) which is operatively interposed between the rocker (91) and the first jaw (31), and a second mechanical linkage (93) which is operatively interposed between the rocker (91) and the second jaw (32). 6. Manipulator (1) according to Claim 5, wherein the head (2) comprises an horizontal frame (21) which is transversal to the rotational axis (X) of the head (2), and a vertical frame (22) which is fixed to the horizontal frame (21); the fixed part (411) of the first motor (41) is fixed to the horizontal frame (21). 7. Manipulator (1) according to Claim 5 or 6, wherein: for each jaw (31; 32), the manipulator (1) comprises a respective first coupling (5) associated to the jaw (31; 32) and operatively interposed between the head (2) and the jaw (31; 32), and a respective second coupling (6) associated to the jaw (31; 32) and operatively interposed between the head (2) and the jaw (31; 32), each second coupling (6) being preferably mechanically in parallel with respect to the respective first coupling (5); the first linkage (92) is operatively interposed between the rocker (91) and the second coupling (6) associated to the first jaw (31), and the second linkage (93) is operatively interposed between the rocker (91) and the second coupling (6) associated to the second jaw (32). 8. Manipulator (1) according to Claim 7, wherein each coupling (5; 6) comprises a respective arm (51; 61), a first hinge (52; 62) for hinging the arm (51; 61) to the head (2), and a second hinge (53; 63) for hinging the arm (51; 61) to the jaw (31; 32); the first linkage (92) is operatively interposed between the rocker (91) and the first hinge (62) of the second coupling (6) associated to the first jaw (31), and the second linkage (93) is operatively interposed between the rocker (91) and the first hinge (62) of the second coupling (6) associated to the second jaw (32), so that the rotation of the rocker (91) imparted by the first motor (41) can generate a rotation of the arm (61) of each second coupling (6) around the first hinge (62), by means of the respective linkage (92; 93). 9. Manipulator (1) according to Claims 6 and 8, wherein, for each jaw (31; 32), the first hinge (52) of the respective first coupling (5) hinges the respective arm (51) to the vertical frame (22), and the first hinge (62) of the respective second coupling (6) hinges the respective arm (61) to the vertical frame (22). 10. Manipulator (1) according to any of the previous claims, comprising a wall (7) which is movable with respect to the head (2) by means of an actuator (8) between an upper not operative position, and a lower operative position in which the wall (7) divides the space (S), so that at least two groups (G1, G2) of containers may be gripped on opposite sides of the wall (7), the actuator (8) being preferably mounted on the head (2), the manipulator (1) comprising the actuator (8). 11. Manipulator (1) according to any of the previous Claims, comprising an automatic control unit (12). 12. Manipulator (1) according to Claim 3 or 4 and according to Claim 11, wherein the automatic control unit (12) is configured for automatically correlating the rotational position of the head (2) around the rotational axis (X) of the head (2) with the torque of the first motor (41), the control unit (12) being preferably in communication with the second motor (42) and the first motor (41). 13. Manipulator (1) according to Claim 10 and according to Claim 11 or 12, wherein the automatic control unit (12) is configured for automatically controlling the wall (7) between said upper position and lower position, based for example on an input of a user. 14. Palletizing machine for palletizing containers, comprising a manipulator (1) according to any of the previous Claims. 15. Sorting system for sorting containers, comprising a manipulator (1) according to any of Claims from 1 to 13.