WO2014072518A2

WO2014072518A2 - Gripper head

Info

Publication number: WO2014072518A2
Application number: PCT/EP2013/073553
Authority: WO
Inventors: Gunter HÖFER; Johannes WAEDTLEGES
Original assignee: Federspiel Maschinenbau Gmbh
Priority date: 2012-11-12
Filing date: 2013-11-12
Publication date: 2014-05-15
Also published as: WO2014072518A3; DE202013105022U1

Abstract

The invention relates to a gripper head (5), comprising several adjustable grippers (6, 7) for bottles (2). The gripper head (5) has a guiding device (9) having several longitudinal and transverse guides (14, 15, 16, 17) that can be moved in relation to each other and a driving device (10) for adjusting and positioning the grippers (6, 7) in an adjustment plane (11). At least some of the longitudinal and transverse guides (15, 17) each have a separate controllable adjusting drive (23.1-23.11, 24.1-24.5), wherein said adjusting drives are arranged and act between the longitudinal and transverse guides (14, 15, 16, 17).

Description

DESCRIPTION

gripper head

The invention relates to a rapier head with the features in the preamble of the main claim.

Such a gripper head for packing and unpacking

Bottles in and out of crates is from the

DE 19 28 397 AI known. The gripper head has a

Guide device with several longitudinal and

Querleistenpaaren, which adapt to

different bottle and box formats are adjustable together by means of a drive device in an adjustment plane. For the common adjustment a scissors gear is available. For the whole of the pairs of longitudinal bars and the whole of the

Querleistenpaare is each a single and am

respective scissors gear attacking drive available. In one variant is also a single common

Drive for the entirety of all longitudinal and

Querleistenpaare revealed.

It is an object of the present invention to provide a

show improved gripper head.

The invention solves this problem with the feature in

Main claim.

The claimed single gripper with single guidance and single controlled positioning have the advantage of a high flexibility in the adaptation of the

Gripper head to different pack images of

Containers, especially bottle crates, and on

different Packgutgrößen, in particular

Bottle sizes. This is a particularly large

Adaptation variety to most different container and pack picture formats. Also, the number of each in one Pack picture existing or can be received by a container packaged goods or bottles can vary within wide limits.

With the claimed gripper head also several containers can be operated simultaneously. In this case, unused grippers can be deactivated, in particular by shifting in a non-interfering area on

Rapier head. The claimed design of the guide device for the gripper or the gripper assembly is particularly advantageous. It can be used not only for single grippers, but also for group grippers. Particularly advantageous is the claimed drive technology with individually controllable actuators with way or

Position control for the individual longitudinal and

Width guides. If necessary, in a partial region of the gripper arrangement, a group formation in longitudinal and / or transverse guides with one acting on the group

Actuator available.

A cascade arrangement of the actuators is favorable to shorten the travel paths. It allows the use of small-sized actuators, which can also have a particularly high precision in the adjustment and positioning. Advantageously, the actuators are each arranged on the longitudinal and transverse guides and

supported. In the cascade arrangement, the respective travel paths add up. On the other hand, that is

Individual adjustment of the longitudinal and / or transverse guides also favorable for the aforementioned high Packbildflexibilität and the deactivation of unneeded gripper.

The gripper head can also be used to package containers with a casing, e.g. Sixpacks, grab. For this purpose, an adapter can be used. The adapter has its own

inventive meaning and can also work together with others conventional gripper heads are used, the preferred one with multiple adjustable gripper

have controllable gripping means. The adjustment of the gripper can be arbitrary.

The claimed rapier head can for a packer

be used with the packaged goods, in particular

Bottles can be packed and unpacked on containers. The packer may be part of a treatment plant, in particular a bottling plant, and, thanks to its flexibility of adjustment, allows a rapid adaptation and conversion to different box sizes and bottle formats. in the subclaims are further advantageous

Embodiments of the invention indicated.

The invention is illustrated by way of example and schematically in the drawings. In detail show:

1 shows a perspective view of a rapier head with a guide and drive device,

Figures 2 to 4: a plan view and side views of

Rapier head according to arrow III and IV of Figure 1,

5 shows an enlarged and broken plan view of the guiding and driving device of the rapier head of FIG. 1, FIG.

Figure 6: a further enlarged fragmentary

Top view of a portion VI of Figure 5,

Figure 7: a plan view of the gripper assembly in one

Gripper head,

Figure 8 to 11: different variants in the formation of

Gripper groups and pack images for different containers and

FIG. 12 is a perspective view of a variant of the invention

Rapier head of FIG. 1,

Figures 13 and 14: an adapter for containers in folded

Page views.

The invention relates to a rapier head (5) with a plurality of adjustable grippers (6, 7) for packaged goods (2). The

Invention also relates to such

Gripper head (5) equipped packer (1). FIG. 1 shows the gripper head (5) in one

perspective view. In Figures 2 to 4 associated views are shown. Figure 3 shows hinted parts of the packer (1) and the packaged goods (2). FIG. 12 shows a variant of the rapier head (5).

The gripper head 5 has a plurality of adjustable grippers (6,7) for packaged goods (2). He also has one

Guide device (9) and a drive device (10) for the adjustment and positioning of the gripper (6,7) in an adjustment plane (11), which preferably also represents the main plane of the gripper head (5).

The gripper head (5) has a peripheral frame (13), which preferably has a rectangular shape and which has a free interior, in which the grippers (6,7) are arranged. The aforesaid adjustment plane (11) is at the same time the preferably horizontal main plane of the frame (13). In Figure 3, the usual horizontal operating position of the gripper head (5) and its frame (13) is shown. On the frame (13) connecting means (37), e.g.

upright connecting rods, be arranged for attachment to a handling device. The rapier head (5) is used for packing and unpacking said packaged goods (2) from and into containers (3). He can during the packing process several containers (3) together or

operate simultaneously. The gripper head (5) has for this purpose a gripper arrangement with a plurality of grippers (6,7), which are arranged in a regular matrix.

The packaged goods (2) can be any goods, preferably solid goods, in particular piece goods. This can, for example, containers such as cans, bottles, packets or the like. be. Packaged goods (2) can also in the form of containers (38) with a sheath (44), eg bottle six-packs in a carton, a shrink wrap or like. , present. Figures 13 and 14 show this arrangement.

The containers (3) may e.g. Boxes or boxes,

especially crates, be. The containers (3) can specify a specific packing pattern (12) for the package arrangement, which can be e.g. is formed by an internal compartment.

The grippers (6,7) are preferably designed as a single gripper. They each have one according to FIG

Guide head (21), which is arranged on the guide device (9) explained in more detail below and can be adjusted and positioned with this. At the

Guide head is in a preferably hanging position a gripping means (22). In the illustrated and preferred embodiment of the single gripper (6,7) is connected to the

Gripping means (22) in each case a single packaged goods (2), in particular a bottle gripped. Figures 13 and 14 show a variant explained later with an adapter (39) for gripping containers (38).

The gripping means (22) can be formed in any suitable manner and also be adapted to the packaged goods (2). It may be fixed or movable, in particular also interchangeable on the guide head (21). The gripping means (22) can be activated and deactivated, wherein it also has one or more movable additional axes with a

Drive, a spring or the like. May. One

Gripping means (22) may e.g. be designed as a sucker, in particular as a plate suction, Saugtulpe or the like. In another variant, the gripping means (22) may be a mechanical gripper, e.g. be a clamp or jaw gripper. A gripping bell (22) can also work with overpressure and an inflatable clamping element. The gripping means (22) can be controlled in a suitable manner. FIG. 3 shows a variant of a suitable bottle (2)

Single suction or gripping tulip with springy evasive Tulip stem that can grip the head and neck of a bottle (2).

In a variant, not shown, a plurality of gripping means (22) can be arranged next to one another on a guide head (21), which can individually grip a single packaged item (2) together or alternatively several packaged items (2). The indicated in Figure 3 packer (1) can be a

Handling device for the movement and delivery of the rapier head (5) relative to the provided one or more containers (3). This can e.g. a multi-axially movable manipulator (4), in particular a linear robot, which holds and guides the gripper head (5), wherein it has a corresponding feed movement

performs. This can be a lifting and lowering movement, indicated by arrows, a lateral travel movement and possibly also a rotational movement executed around one or more spatial axes. The manipulator (4) can the

Gripper head (5) from the containers (3) to a receptacle, not shown, for packaged goods (2), in particular bottles, and move back. This receptacle may provide a provision for bottles in a series arrangement, e.g. a Rangeltisch be with row guides for bottles.

Alternatively, the receptacle may be a conveyor for removing unloaded bottles. The empty and full containers (3) can also be supplied and removed by a conveyor or in any other suitable manner. The packer (1) has a corresponding control for the manipulator (4) and the gripper head (5) and its components. The packer (1) can in a higher-level system, such as a filling system for bottles, a storage system or the like. , to be involved. The guide device (9) has a plurality of intersecting longitudinal and transverse guides (14,15,16,17) for the gripper (6,7). Each gripper (6,7) is each with a longitudinal guide (14,15) and with a

Transverse guide (16,17) connected. At each longitudinal and

Transverse guide (14,15,16,17) are each a plurality of grippers (6,7) lined up in the axial direction one behind the other.

The rapier head (5) has z. B. 12 longitudinal guides (14,15) and corresponding to 12 gripper rows (I - XII) and 6

Transverse guides (16, 17) and corresponding to 6 gripper rows (A- F). The rows intersect e.g. at an angle of 90 °. In the exemplary embodiment shown, the gripper arrangement 72 has grippers (6, 7). FIG. 7 shows this gripper arrangement in a schematic

View. The gripper number and the number and arrangement of the longitudinal and transverse guides (14,15,16,17) may vary in another embodiment. The longitudinal and transverse guides (14,15,16,17) are arranged and guided relative to each other movable on the gripper head (5). For this purpose, e.g. the frame (13) has a suitable bearing (20) for the ends of the longitudinal and transverse guides (14,15,16,17). The storage (20) can of

Guide rails on the top of the frame (13) and its frame profiles are formed. To the

Leaders may have corresponding sliding or rolling means for cooperation with the respective guide rail.

The longitudinal and transverse guides in (14,15,16,17) can

all movably stored and guided. Alternatively, one or more longitudinal and / or transverse guides (14, 16) may be arranged in a relatively stationary manner on the frame (13). in the illustrated embodiment, the one edge-side longitudinal guide (14) and an inner transverse guide (16)

stationary. The fixed longitudinal and transverse guides (14,16) For adjustment of your position on the frame (13), you may have an adjustment (19), which is shown in FIG. 4

is shown by way of example. The gripper (6) at the intersection of the two

stationary longitudinal and transverse guides (14,16) has a frame-fixed position. The other gripper heads (7) in the stationary longitudinal and transverse guide (14,16) have a limited mobility and can only move along each guide. All other grippers (7) are biaxially movable and adjustable in the longitudinal and transverse directions.

In the embodiments shown are the

movable longitudinal and transverse guide (15,17) all individually and independently movable and adjustable. In the variant of FIG. 12, a plurality of longitudinal and / or transverse guides (15, 17) can be coupled together to form a guide group (18).

At least a part, preferably all of the movable longitudinal and transverse guides (15,17) each have their own controllable actuator (23.1 - 23.11,24.1 - 24.5). The proprietary actuators (23.1 - 23.11,24.1 - 24.5) are individually controllable. Preferably, they can be controlled by path and / or position.

At least a part, preferably all of the actuators of the movable longitudinal and / or transverse guides (15, 17) has a cascade arrangement (26). The actuators (23.1 - 23.11, 24.1. - 24.5) are connected in series in a cascade, so that when actuated the

Travel paths add up. The actuators (23.1 - 23.11) are between the longitudinal guides (14,15)

arranged. Preferably, this drive arrangement between the respective adjacent longitudinal guides (14,15). For the actuators (24.1 - 24.5) between the

Transverse guides (16,17) is provided a corresponding arrangement, in which case also a drive arrangement

between each adjacent transverse guides (16,17) is preferred.

Figure 5 illustrates in plan view the

Drive assignment. The actuator (23.1) is arranged on the edge side and here, for example, stationary longitudinal guide (14) and acts on the adjacent longitudinal guide (15) for the Greifereihe (II). The next actuator (23.2) acts between the rows (II, III). Of the

Actuator (23.3) adjusts the rows (III, IV)

up to today. This row assignment continues until the last actuator (23.11), which acts between the rows (XI, XII).

In the transverse guides (16,17) acts the actuator

(24.1) between the e.g. frame-fixed transverse row (A) and the adjacent transverse row (E). The actuator (24.3) acts between the adjacent transverse rows (E, F). The actuator (24.2) is also based on the e.g. frame-fixed transverse row (A) and acts on the

adjacent transverse row (B). The actuator (24.4) acts between the transverse rows (B, C) and the actuator (24.5) between the transverse rows (C, D).

The actuators (23.1 - 23.11,24.1 - 24.5) can be designed in any suitable manner. They have a drive means (27) and a driven means (28). In the illustrated and preferred embodiment, the

Drive means (27,28) designed as an electric cylinder and its drive rod. The actuators (23.1 - 23.11,24.1 - 24.5) are individually controllable in the aforementioned manner. They have controllable travel paths, which allow an exact positioning of the respectively applied longitudinal or transverse guides (14,15,16,17). For this purpose, the Actuators have an associated, in particular integrated way or position measurement. they are in the

aforementioned manner with the control of the rapier head (5). The control is not shown for clarity.

In the cascade arrangement (26) mentioned act

Actuators each between adjacent longitudinal or transverse guides (14,15,16,17). For this purpose, corresponding fittings (29,30) are present, which are e.g. at the end

Support plates (31) of the longitudinal and transverse guides

(14,15,16,17) are arranged. Here it is

Drive means (27) connected to one fitting (29) on one longitudinal or transverse guide and the output means (28) connected to the other fitting (30) on the adjacent longitudinal or transverse guide.

The cascade arrangement (26) allows a dense

Drive arrangement. The actuators (23.1 - 23.11) for the longitudinal guides (14,15) are arranged closely adjacent in three parallel rows at one edge of the frame (13). Within the three rows are each several

Actuators arranged one behind the other. The row number and the drive arrangement within the respective rows may differ from the exemplary embodiment shown. In the longitudinal guides (14,15) are e.g. only arranged on a frame side actuators.

The actuators (24.1 - 24.5) is also a cascade assembly (26) with a compact double row

Drive arrangement provided. At the transverse guides

(16,17) are in the illustrated embodiment at both

Ends actuators are arranged and synchronized

operated. Such a double arrangement is also possible with the longitudinal guides (14,15) alternatively. FIG. 12 shows a variant of the rapier head (5), which largely corresponds to the preferred exemplary embodiment of FIGS. 1 to 6. In contrast to FIGS. 1 to 6, in the variant of FIG. 12, a plurality of longitudinal and / or transverse guides are connected to one another to form a guide group

(18) coupled. The gripper head (5) can have one or more such guide groups (18). Im shown

Embodiment, the stationary transverse guide (16) and the three adjacent transverse guides (17) with the four gripper rows (A - D) are coupled to a transverse guide group (18).

At least part of the movable longitudinal and

Transverse guides (15,17) each has its own

controllable actuator (23.1 - 23.11,24.1,24.2) on. The actuators (23.1 - 23.11,24.1 - 24.3) are individually controllable. Preferably, they can be controlled by path and / or position. The longitudinal and / or transverse guides within a

Leadership Group (18) are among themselves by a

common actuating means (25) connected. This can be z. B. a transmission, in particular a scissors gear. The guide group (18) has a single actuator

(24.2), with the control means (25) all the guides within the guide group (18) are adjusted together. This adjustment can be even or

be different. The scissors mechanism with the same arm lengths ensures a uniform adjustment so that the distances between the adjusted guides are the same.

At least part of the actuators of the mobile

Longitudinal and / or transverse guides (15,17) has a

Cascade arrangement (26). The actuators (23.1 - 23.11, 24.1. - 24.3) are connected in series in a cascade, so that the actuating paths are activated when actuated add up. The actuators (23.1 - 23.11) are

arranged between the longitudinal guides (14,15).

Preferably, this drive arrangement between the respective adjacent longitudinal guides (14,15). For the

Actuators (24.1 - 24.3) between the transverse guides

(16,17) a corresponding arrangement is provided, in which case a drive arrangement between each

adjacent transverse guides (16,17) is preferred. The drive assignment in FIG. 12 corresponds with respect to the actuators (23.1-23.11) and their

Cascade arrangement (26) of the first embodiment and can be seen in detail from Figure 5. In the transverse guides (16,17) acts the actuator (24.1) between the

Transverse row (A) or the transverse guide group (18) and the adjacent transverse row (E). The actuator (24.3) acts between the adjacent transverse rows (E, F). Of the

The aforesaid actuator (24.2) acts via the adjusting means (25) on the on the transverse rows (A - D) within the transverse guide group (18).

In the actuators (24.1 - 24.3) is also a cascade assembly (26) provided with a compact double-row drive arrangement. At the transverse guides

(16,17) are arranged in the embodiment shown at both ends actuators and are synchronized

operated. Such a double arrangement is also possible with the longitudinal guides (14,15) alternatively. in a modification of the shown and preferred

Embodiments may be all or part of

Actuators also arranged on the frame (13) and

be supported. In the embodiment shown, the actuators (23.1 - 23.11,24.1 - 24.5) are each arranged at the level of the applied longitudinal or transverse guides (14,15,16,17). In another embodiment, the height assignment may be different, with actuators, for example above the respectively acted longitudinal or

Transverse guides (14,15,16,17) arranged and with

accordingly positioned differently and extended

Fittings (29,30) cooperate. Here you can

Actuators also in the middle area of the gripper head

(5) or the frame (13) be arranged or act.

The longitudinal and transverse guides (14, 15, 16, 17) each have a straight, elongated guide means (32, 33), which is in communication with the grippers (6, 7), preferably with their guide head (21). This is

preferably a form-fitting leading connection. The guide means (32,33) engage in different heights on the guide heads (21). These are e.g. block or cuboid formed with an at least partially rectangular cross-section.

In the illustrated embodiment, the guide means (32) of the longitudinal guides (14,15) are designed as guide rails, each parallel and upright

Side walls (35) and thereof projecting inwardly

Flanges (34) have. The strip-shaped flanges (34) engage in corresponding edge-side slots on the guide heads (21). The guide heads (21) can thereby be guided in height. In addition, they can with their side surfaces on the upright side walls (35) receive a lateral guidance.

The guide means (33) of the transverse guides (16, 17) is e.g. designed as a rod guide and is located below the guide rails (32). The rod guides (33) each have two parallel and preferably cylindrical rods (36) which extend through corresponding

Passage openings on the guide heads (21) extend. These passage openings and the lateral slots on the guide heads (21) are each arranged at the edge and spaced from each other so that they are between them leave a passage opening for mounting the gripping means (22).

FIGS. 8 to 11 show various container formats and pack images (12) which can be operated with the gripper head (5). The gripper head (5) can be adjusted accordingly in the manner explained below. With the gripper assembly of FIG. 72 shown in FIG

Grippers (6,7) can be e.g. according to figure 8 twelve boxes (3), each with six bottles (2) operate in a 2x3 matrix and pack. The boxes (3) may abut each other in their regular arrangement or may be spaced apart as shown. The grippers (6,7) form twelve mutually spaced gripper groups (8), each with six corresponding to the box division

positioned grippers (6,7). in the variant of Figure 9 four boxes (3) with four gripper groups (8) of each fifteen bottles (2) can be operated in a 3x5 matrix. In this case, a transverse row F of grippers (7) can be deactivated. This can be done by a displacement of the gripper (7) from the packing and container area.

Figure 10 shows a variant in which with the

Gripper arrangement four containers (3) can be operated with four gripper groups (8) of twelve bottles (2) in a 3x4 matrix, wherein two transverse rows E, F

be deactivated.

In the variant of Figure 11 all 72 grippers are used and operate or pack three containers (3) with three gripper groups (8) of 24 bottles (2) in a 4x6 matrix. The bottles (2) can in the variants of Figure 8 to 11 different formats and in particular

have different diameters. The aforesaid and bottle-related examples can also be applied analogously to other types of packaged goods (2), e.g. Cans or

Package, and for other containers (3) are applied.

Figures 13 and 14 show the above-mentioned adapter (39), with the gripper head (5) as needed and

preferably releasably connected to the with

existing grippers (6,7) other forms of packaged goods (2) to be able to access. The packaged goods (2) can z. B. as a container (38) may be formed, which consists of several

Bottles, cans or the like and is surrounded by a sheath (44). Im shown

Embodiment, this is a bottle six-pack with a sheath (44) made of cardboard or a plastic shrink wrap. The adapter (39) has a frame (40) with a

Connection (41) for the said connection with a

Gripper (6,7), especially with its controllable

Gripping means (22), on. The port (41) may e.g. be an upstanding pin, that of a suction or

Gripper tulip (22) can be grasped. The adapter (39) can also have a plurality of connections (41) for connection to a plurality of grippers (6, 7) or their gripping means (22). In such a multiple arrangement of

Connections (41) it is convenient if in the

previously described, the grippers (6,7) can be adjusted individually within the gripper head (5).

On the frame (40), a gripping element (42) for the container (38) is further arranged. The gripping element (42) is adapted to the container (38) or another form of packaged goods (2). It is e.g. as a surface gripper or

Surface vacuum or as a multi-arm gripping device or in otherwise suitable manner. The gripping member (42) may be controllable with an actuator (43) providing control and actuation. He can with one

suitable power supply or equipment supply, e.g. a suction line, one

Power supply or the like. He may also be connected to the aforementioned control.

The frame (40) is e.g. designed as a plate or as a U-shaped and rigid profile. The one or more terminals (41) are located at the top and the one or more gripping members (42) at the bottom of the rack (40). For the six pack are e.g. four on the top of the container attacking suction strips (42) and two centrally arranged between pins (41) present.

Modifications of the shown and described

Embodiments are possible in various ways. For one thing, the characteristics of different ones

Embodiments are arbitrarily combined with each other and also reversed. The structural design of the actuators and their fittings as well as the

Guide means (32, 33) and also the bearing (20) can vary. Instead of electric cylinders can be controlled

Pneumatic cylinder, rack drives or the like can be used. The number and arrangement of the longitudinal and transverse guides (14,15,16,17) can from the

Diverge from embodiments. This also applies to the choice of which longitudinal guide and which transverse guide is stationary.

In another embodiment, two or more guide groups (18) may be present. The group formation here is local, with some additional longitudinal and transverse guides individually by means of its own

Stellantreibe are adjustable. LIST OF REFERENCE NUMBERS

1 packer

2 packaged goods, bottle

3 containers, box, carton

4 manipulator

5 gripper head

6 grippers, single gripper, fixed

7 grippers, single gripper, movable

8 gripper group

9 guiding device

10 drive device

11 adjustment level

12 pack picture

13 frames

14 longitudinal guide, fixed

15 longitudinal guide, movable

16 transverse guide, fixed

17 transverse guide, movable

18 leadership group, cross-management group

19 adjustment

20 storage

21 guide head, guide block

22 gripping means, suckers

23.1 - 23.11 Actuator for longitudinal guide

24.1 - 24.5 Actuator for transverse guidance

25 gears, scissors gear

26 Cascade arrangement

27 drive means, electric cylinder

28 output means, drive rod

29 fitting

30 fitting

31 support plate

32 guide means, guide rail

33 guide means, rod guide

34 flange

35 sidewall 36 pole

37 connecting element

38 containers

39 adapters

40 rack, plate

41 connection, spigot

42 gripping element

43 Actuator

44 serving

I - XII Gripper row along A - F Gripper row across

Claims

1.) Gripper head with several adjustable grippers

(6,7) for packaged goods (2), in particular bottles, wherein the gripper head (5) has a guide device (9) and a drive device (10) for the

Adjustment and positioning of the gripper (6,7) in an adjustment plane (11), characterized

There is no such thing as the

Guiding device (9) has a plurality of relatively movable longitudinal and transverse guides (14,15,16,17) for the gripper (6,7), wherein at least a part of the longitudinal and transverse guides (15,17) each have their own controllable actuator (23.1-23.11,24.1-24.5) and wherein said actuators (23.1-23.11,24.1-24.5) between the longitudinal and transverse guides (14,15) are arranged and act.

2.) Gripper head according to claim 1 or 2, characterized

The actuators (23.1-23.11,24.1-24.5) are individually controllable.

3.) Gripper head according to claim 1, 2 or 3, characterized

The actuators (23.1-23.11,24.1-24.5) can be moved away and / or out of position

are position controlled

4) Gripper head according to one of the preceding claims, characterized in that the longitudinal and transverse ^¬ guides (14,15,16,17) are arranged to cross each other on the gripper head (5).

5.) Gripper head according to one of the preceding claims, characterized in that at least a part of the longitudinal and transverse guides (15,17) movably mounted on the gripper head (5) (20) and is guided.

Gripper head according to one of the preceding claims, characterized in that at least one longitudinal guide (14) and at least one

Transverse guide (16) are arranged relatively stationary on the rapier head (5).

Gripper head according to one of the preceding claims, characterized in that a relatively fixed longitudinal guide (14) and / or a relatively stationary transverse guide (16) has an adjustment (19) for its position.

Gripper head according to one of the preceding claims, characterized in that all

Longitudinal and transverse guides (14,15,16,17) individually by means of proprietary actuators (23.1-23.11,24.1- 24.5) are adjustable.

Gripper head according to one of claims 1 to 7, characterized in that a plurality of longitudinal guides and / or transverse guides (14,15,16,17) arranged in a guide group (18) and

with each other by a common actuating means (25), in particular a transmission, are connected.

10.) Gripper head according to one of the preceding claims, characterized in that the longitudinal and transverse guides (14,15,16,17) on a frame (13) of the gripper head (5) are arranged relatively stationary or movable.

11.) Gripper head according to one of the preceding claims, characterized in that the peripheral frame (13) has a rectangular shape and designed as a rail guides storage (20) for the movable longitudinal and transverse guides (15, 17).

12.) Gripper head according to one of the preceding claims, characterized in that it e e n e c i n e t that the

Actuators (23.1-23.11,24.1-24.5) of

Longitudinal guides (15) and / or the transverse guides (17) have a cascade assembly (26). 13.) Gripper head according to one of the preceding claims, characterized in that it e e n e c i n e t that the

Actuators (23.1-23.11) between each

adjacent longitudinal guides (14,15) are arranged and act.

14.) Gripper head according to one of the preceding claims, characterized in that it e e n e c i n e t that the

Actuators (24.1-24.5) between each

adjacent transverse guides (16,17) are arranged and act.

15) Gripper head according to one of the preceding claims, characterized in that e e n e c e s e s that the

Actuators (23.1-23.11,24.1-24.5) as

Electric cylinders are formed.

16.) Gripper head according to one of the preceding claims, characterized in that it e e n e e c e s that the

Actuators (23.1-23.11,24.1-24.5) are arranged closely adjacent each other in several rows one behind the other and next to each other.

17.) Gripper head according to one of the preceding claims, characterized in that it e e n e c e e s that the

Gripper (6,7) have a guide head (21) which is in each case connected to a longitudinal guide (14,15) and with a transverse guide (16,17).

18.) Gripper head according to one of the preceding claims, characterized in that it e e n e c i n e t that the

Longitudinal guides and / or transverse guides (14,15,16,17) each have a straight guide means (32,33),

in particular a guide rail or a

Rod guide having.

19.) Gripper head according to one of the preceding claims, characterized in that e e n e c e s e s that on

Guide head (21) a controllable and possibly resilient deflectable gripping means (22), in particular a suction or gripping tulip is arranged. 20.) Gripper head according to one of the preceding claims, characterized in that it e e n e c e s e s that on

Gripper head (5) an adapter (39) is detachably arranged, comprising a frame (40) with a gripping element (42) for a container (38) and with a connection (41) for connection to a gripper (6,7),

in particular its controllable gripping means (22).

21.) Adapter according to one of the preceding claims, characterized in that it e e n e c e e s that the

Adapter (39) has a controllable gripper element (42) with an actuator (43).

22.) Adapter according to one of the preceding claims, characterized in that it e e n e c e s that the

Adapter (39) a plurality of terminals (41) for connection to a plurality of grippers (6,7), in particular with their controllable gripping means (22).