WO2018130389A1 - Pince pour récipient servant à saisir un récipient dans la zone de la convexité - Google Patents

Pince pour récipient servant à saisir un récipient dans la zone de la convexité Download PDF

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Publication number
WO2018130389A1
WO2018130389A1 PCT/EP2017/083765 EP2017083765W WO2018130389A1 WO 2018130389 A1 WO2018130389 A1 WO 2018130389A1 EP 2017083765 W EP2017083765 W EP 2017083765W WO 2018130389 A1 WO2018130389 A1 WO 2018130389A1
Authority
WO
WIPO (PCT)
Prior art keywords
container
arms
drive
gripping
guide
Prior art date
Application number
PCT/EP2017/083765
Other languages
German (de)
English (en)
Inventor
Andreas Fahldieck
Jan-Patrick Bonse
Original Assignee
Khs Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Khs Gmbh filed Critical Khs Gmbh
Publication of WO2018130389A1 publication Critical patent/WO2018130389A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/84—Star-shaped wheels or devices having endless travelling belts or chains, the wheels or devices being equipped with article-engaging elements
    • B65G47/846—Star-shaped wheels or wheels equipped with article-engaging elements
    • B65G47/847—Star-shaped wheels or wheels equipped with article-engaging elements the article-engaging elements being grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0244—Bottles

Definitions

  • Container clip for gripping a container in the abdominal area
  • the invention relates to a container clamp for gripping a container in
  • Generic container clamps are usually mounted in container transport systems and are used, for example. Positioned in a transport device transported container during transport through a container treatment plant and secure against tipping.
  • a gripper with a clamping element as a double lever wherein on the counter-arms engages an actuating device, by which clamping elements can be brought either in an open or in a closed position, and in which the actuating device as a toggle mechanism formed and further provided a tension spring between the counter-arms.
  • DE 103 25 137 B4 discloses a bottle gripper with two support levers, of which a support lever about a stationary pivot axis relative to the other support lever is pivotable, and each support lever carries a pivotable about an axis in the support lever gripper jaw with a V-shaped spread mouth.
  • a positive control device for adjusting the pivotal position of the gripping jaw relative to the support lever is provided for a jaw.
  • the positive control device and the gripping jaw (B) are designed such that in the gripping position, the bottle axis is positioned over the jaws independent of the respective bottle diameter with a predetermined radial distance from the axis of rotation.
  • a comparable bottle gripper is known, which has a positive control device for adjusting the pivotal position of the gripping jaws, wherein in this case the coupling takes place via a friction connection.
  • elaborately constructed adjustment mechanisms are used, however, have the problem that they are difficult to clean.
  • high hygienic standards with such structurally complex container brackets are difficult to meet.
  • the invention is therefore an object of the invention to provide a container clamp, which facilitates the change of the container format on a container treatment device that can take containers with a particularly large different container diameter and is particularly easy to clean.
  • the invention achieves the object by a container clamp with the features of claim 1, by the use of a container clamp with the features of claim 12 and by a transport star with the features of claim 14.
  • Advantageous developments of the invention are given in the dependent claims. In this case, all the features described in principle or in any combination are fundamentally the subject of the invention, regardless of their summary in the claims or their dependency.
  • the container clamp according to the invention for gripping a container in the abdominal region comprises at least one drivable drive shaft and two guide axes and a first and a second gripping arm, each gripper arm having a gripping portion for gripping the container, a control portion and a first bearing end disposed between the gripping portion and the control portion and a second bearing end, which is arranged at an end of the control section opposite the first bearing end on the control section.
  • each gripping arm is coupled by means of a first bearing end and a second bearing end having guide arm with one of the guide axes, wherein in each case the first bearing end of the gripping arm with the first bearing end of the guide arms and the second bearing end of the guide arms, each having one of the guide axes wherein each of the gripping arms is coupled by means of a first bearing end and a second bearing end having drive arm with at least one drive shaft, wherein each of the second bearing end of the gripper arm is pivotally connected to the first bearing end of the drive arms and the second bearing end of each drive arm hingedly mounted on the drive shaft, wherein each first bearing end of the gripping arms with the respectively coupled first bearing end of one of the guide arms has an identical axis of rotation and / or each of the second bearing ends of the gripping arms (5a, 5b) with the respectively coupled first bearing end of the drive arms an identical Has rotational axis.
  • the term of the drive shaft is to be understood very broadly below and can be understood synonymously as a general drive element, from which directly or indirectly the torsional force is introduced into the respective gripping arm.
  • the drive shaft or the drive element can therefore also be a rotary part, sleeve or the like mounted on an axle.
  • this can also be driven by an adjacent element, for example, if adjacent drive elements are arranged parallel to each other and sections or elements of these drive elements, for example, gear-like, as spindle drives and much more. mesh with each other or otherwise driven in a suitable manner.
  • the bearing ends of the drive arms, guide arms and gripping arms may be formed as a component of a rotary joint, that is, a bearing end coupled to the drive shaft or the guide shaft or bearing ends coupled / connected to each other are components of a rotary joint. Accordingly, the bearing ends can, for example, be used as round openings, holes, bifurcations, axle bodies, pivot pins, pivot pin receptacles or the like. be educated.
  • Two coupled / connected bearing ends form, if necessary with other components, each one swivel.
  • the bearing ends can be stored in or against each other, for example, be plugged into each other. So they can be designed as a pivot pin receptacles, which are coupled via a pivot pin together to form a hinge. Also, for example, a bearing end can be designed as a pivot pin and coupled with him bearing end as a pivot pin receptacle.
  • the connected / coupled bearing ends each rotate about an identical (geometrical) axis of rotation. By an identical axis of rotation is meant that the two bearing ends rotate about a position identical (position identical) geometric axis of rotation, wherein the interconnected / coupled bearing ends rotate in opposite directions about the identical axis of rotation.
  • the coupling / connection of two bearing ends is preferably designed such that each of the two bearing ends can in particular perform a rotation greater than 180 °.
  • the coupling / connection can be made such that each of the two bearing ends is freely rotatable (360 °) about the (geometric) axis of rotation.
  • the two bearing ends comprehensive swivel joints can also be unsupported, ie trained without further support. They are movable in a plane perpendicular to their axis of rotation (for example, a horizontal plane) and float, for example, above a base body.
  • the structural configuration of a single gripper arm of the container clamp starting from the drive shaft and the guide shafts and regardless of whether one or more drive shafts are arranged, basically the following: drive shaft, drive arm, first pivot, control section of the gripper arm, second pivot, gripping portion - guide axis, Guide arm, second pivot.
  • the first and second pivot joints of a gripper arm are basically formed with one another without teeth, ie, there is basically no coupling (rolling against one another, toothing or the like) of the first and second pivot joints of a gripping arm.
  • a coupling of the two drive shafts for example, a direct rolling against each other, a Kämm, teeth or the like. be educated.
  • the container clamp both pivotal movement of the gripping portions between a maximum and a minimum opening position as well as at the same time or temporarily (ie proportionally and in sections) perform a movement of the gripping portions in the direction of the central axis of the container bracket.
  • the detection of containers with a particularly large diameter is also achieved.
  • the pitch that is, the space available between the bottles on a transport star, be optimally utilized, ie, be particularly small.
  • the bottle can be very large at a given pitch, so that the available space on the perimeter is almost maximized.
  • Another constructive advantage of the container clamp is that only the drive shaft sections for pivoting the gripping portions between a minimum and maximum opening position as well as for moving the gripping sections must be rotated in the central axis direction, whereby the control of the container clamp is significantly simplified.
  • the container clamp does not have any sliding joints into which, for example, broken glass or glass powder can penetrate and block them, but rather bearing ends and construction arms which are rotatable about axes of rotation and which are particularly easy to clean or sealable.
  • the invention relates exclusively container clamps, which detect the container in the abdominal region, wherein the container covered by the container clamp during the
  • the container bracket is designed to stabilize the container and to prevent the container from tipping over.
  • the container covered by the container clamp can be designed in particular as bottles, cans or so-called tetrapaks, for example, made of plastic, glass or paper / cardboard.
  • the container clamp is designed, in particular, for detecting bottles made of glass, since these often have to rise up on their base and have to be secured against overturning due to their weight and contents during transport through a container treatment system.
  • the drive shaft (s) and the guide axes are designed as components extending transversely to the plane of the container bracket, in particular in the vertical direction. They can be formed, for example, as round pins, on which the drive arms and the guide arms are pivotably arranged by means of the bearing ends.
  • the plane of the container clamp is understood to be the plane in which the gripper arms or to which the gripper arms can be pivoted in parallel between a maximum and a minimum opening position, which in particular can be a horizontal plane.
  • the longitudinal axis direction of the drive shaft / drive shafts, guide axes and the geometric axis of rotation of two coupled / connected bearing ends is preferably identical.
  • the drive shaft and the guide shaft are attached at one end to a component of a container treatment plant, for example a transport star.
  • the drive shaft and the guide axes are mounted on a support body, which is arranged interchangeably on the component of the container treatment plant, for example.
  • the drive shaft and the guide axes are preferably arranged triangular to each other, wherein the drive shaft is the tip.
  • the drive shaft and the guide axes are also arranged in the form of an isosceles triangle, in which both the distance between the drive shaft and each guide axis is the same length, and the respective base angle are equal.
  • the gripping arms of a container clamp are designed to at least partially surround and grip a container, in each case with a section, in particular the gripping section, so that it is at least secured against overturning.
  • the gripping portions especially for small diameter containers, can produce movement of the container in the central axis direction onto the drive shaft.
  • the gripper arms are preferably formed in one piece, that is, both the gripping portion and the control section consist of a component.
  • at least one component of the bearing end is also formed integrally with the gripping portion and the control portion.
  • the gripping arms can in particular be formed from a flat workpiece, for example a metal sheet.
  • the guide arms and the drive arms preferably have two free ends, the first bearing end being arranged at a first free end and the second bearing end being arranged at a second free end opposite the first free end.
  • the guide arms and drive arms may be formed, for example, rod-shaped with the arranged at the free ends of the rod bearing ends.
  • Both the two drive arms and the two guide arms can each be designed to be identical to one another.
  • Each guide arm and each drive arm can also be designed mirror-symmetrically to a transverse axis arranged transversely to the longitudinal axis of the respective guide arm or drive arm.
  • a bearing end is understood, for example, as a component of a guide arm or drive arm, which is a component of a rotary joint and is connected in a pivotable manner either to another bearing end or to a drive shaft or guide shaft.
  • two connected / coupled bearing ends are rotatable about an identical (common) geometric axis of rotation against each other.
  • the first bearing end and the second bearing end can be identical.
  • the container clamp is preferably constructed mirror-symmetrically about a central center axis of the container clamp.
  • the central axis lies in the plane of the container clamp.
  • the central center axis may be a drive shaft intersecting and exactly (center) extending between the guide axes center axis of the container bracket, which extends from the drive shaft to the free end of the gripping portions. In a transport star, the central center axis extends in the radial direction.
  • the container clamp may possibly be arranged mirror-symmetrically about a central center axis of the container clamp, but If necessary, also in parts offset in height, to allow freedom of movement and esp. A driving over and under elements.
  • the opening and closing movement of the gripping portions is symmetrical, i. each with the same angle of rotation and in the same time, wherein in the closing movement, the gripping portions on the central axis and during the opening movement, the gripping portions are pivoted away from the central axis.
  • the drive arms, the control section, the guide arms and / or the gripping portions are arranged to each other such that they are at least partially superposed in the opening and closing movement.
  • anordbar is understood that individual of the components are movable in the vertical direction one above the other.
  • the vertical direction is preferably understood to mean the longitudinal axis direction of the drive shaft (i.e., the longitudinal axis direction of the geometric axis of rotation of the drive shaft).
  • the drive arms are arranged such that in addition to the stacked on the drive shaft second bearing ends of the drive arms (sections) arrangement, the drive arms can be pivoted against each other during the rotational movement about the drive shaft.
  • the first bearing ends of the drive arms can also be arranged one above the other.
  • the drive arms can be arranged one above the other so as to be movable relative to one another, both relative to one another and to the gripping arms, in particular with the control section coupled to them.
  • the guide arms can be movable one above the other relative to the respective gripping arm connected to them.
  • the two guide arms can also be arranged in sections so that they can be moved over one another in sections.
  • the free mobility of the gripper arms, guide arms and / or drive arms to each other increases the amplitude of movement and in particular the maximum and minimum opening width and the radial movement of the gripping arms considerably, whereby the application possibilities are significantly improved.
  • the container clamp preferably has a stack arrangement in the vertical direction V.
  • a stack arrangement is understood here to mean that both the gripping knot in the vertical direction and the guide arm connected to a gripper arm and the drive arm can be arranged one above the other in the vertical direction relative to the gripping arm connected to them.
  • the drive arm and the guide arm which are coupled to one of the gripper arms, are arranged in the vertical direction at a height, whereby the container bracket can be formed with a low overall height.
  • the drive arm and guide arm coupled to one of the gripper arms can be arranged below the gripper arm in the vertical direction.
  • the first and second gripping arm are arranged directly adjacent to each other in the vertical direction one above the other.
  • the arranged on a first gripping arm drive arm and guide arm below the first gripping arm and arranged on a second gripping arm drive arm and guide arm can be arranged above the second gripping arm.
  • the torque on the container which is produced by the gripping arms arranged offset to one another in the vertical direction is also reduced.
  • Particularly preferred is the arrangement of two immediately adjacent guide axes, whereby the length of the guide axis can be used as a stabilization of the gripper arms.
  • the adjoining, superimposed gripping arms are arranged spaced apart in the vertical direction, so that during the movement of the gripper arms the gripping arms or the drive arm and guide arm coupled to the respective gripper arm are movable one above the other in the vertical direction.
  • the arrangement of the first and second gripper arms and the drive arm and guide arm connected to the respective gripper arm is particularly preferably mirror-symmetrical to a horizontal longitudinal axis arranged between the gripper arms.
  • the drive shaft is adapted to move the drive arms symmetrically in opposite directions. That is, the rotatably mounted on the drive shaft second bearing end of the drive arms can be moved simultaneously in opposite directions, ie in a left-hand rotation and a clockwise rotation, about the axis of rotation of the drive shaft. The movement is completely synchronous, that is both with the same rotation angle as in the same time.
  • the second bearing ends of the drive arms are rotatable in particular with a rotation angle of up to 170 °, preferably of up to 180 ° and particularly preferably of up to 200 ° about the drive shaft. That is, starting from the center axis, the second bearing ends can be pivoted both with a clockwise rotation and with a left-hand rotation with a rotation angle of up to 85 ° in both directions of rotation, preferably up to 90 ° and particularly preferably up to 100 °.
  • the control sections can be arranged in a crossable manner.
  • the drive shaft is particularly preferably designed as a counter-rotating drive shaft coupled to one (or more, for example two) drive motor or the drive shaft comprises two drive shaft sections which rotate in opposite directions and are coupled, for example, via a drive motor with gearbox or with drive motors which can be controlled synchronously.
  • Under an opposite drive shaft is understood to mean a single component that generates two different rotational movements at the arranged bearing ends when rotating in one direction of rotation.
  • two drive shaft sections are separate components which rotate in opposite directions and preferably around an identical (geometric) axis of rotation.
  • Two drive shaft sections are, for example, in the longitudinal axis direction of the drive shaft (geometric axis of rotation) arranged one behind the other.
  • two drive shafts are arranged, each drive arm being respectively coupled to one of the drive shafts.
  • the two drive shafts are arranged parallel to each other, so that the central longitudinal axes (geometric axes of rotation) of the drive shafts transverse to the longitudinal axis direction ne- are arranged one above the other.
  • the two drive shafts are mechanically coupled, wherein a rotational movement of a first drive shaft causes a synchronous but opposite rotational movement of the second drive shaft.
  • the coupling is preferably carried out by rolling against one another the outer surfaces of the (round) drive shafts.
  • the two drive shafts can be toothed with one another. The toothing can be done, for example, via the adjacent outer surfaces.
  • the two coupled drive shafts can preferably be arranged such that a contact region of the outer surfaces is arranged in the region of the central longitudinal axis of the container clamp. This also results in a symmetrical about the central longitudinal axis construction of the container bracket. With two coupled drive shafts, it is sufficient to drive one of the drive shafts, for example via a drive motor, to produce a synchronous movement of the gripper arms.
  • the gripping portion of the gripping arms may have different shapes and in particular adapted to a respective container shape.
  • the length of the gripping portion is, for example, container or system dependent.
  • For particularly secure detection of a particularly large number of different containers with different diameters of the gripping portion of the gripping arms is arcuately formed with a free end decreasing radius. That is, the gripping portion has along its longitudinal axis different radii and can thus particularly safe attack according to the different diameters of the containers to be detected.
  • the cross section of the gripping portions in the region of the free end is smaller than the cross section of the gripping portions in the region of the first bearing end.
  • the gripping portions are designed to be particularly flexible to the free end, and possibly too high loads that can lead to damage to the container when gripping the containers are cushioned.
  • the control section, the guide arms and / or the drive arms are designed as linearly formed lever arms.
  • control portion, the guide arms and / or the drive arms have no arcuate portion, but exclusively a example.
  • Arch-shaped bearing ends comprise.
  • the drive arms and the guide arms may have a dumbbell-shaped cross section, which allows a particularly easy cleanability.
  • the drive arms and the guide arms and / or the control section can also have, for example, a one-piece rod-shaped central part, at the respective opposite ends of which the bearing ends are arranged.
  • the middle part can also be designed in several parts and, for example, have a plurality of webs which connect the two bearing ends.
  • the bearing ends are, for example, designed as round openings, holes, bifurcations, axle bodies, pivot pins, pivot pin receptacles or the like.
  • an identical design of the first and second bearing ends on the drive arm, the guide arm and / or the control arm is preferred.
  • An alternative embodiment also provides to form the pivot joints formed from two bearing ends as a fork with pivot pin receptacles and bushing for performing a pivot pin.
  • a radial stop is arranged on which the container is supported.
  • the radial stop is arranged in the region of the central axis of the container clamp and can be designed to be lockable, for example, along the central axis.
  • the radial stop is preferably arranged in the vertical direction in the region of the gripping portions.
  • the invention solves the problem by the use of the container clamp according to one of claims 1 to 1 1 in a transport star, in particular with adjustable container bags for transporting containers.
  • a transport star is understood to mean rotationally moving components of a container transport device which guides the container, for example, through a container treatment plant.
  • This can be, for example, rotary components which guide the container through a likewise rotationally moving component, such as, for example, a filler, closer or labeler.
  • transport stars can be arranged, for example, in deflecting areas of the container transport device, in which the container is transferred from a transport star into a second transport star or a rotating component.
  • Transport stars usually have a container pocket or container fork for receiving the container.
  • the container is usually attached to, for example, two contact points on the container pocket / container fork.
  • an external guide is arranged, which positions the container in the container pocket / container fork.
  • Generic transport stars are also designed so that the container either gets up on its floor or suspended from a separate device is transported by the transport star.
  • the inventive use of the container clamp according to claim 1 makes it possible to use transport stars without associated external guide. This increases their applicability for containers with different
  • the container clamp can be arranged in combination with a transport star with transport pockets, which are designed to be adjustable, for example, in size.
  • the transport bags serve as a stop for the container in this case, so that the container clamp pulls the captured container into the transport bag and presses against the pocket arms.
  • a transport star can be used in a particularly advantageous manner, which has no external guide, since the otherwise generated by the outer guide tilt safety of the container is generated in the transport pockets of the container clamp.
  • the container clamps are used in a transport star, which has at least two transport pocket levels, wherein the container clamp is preferably arranged in the vertical direction between the two transport star levels.
  • the two transport pocket levels in combination with the container clamp considerably improve the stability of the containers in the container pocket / container fork, so that even very heavy containers, such as glass bottles for beverages, can be transported safely by means of the transport star and without the use of an external guide.
  • it could also be one or two transport pocket level and one or two gripper levels.
  • a transport star with at least two juxtaposed container clamps according to one of claims 1 to 1 1, wherein a (geometric) axis of rotation of a first guide axis of a first container bracket identical to a (geometric) axis of rotation of a second guide axis of a second Container clamp is.
  • the container clamps are arranged on the transport star such that a first guide axis of a first container clamp and a second guide axis of a second adjacent container clamp have an identical (geometric) axis of rotation.
  • the two guide axes can be arranged one behind the other in the direction of their longitudinal axis.
  • the longitudinal axis direction of the guide axes corresponds to the longitudinal axis direction of the axis of rotation of the transaxle. portsterns, so usually the vertical direction.
  • the container clamps are arranged side by side transversely to the longitudinal axis direction of the guide axes.
  • the (geometric) axis of rotation of a second guide axis of the first container clamp is identical to the (geometric) axis of rotation of a first guide axis of a third container clamp.
  • the second container clamp is understood to be the container clamp arranged between the first and third container clamps.
  • the compactly constructed transport star can also be formed with (possibly adjustable) container pockets for transporting containers or multiple levels of (possibly adjustable) container pockets corresponding to the above-described embodiments for using the container brackets.
  • FIG. 1a is a schematic perspective view of a container clamp in a retracted position
  • 1 b is a schematic top view of the container clamp from FIG. 1 a; 1 c shows schematically in a side view the container clamp of FIG
  • FIG. 2a shows a schematic perspective view of the container clamp of Figure 1 a to 1 c with a detected container of large diameter.
  • FIG. 2b is a schematic plan view of the container clamp of FIG. 2a; 3a shows a perspective view of the container clamp of Figure 1 a to 2b with a detected container with a small diameter.
  • FIG. 3b is a schematic plan view of the container clamp from FIG. 3a; schematically a section of a star transporter with a detectable container pocket and a container clamp;
  • FIGS. 1 a to 1 c show schematically in three different representations an embodiment of the container clamp 1.
  • the container clamp 1 has a base body designed as a supporting body 2. From the support body 2 extending in the vertical direction V, the drive shaft 3 and the two guide shafts 4a, 4b.
  • the container clamp 1 has first and second gripping arms 5a, 5b each comprising a gripping portion 6a, 6b and a control portion 7a, 7b. Between the gripping portion 6a, 6b and the control section 7a, 7b, respectively, a first bearing end 1 1 a, 1 1 b is arranged.
  • the control sections 7a, 7b are each pivotally connected via a second bearing end 8a, 8b to a first bearing end 9a, 9b of a drive arm 10a, 10b.
  • a second bearing end 15a, 15b is arranged in each case.
  • the second bearing ends 15 a, 15 b are rotatably coupled to a drive shaft 3.
  • the second bearing ends 1 1 a, 1 1 b of the first and second gripping arm 5a, 5b are in turn each pivotally coupled to a respective first bearing end 12a, 12b on a respective réellesarm13a, 13b.
  • a second bearing end 14a, 14b is arranged in each case.
  • Each of the second bearing ends 14a, 14b is in turn rotatably disposed respectively on a guide shaft 4a, 4b.
  • FIGS. 1a and 1b show a container 16 which is moved in a container transport system (not shown here) on a circular path 17 (shown here as a circular section).
  • the container 16 is disposed in front of the gripping portions 6a, 6b of the gripping arms 5a, 5b.
  • the gripper arms 5 a, 5 b are shown in a retracted position.
  • the first bearing ends 1 1 a, 1 1 b of the gripping arms 5 a, 5 b are moved in the direction of the drive shaft 3.
  • the gripping portions 6a, 6b abut with their outer sides on the guide shafts 4a, 4b.
  • the control portions 7a, 7b have been brought into a crossed position.
  • the container clamp 1 is designed to be mirror-symmetrical about its central longitudinal axis M.
  • the drive shaft 3 is designed to, the second bearing ends 15a, 15b of the drive arms 10a, 10b respectively to move synchronously in the opposite direction.
  • the drive shaft 3 may, for example, be designed as a counter-rotating spindle.
  • Figures 2a and 2b show the container clamp 1 of Figure 1 a to Figure 1 c.
  • the structural design of the illustrated container clamp 1 is identical.
  • the container clamp 1 is shown in a gripping position, in which it has detected a container 16 with a large diameter in the abdominal region 16a.
  • each gripping portion 6a, 6b is in each case with its free end 18a, 18b and a further abutment portion 19a, 19b on the container 16 at.
  • the gripper arms 5 a, 5 b have been moved outwards by means of the drive shaft 3, ie away from the drive shaft 3, and the free ends 18 a, 18 b of the gripping sections 6 a, 6b were pivoted to the center axis M.
  • the second bearing end 15b of the second drive arm 10b counterclockwise (counterclockwise) and synchronously thereto, the second bearing end 15a of the first drive arm 10a in the clockwise direction (clockwise rotation) and rotated by the same angle of rotation.
  • Figures 3a and 3b show the container clamp 1 of Figures 1 a to 2b, so that the structural structure is still identical.
  • Figures 3a and 3b show the container clamp 1 in a second gripping position in which the gripping portions 6a, 6b engage a container 16 with a small radius.
  • the gripping sections 6a, 6b were further pivoted toward one another in the direction of the central longitudinal axis M relative to the illustration in FIGS. 2a and 2b and moved too slightly in the direction of the drive shaft 3, that is, the first bearing ends 11a, 11b b of the gripping arms 5a, 5b were moved in the direction of the drive shaft 3.
  • the second bearing end 15b of the second drive arm 10b was rotated counterclockwise (counterclockwise) on the drive shaft 3, and synchronously, the second bearing end 15a of the first drive arm 10a was rotated clockwise (clockwise) and at the same rotational angle. Due to the mounting of the gripping arms 5a, 5b on the guide shafts 4a, 4b and the Movement of the second bearing ends 8a, 8b of the control sections 7a, 7b beyond the center axis M addition, the first bearing ends 1 1 a, 1 1 b of the gripping arms 5a, 5b in the direction of the drive shaft 3 inwardly and not moved away from the drive unit 3 to the outside ,
  • FIG. 4 shows a detail of a transport star 20 with container pockets 21 which are adjustable in width, a container clamp 1 from FIGS. 1 a to 3 b and a container 16 arranged in the container pocket 21 and the container clamp 1.
  • the container pocket 21 has two pocket arms 22a, 22b to which the container 16 rests.
  • the container clamp 1 is shown in a gripping position and surrounds the container 16 in its abdominal region with their gripping portions 6 a, 6 b.
  • the container clamp 1 bears with its free ends 18a, 18b on the container 16 and pulls the container 16 in the direction of the drive shaft 3, so that it is pressed against the pocket arms 22a, 22b.
  • Transport stars 20 with container pockets 21 usually require for positioning a container 16 between two pocket arms 22a, 22b an additional outer guide (not shown here), against which the container 16 and at which the container 16 is moved along during transport. Due to the arrangement of the container tenter 1, an external guide for moving the container 16 by means of the transport star 20 is no longer necessary and can be omitted.
  • FIG. 5 schematically shows a section of a further embodiment of a transport star 20 with container pockets 21 in combination with a container gripper 1 according to FIGS. 1 a to 3 b.
  • the transport star 20 has two transport star planes 23a, 23b, which are arranged one above the other in the vertical direction V and each have container pockets 21 which are adjustable in their size.
  • the transport star planes 23a, 23b are likewise designed to be adjustable in their distance from each other, so that an upper transport star plane 23a in an upper belly region of the container 16 and the lower transport star plane 23b can engage in a lower belly region of the container 16.
  • the container clamp 1 is arranged, the sections 16 with their gripping the container 6 a, 6 b at least partially surrounds and pulls into the transport pockets 21.
  • the transport bags 21 thus serve as a radial stop for the container 16, wherein the container clamp 1, the container 16 between its gripping portions 6a, 6b and the container pockets 21 is clamped.
  • the container 16 are not held exclusively by the transport star 20, but stand with its bottom 16b on a transport plane (not shown here) on.
  • FIG. 6 shows schematically in a perspective view a section of an alternative embodiment of the container clamp 1 with a drive unit 30 for synchronously driving the two gripping arms 5a, 5b.
  • the drive unit 30 has a drive motor 31 with drive axle 33 and a drive 32 which couples the drive axle 33 and the drive shaft 3, here a bevel gear mechanism.
  • the bevel gear has a bevel gear drive gear 34 and two bevel gears 24. Each bevel gear 24 is respectively connected to one of the second bearing ends 15a, 15b of the drive arm 10a, 10b.
  • the drive shaft 3 is formed in two parts and has two drive shaft sections 3a, 3b.
  • the drive shaft sections 3a, 3b are arranged in alignment with one another and, however, rotate in the opposite direction about an identical axis of rotation A1.
  • the drive arms 10a, 10b each have a first bearing end 9a, 9b and a second bearing end 15a, 15b, which are connected to each other via webs 27a, 27b.
  • the second bearing ends 15a, 15b are formed as sleeves, which are each connected to one of the drive shaft sections 3a, 3b.
  • the webs 27a, 27b of a drive arm 10a, 10b are spaced apart in the vertical direction (V) and arranged parallel to one another and connected to the second bearing end 15a, 15b (the sleeve).
  • the opposite ends of the second bearing end 15a, 15b Webs 27a, 27b together form the first bearing end 9a, 9b of the drive arm 10a, 10b.
  • the ends each have a here formed as a hole pivot pin receptacle 28a, 28b.
  • a second bearing end 8a, 8b of a gripper arm 7a, 7b designed as a bush is rotatably coupled by means of a pivot pin 29a, 29b.
  • the first bearing end 9a, 9b of a drive arm 10a, 10b and the respectively coupled thereto second bearing end 8a, 8b of a gripper arm rotate about an identi see geometric axis of rotation 25a, 25b and each form a hinge.
  • Each of the guide arms 13a, 13b has a second bearing end 14a, 14b designed as a sleeve, which is rotatably mounted in each case on one of the guide shafts 4a, 4b.
  • each guide arm 4a, 4b has two parallel webs 27a, 27b arranged side by side and at a distance from one another in the vertical direction (V), which are connected to the second bearing end 14a, 14ab (the sleeve).
  • the free ends opposite the second bearing end 14a, 14b together form the first bearing end 12a, 12b of the guide arm 13a, 13b.
  • the free ends each have a rotary bolt receiving means 28a, 28b designed as a hole.
  • the first bearing ends 1 1 a, 1 1 b of the gripper arms 5a, 5b which are also designed as bushes, are each coupled via a pivot pin 29a, 29b to the two pivot pin receptacles 28a, 28b of one of the first bearing ends 12a, 12b of the guide arms 13a, 13b in that the first bearing ends 11a, 11b of the gripping arms 5a, 5b and the respective first bearing end 12a, 12b of the guide arms 13a, 13b coupled to it rotate around an identical geometric axis of rotation 26a, 26b and in each case form a rotary joint.
  • Figures 8 and 9 show a section of the container clamp of Figure 6 and 7 with alternative drive.
  • FIGS. 8 and 9 show, instead of a central drive unit 30, a transmission 32 coupled to the Anthebswellenabêten 3a, 3b ( Figure 6 and Figure 7), a drive unit 30 with two drive motors 31 a, 31 b, wherein in each case a drive motor 31 a, 31 b with a drive shaft 33 with one of the drive shaft sections 3a, 3b is directly connected ,
  • the drive axles 33 and the respective drive shaft sections 3a, 3b coupled to them rotate during an movement of the gripping arms 5a, 5b about an identical axis of rotation A1, whereby the rotational movement generated by the drive motors 31a, 31b takes place in opposite directions but synchronously.
  • the control of the opening and closing movement of the gripping arms 5a, 5b thus takes place via a control of the drive motors 31a,
  • FIG. 10 schematically shows, in a plan view, a detail of a transport star 20 with a container clamp 1 corresponding to FIGS. 1a to 5 and a container 16.
  • the illustrated detail of the transport star 1 comprises four transport star segments 35a to 35d. Each transport star segment 35a to 35d is shown by a dashed line. In each transport star segment 35a to
  • a container clamp 1 is arranged, wherein for the sake of clarity, a container clamp 1 is shown only in the second transport star segment 35b.
  • the container clamp 1 has a drive shaft 3. On the drive shaft 3, two drive arms 10a, 10b are pivotally arranged with their second bearing end 15a, 15b. The rotation of the drive arms 10a, 10b on the drive shaft 3 takes place about the geometric axis of rotation A1.
  • the drive arms 10a, 10b are each pivotally connected to a second bearing end 8a, 8b of one of the gripper arms 5a, 5b.
  • a first bearing end 9a, 9b of one of the drive arms 5a, 5b and the second bearing end 8a, 8b of one of the gripping arms 5a, 5b coupled thereto forms a first pivot joint 36 with an identical geometric axis of rotation 25a, 25b.
  • Each first bearing end 1 1 a, 1 1 b of the gripping arms 5a, 5b is pivotally connected respectively to a first bearing end 12a, 12b of the guide arms 13a, 13b and forms a second pivot 37 with an identical geometric axis of rotation 26a, 26b.
  • Each second bearing end 14a, 14b of the guide arms 13a, 13b is pivotally connected to one of the guide shafts 4a, 4b, respectively.
  • the rotation of the guide arms 13a, 13b on the guide shafts 4a, 4b takes place about a geometric axis of rotation F1, F2.
  • the container clamp 1 is constructed mirror-symmetrically about its central axis M.
  • the central axis M extends in the radial direction of the transport star 20 on the axis of rotation (not shown here) of the transport star 20 to.
  • FIG. 10 shows, with a dashed line 38, the path of movement of the free end 18b of the gripping arm 5b.
  • the container clamp 1 shown in FIG. 10 has a single drive shaft 3 for each container clamp 1.
  • the drive shaft 3 is positioned with its longitudinal axis (geometric rotation axis A1) on the central axis M of the container clamp. Both the drive shaft 3 and the guide shafts 4a, 4b are arranged within the segment boundaries 39.
  • FIG. 11 schematically shows, in a plan view, a detail of a transport star 20 with an alternative embodiment of the container clamp 1 and a container 16 which bears against a stop 40 of the transport star 20.
  • the illustrated section of the transport star 20 comprises three transport star segments 35a to 35c.
  • a container clamp 1 is arranged, wherein for the sake of clarity only half container clamp 1 is shown in the second transport star segment 35b. From the illustrated container clamp 1 thus only one gripping arm 5b is shown.
  • the container clamp 1 is constructed mirror-symmetrically about the central axis M.
  • the sequence of the individual components corresponds to the embodiment of Figure 10, wherein the drive shaft 3 pivotally connected to the second bearing end 15a, 15b of the drive arm 10a, 10b, the first bearing end 9a, 9b of the drive arm 10a, 10b to form a first pivot 36 with the second bearing end 8a, 8b of the gripper arm 5a, 5b, the first bearing end 1 1 a, 1 1 b of the gripping arm 5a, 5b to form a second pivot joint 37 pivotally connected to the first bearing end 12a, 12b of the guide arm 13a, 13b and the second bearing end 14a, 14b of the guide arm 13a, 13b pivotally coupled to one of the guide shafts 4a, 4b.
  • the mutually coupled bearing ends rotate 8a, 8b 9a, 9b, which form one of the first pivot joints 36 and the coupled bearing ends 1 1 a, 1 1 b, 12a, 12b, which form one of the second pivot joints 37, each about an identical axis of rotation 25a, 25b, 26a, 26b.
  • each gripping arm 5a, 5b of a container clamp 1 is driven by a separate drive shaft 3.
  • Each container clamp 1 thus has two separate drive shafts 3.
  • each of the drive shaft 3 and guide shaft 4a, 4b connected to a gripping arm 5a, 5b is positioned with its respective central axis (rotational axis A1, F1, F2) on a segment boundary 39.
  • a second container clamp (not shown here) in the third transport star segment 35c are each a drive axis 3 and one of the guide shafts 4a, 4b of the first and second container clamp 1 identical in position.
  • the arranged on the respective drive shaft 3 drive arms 10a, 10b of the first and second container clamp 1 rotate about an identical geometric axis of rotation A1 and arranged on the guide axis 4a, 4b guide arms 13a, 13b of the first and second container clamp 1 rotate about an identical geometric axis of rotation F1, F2, however, are each independently (separately) rotatable.
  • the drive shaft 3 and guide shaft 4a of the second gripping arm 5a are also arranged on an opposite second segment boundary 39 to the transport star segment 35a. Accordingly, in the case of an arrangement of a third container clamp (not shown here) in the first transport star segment 35a, there is likewise a positionally identical arrangement of a drive axis 3 and a guide axis 4a, 4b of the first and third container clamps 1.
  • FIG. 12 schematically shows, in a plan view, a detail of a transport star 20 with a further alternative embodiment of the container clamp 1 and a container 16 which bears against a stop 40 of the transport star 20.
  • the illustrated section of the transport star 20 comprises a transport star segment 35b in which a container clamp 1 is arranged, with only one side of the container clamp 1 shown completely and only the second drive shaft 3 by the side of the container clamp 1 mirrored about the center axis M for the sake of clarity is. From the illustrated container clamp 1 thus only one gripping arm 5b is shown.
  • the mutually coupled bearing ends rotate 8a, 8b 9a, 9b, which form one of the first pivot joints 36 and the coupled bearing ends 1 1 a, 1 1 b, 12a, 12b, which form one of the second pivot joints 37, each about an identical axis of rotation 25a, 25b, 26a, 26b.
  • each gripping arm 5a, 5b of a container clamp 1 is also driven by a separate drive shaft 3 in this embodiment as well.
  • the two drive shafts 3 of a container clamp 1 are not arranged in the region of a segment boundary 39, but border with their outer circumference on the central axis M of the container clamp 1.
  • the two drive shafts 3 are in contact in the region of the center axis M in contact and coupled together, so that a power transmission between the drive shafts 3 takes place.
  • the drive shafts 3 rotate in opposite directions due to the coupling. This makes it possible to drive only one of the two drive shafts 3 and still cause a synchronous opposite movement of the gripping arms 5a, 5b.
  • the guide axes 4a, 4b of the container clamp 1 are each arranged with their geometric central axis on opposite segment boundaries 39.
  • FIG. 13 shows schematically in a plan view a detail of a transport star 20 with container clamps 1 according to FIG. 12 and a container 16 which rests against a stop 40 of the transport star 20.
  • the illustrated section of the transport star 20 comprises three transport star segments 35a to 35c.
  • a container clamp 1 is arranged, wherein for the sake of clarity in the second transport star segment 35b a complete container clamp 1 b and in the adjacent first and third transport star segments 35a, 35c, a half container clamp 1 is shown. All container brackets 1 are constructed mirror-symmetrically about their respective center axis M.
  • the guide axes 4a, 4b of a container clamp 1 are each arranged on opposite segment boundaries 39 of a transport star segment 35a to 35c.
  • a second and third container clamp 1 in the second and third transport star segment 35a, 35c, one of the guide axes 4a, 4b of the first and second container clamp 1 and one of the guide shafts 4a, 4b of the second and third container clamp 1 arranged identical position.
  • the bearing ends rotating about the respective guide shafts 4a, 4b of the first and second container clamps 1 and the second
  • each third and third container bracket 1 to an identical axis of rotation F1, F2, however, each independently (separately) rotatable.
  • 35a - 35d transport star segments

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

L'invention concerne une pince pour récipient (1) qui est apte à saisir des récipients ayant des diamètres de récipients différents particulièrement grands. Selon l'invention, la pince pour récipient (1) possède un arbre d'entraînement (3) et deux axes de guidage (4a, 4b) ainsi qu'un premier et un deuxième bras de préhension (5a, 5b). Chaque bras de préhension (5a, 5b) possède une première extrémité d'appui (11a, 11b) et une deuxième extrémité d'appui (8a, 8b) disposées entre une portion de préhension (6a, 6b) et une portion de commande (7a, 7b). Chaque bras de préhension (5a, 5b) est couplé à l'un des axes de guidage (4a, 4b) au moyen d'un bras de guidage qui possède une première extrémité d'appui (12a, 12b) et une deuxième extrémité d'appui (14a, 14b), et la première extrémité d'appui (11a, 11b) des bras de préhension (5a, 5b) est respectivement reliée de manière articulée à la première extrémité d'appui (12a, 12b) de l'un des bras de guidage et la deuxième extrémité d'appui (14a, 14b) des gras de guidage respectivement à l'un des axes de guidage (4a, 4b). Chacun des bras de préhension (5a, 5b) est couplé à l'arbre d'entraînement (3) au moyen d'un arbre d'entraînement (10a, 10b).
PCT/EP2017/083765 2017-01-12 2017-12-20 Pince pour récipient servant à saisir un récipient dans la zone de la convexité WO2018130389A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017100521.8A DE102017100521A1 (de) 2017-01-12 2017-01-12 Behälterklammer zum Ergreifen eines Behälters im Bauchbereich
DE102017100521.8 2017-01-12

Publications (1)

Publication Number Publication Date
WO2018130389A1 true WO2018130389A1 (fr) 2018-07-19

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PCT/EP2017/083765 WO2018130389A1 (fr) 2017-01-12 2017-12-20 Pince pour récipient servant à saisir un récipient dans la zone de la convexité

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WO (1) WO2018130389A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020122313A1 (de) * 2020-08-26 2022-03-03 Khs Gmbh Greifervorrichtung zum Transport von Behältern

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10265053A (ja) * 1997-03-24 1998-10-06 Ngk Insulators Ltd 中実碍子自動移載装置
DE19740892A1 (de) 1997-09-17 1999-03-25 Kettner Gmbh Transportstern für Gefäße
US20020005646A1 (en) * 1998-01-16 2002-01-17 Bliss George Nelson Apparatus for releasing items within a confined space
DE10325137A1 (de) * 2003-06-04 2005-01-05 Krones Ag Flaschengreifer
JP2009132516A (ja) 2007-11-30 2009-06-18 Shibuya Kogyo Co Ltd 物品搬送装置
US20120146353A1 (en) * 2009-08-19 2012-06-14 Seabed Rig As Gripper for petroleum pipes

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10265053A (ja) * 1997-03-24 1998-10-06 Ngk Insulators Ltd 中実碍子自動移載装置
DE19740892A1 (de) 1997-09-17 1999-03-25 Kettner Gmbh Transportstern für Gefäße
US20020005646A1 (en) * 1998-01-16 2002-01-17 Bliss George Nelson Apparatus for releasing items within a confined space
DE10325137A1 (de) * 2003-06-04 2005-01-05 Krones Ag Flaschengreifer
DE10325137B4 (de) 2003-06-04 2007-08-02 Krones Ag Flaschengreifer
JP2009132516A (ja) 2007-11-30 2009-06-18 Shibuya Kogyo Co Ltd 物品搬送装置
US20120146353A1 (en) * 2009-08-19 2012-06-14 Seabed Rig As Gripper for petroleum pipes

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