WO2020254464A1

WO2020254464A1 - Device for gripping products, and method for conveying within an industrial production line

Info

Publication number: WO2020254464A1
Application number: PCT/EP2020/066877
Authority: WO
Inventors: Vincent Brachet; Grégory CHOPLIN
Original assignee: Sidel Participations
Priority date: 2019-06-20
Filing date: 2020-06-18
Publication date: 2020-12-24
Also published as: FR3097460B1; FR3097460A1

Abstract

The present invention relates to a device (5) for gripping products (1) conveyed within an industrial line for producing and treating said products (1), said products (1) being containers provided with a neck at the top, said gripping device (5) comprising at least one means for gripping each of said products (1) individually, said at least one gripping means comprising a pair of jaws (8) that can move between a tightened position for gripping said neck of a product (1) and a separated position, characterised in that said jaws (8) extend vertically and can move in a vertical plane. The invention also relates to a facility and a method for conveying products (1).

Description

DESCRIPTION

Title: Device for gripping products, and conveying process within an industrial production line

The present invention falls within the field of conveying products within an industrial line for the production and processing of said products.

For the purposes of the present invention, the term “product” encompasses an individual object. Such a product is a container, such as a bottle or a flask, in particular made of plastic, rigid or semi-rigid. Such a container is intended to contain a liquid or food. Such a container comprises a body with a neck, provided with an opening situated in the upper part and closed by a stopper element, in particular a stopper or a cap. Such an opening alone or with its stopper element can be generically called a “neck”. In addition, the neck comprises an annular ring, called a collar, located in the lower part at the junction with the rest of the body. This collar is provided projecting relative to the outer wall of the container. It serves in particular as a support or stop when gripping a container during its various treatments.

As such, in a known manner, within an industrial line, the products can receive several successive treatments at the breasts of different stations, ranging from the manufacture of the container by a plastic injection or stretch-blow molding operation, in including the filling, capping and labeling of individual products, to the packaging in batches of several grouped products.

During these different stages, the products are transported by different suitable conveyor means.

In particular, along said production line, the products can be transported by conveyors, in particular of the endless belt type, on the upper face of which the products rest by their bottom.

The products can be transported in another way by means of means configured to individually grip each product by its neck. This gripping can be done by a clamp mounted on the periphery of a rotary support, such as for example a so-called “transfer” wheel, or else on a mobile support.

longitudinally.

In either case, the products are transported continuously one behind the other, generally in a single line; this single-line flow moving in a direction of movement, from upstream to downstream. During their conveyance, it may be necessary to hold the products during of their displacement, or even to induce them a specific movement, such as orienting them angularly. This maintenance must take place without said product moving or changing orientation randomly or unwanted.

Such maintenance can be operated by means of a gripping device, individually gripping each product, in particular through a grip by the neck of each product.

Such gripping by gripping can be carried out for products circulating from a conveyor to a transfer wheel or to a mobile support, and vice versa, or else between two transfer wheels or two mobile supports, directly or by means of an element. intermediate transfer.

Further on, a gripping device comprises a clamp provided with two jaws movable symmetrically from an open position in separation to a closed position in approach, and vice versa. In the closed position, the jaws grip the neck of a product on both sides, keeping it clamped.

Currently, a clamp of a known gripping device extends essentially in a horizontal plane. The jaws grip a product symmetrically with respect to a vertical median plane. Further, this seizure is generally carried out under the collar, so that the latter comes to bear from above on the closed jaws. Consequently, the gripping takes place laterally, relative to said direction of movement, from a side free of access. In short, each product is seized from the left or the right of the line depending on where the gripping device is located.

Already, a drawback of a horizontal gripper lies in the limitation induced by the gripping side, impacting the possible circulation of products and

the installation of the gripping device with regard to the locations of the stations and conveyors concerned on the production line.

In addition, a horizontal grip extends laterally, crossing the path traveled by the products. The passage in the gripping position must be carried out in a manner synchronized with the flow of products, so that the trajectory of a gripper comes to position it on each side of the neck of the product moved until it is located opposite, without interfering with the neck of an adjacent product in the queue. In addition, in the open position, the jaws of two adjacent grippers must not interfere with each other.

A transfer wheel allows, positioned tangentially to the product path, to overcome such a retreat. However, the wheel still laterally crosses said path when the products are transferred, namely for gripping or for releasing the products.

Furthermore, gripping from the side does not allow changing the angular orientation of a product gripped around its central central axis. Such a change in orientation may in particular be required with a view to labeling, in particular for products with an asymmetric section and intended to receive different labels on the faces corresponding to the front and back.

In addition, the lateral gripping only carried out at the level of one side of the neck, creates an overhang, which it is necessary to control in order to avoid a pivoting relative to the vertical of a product gripped by the side of his collar. Such an overhang is all the greater as the mass of the product seized is important. This control is carried out in particular through a more resistant and consequently heavier mechanism.

Furthermore, documents EP0148574, EP1306192, EP2479008 describe a gripping device in the form of a clamp. These grippers comprise a pair of jaws movable between a tightened position for gripping said neck of a product and a separated position. These jaws extend vertically above the neck of the product and are mobile in rotation in a vertical plane. The rotational movement of these jaws creates a large horizontal space requirement which prevents the possibility of placing products side by side. In addition, this type of effort is a tightening force that can mark the walls of the container and / or the stopper in the presence of a retaining member.

In addition, the horizontal size of a gripper with lateral gripping limits the possibilities of moving the products seized, in particular at the time of removal. For example, the clamp enclosing a neck from the side does not allow the product to be placed in a box or cardboard box, the walls of which are higher than the product: the clamp would come into contact with the walls.

The object of the invention is to overcome the drawbacks of the state of the art by providing a device for gripping the products better. In other words, the seizure is effected by a means which is positioned above the neck of each product, to grip it on either side.

To do this, the gripping device includes:

- at least one means of gripping each of said products individually; - Said at least one gripping means comprising a pair of jaws movable between a tightened gripping position of said neck of a product and a spaced position.

Said gripping device is characterized in that said jaws extend vertically and are movable in a vertical plane.

According to additional, non-limiting characteristics, said at least one gripping means may comprise between said jaws a vertically movable holding means between a retracted position and a deployed position in upper support against said neck of a product.

The gripping means may comprise a means for joint actuation of the mobility of said jaws and of said holding means.

Said actuating means may be bistable in the constricted position and in the spread position and comprises a locking means in one and the other of the constricted and spread positions.

Said gripping device may comprise a frame on which said jaws are movably mounted, said actuating means comprising for each jaw a parallelogram mechanism with four bars.

Said actuating means may comprise:

- an actuator mounted to move in vertical translation relative to said frame,

- an articulated connection connecting said actuator to each jaw.

Said articulated connection may comprise:

- a pivoting member provided with a cradle and connected to one of said jaws;

- at least one bearing connected to the other of said jaws and cooperating with said cradle of said pivoting member;

- at least one rod mounted to rotate freely at one end of said actuator and at the end opposite to said pivoting member.

The actuating means may comprise on either side a pair of rollers, mounted in rotation with said actuator and centered symmetrically with respect to a vertical median axis of said jaws.

The retaining means may comprise a compression spring and a cap mounted so as to move vertically relative to said spring, so as to compress the spring when said cap is pressed against the neck in the deployed position.

Said cap may upperly comprise a convex dome cooperating in rolling on each side with a wheel with which each end is provided with each jaw. Said at least one gripping means can be mounted on a mobile support provided with a vertical central axis, said jaws comprising a vertical central axis passing through said vertical central axis of said mobile support.

Said at least one gripping means may be movable in rotation around a vertical shaft relative to said support.

The gripping device may comprise a movable support comprising a shuttle forming at least in part a linear motor.

The invention also relates to an installation for conveying said products within an industrial line.

Such an installation includes:

- at least one conveyor of said products in a continuous flow in a direction of movement from upstream to downstream;

- a means of referencing said products of said flow.

The installation is characterized in that said referencing means comprises at least one device for gripping each of said products.

According to additional, non-limiting characteristics, the installation can

comprising means for moving each gripping device along said direction of movement.

The invention also relates to a method of conveying products within a production and packaging line, using at least one gripping device according to the invention.

In particular, due to the gripping by a vertical clamp extending above, such a conveying process makes it possible to come and grab or release the products which can be respectively introduced or extracted from the jaws in an orthogonal direction, indifferently from a side or the other of such a clamp.

Consequently, in a nonlimiting manner, said jaws are moved apart or in approach in said vertical plane;

- When gripping or when depositing a product, said product is moved horizontally in a direction orthogonal to said vertical plane.

Thus, the invention makes it possible to install the gripping device above the flow of products, leaving the sides of the installation free to access. In particular when gripping and releasing the products, it is possible to pick them up or drop them off in any direction. Preferably, it is possible to grip or release a product which moves orthogonally with respect to the vertical plane containing the jaws. In addition, this seizure or relaxation can either be done on one side or the other, in particular to the right or to the left of said vertical plane containing the jaws. Indeed, this superior grip also makes it possible to angularly orient a product after it has been gripped around its vertical central central axis.

The invention also relates to a device for gripping products conveyed within an industrial line for the production and processing of said products, said products being containers provided at the top with a neck, said gripping device comprising:

- at least one means of gripping each of said products individually;

- said at least one gripping means comprising a pair of jaws movable between a tightened gripping position of said neck of a product where said jaws enclose the neck of the product on either side, thus defining a horizontal plane for gripping the neck and a spread position;

- Said jaws extend vertically, are movable in a vertical plane characterized in that said jaws are guided in the horizontal gripping plane of the neck of the product in a movement which comprises a translation relative to the frame of said jaws.

Said actuating means may comprise:

- an actuator mounted to move in vertical translation relative to said frame,

- an articulated connection connecting said actuator to each jaw.

Said articulated connection may comprise:

- a pivoting member provided with a cradle and connected to one of said jaws;

- at least one rod mounted to rotate freely at one end of said actuator and at the end opposite to said pivoting member. The actuating means may comprise on either side a pair of rollers, mounted in rotation with said actuator and centered symmetrically with respect to a vertical median axis of said jaws.

Said cap may upperly comprise a convex dome cooperating in rolling on each side with a wheel with which each end is provided with each jaw.

Said at least one gripping means can be mounted on a movable support provided with a vertical central axis, said jaws comprising a vertical median axis passing through said vertical central axis of said mobile support.

Other characteristics and advantages of the invention will emerge from the detailed description which follows of non-limiting embodiments of the invention, with reference to the appended figures, in which:

[Fig. 1] schematically shows a perspective view of an embodiment of a gripping device according to the invention;

[Fig. 2] schematically shows a side view of an embodiment of said gripping device, in a closed position for holding a product;

[Fig. 3] schematically shows a view similar to Figure 2, mounting the gripping device in an open position around a product;

[Fig. 4] schematically shows a top view of a particular embodiment of said gripping device, showing in particular the symmetry of the pair of rollers with respect to a longitudinal vertical median plane;

[Fig. 5] schematically represents a model of the mechanism of an embodiment of a gripping device, in the closed position, showing in particular a dissociation of the actuation;

[Fig. 6] schematically represents a model of the mechanism of another embodiment, in the closed position;

[Fig. 7] schematically represents a model of the mechanism of a mode preferred embodiment, in the closed position;

[Fig. 8] schematically shows a simplified top view of an example of the layout of several gripping devices at the periphery of a wheel for transferring products from another wheel;

[Fig. 9] schematically shows a simplified top view of an exemplary layout of several gripping devices around a product transfer wheel to a longitudinal conveyor;

[Fig. 10] schematically represents a simplified top view of an example of implantation of several independently movable gripping devices along a guide, when depositing products on a longitudinal conveyor, showing in particular a transverse movement of the groups of products during said removal; and

[Fig. 1 1] schematically shows a simplified top view of an exemplary implantation of several gripping devices movable independently along a guide, when transferring products from a wheel to said gripping devices.

The present invention relates to the conveying of products 1 within an industrial line for the production and processing of said products 1.

For the purposes of the present invention, the term “product” encompasses an individual object. Such a product 1 is a container, such as a bottle or a flask, in particular made of plastic, rigid or semi-rigid. Such a container is intended to contain a liquid or food. Such a container comprises a body with a neck, provided with an opening situated in the upper part and closed by a stopper element, in particular a stopper or a cap. Such an opening alone or with its stopper element can be generically called a “neck”. In addition, the neck comprises an annular ring, called collar 100, located in the lower part at the junction with the rest of the body. This collar 100 is provided projecting relative to the outer wall of the container. It serves in particular as a support or stop when gripping a container during its various treatments.

Such a collar 100 is in particular visible in Figures 2 and 3.

Within an industrial line, the products 1 can receive several successive treatments at different stations, ranging from the manufacture of the container by a plastic injection or stretch-blow molding operation, including filling, capping and labeling of products 1 individually, up to packaging in batches of several products 1 grouped together.

During these various stages, the products 1 must be transported along the industrial line, in a direction of movement extending from upstream to downstream of said industrial line.

Such movement of the products 1 is effected by suitable means. In addition, the conveying of the products 1 is preferably carried out individually along the industrial line, in particular downstream from the stoppering (namely after filling, or even after labeling).

The products 1 can be transported on a conveyor 2, the products 1 resting on the surface of said conveyor 2 from the bottom, direction or by means of a bucket or "puck". Such a conveyor 2 can be an endless belt. Examples of conveyors 2 are visible in figures 9 and 10.

The products 1 can also be transported by a collector 3 of form

generally circular, rotatable and provided with housings 30 distributed around the periphery, each housing 30 being intended to receive internally at least partially the body of a product 1 and ensure its maintenance inside said housing 30 during rotation of said collector 3 An example of collector 3 is visible in figure 8.

The products 1 can also be transported by a transfer wheel 4 of generally circular shape, designed to rotate and whose periphery is equipped with means ensuring the gripping of said products 1 by grasping, in particular by the neck, in particular the neck provided in the upper part. such products 1.

To this end, the invention relates to a gripping device 5 of said products 1 conveyed within said production line.

A gripping device 5 can be integrated into a transfer wheel 4, with which the gripping device 5 can be provided.

Such a transfer wheel 4 can be mounted opposite a collector 3, with synchronized rotation, in order to ensure the successive transfer of each product 1 to the gripping device 5, as can be seen in the example. layout of figure 8.

Such a transfer wheel 4 can be mounted tangentially to a conveyor 2, in order to ensure successively the transfer by depositing each product 1 from the gripping device 5 to the upper face of said conveyor 2, as can be seen in the example of layout of figure 9.

According to another implementation, the gripping device 5 can be integrated into a specific installation for conveying the products 1. Such a conveying installation comprises at least one conveyor 2 of said products 1. The movement of the products 1 on the conveyor 2 takes place in the direction of movement, from upstream to downstream, namely along and along the path. drive by said conveyor 2.

Downstream of the conveyor 2, the products 1 form a continuous flow, namely that the products 1 follow one another, preferably in a single row (i.e. in a “single line” manner).

The conveying installation also comprises a means of referencing the products 1 of said flow. Generically, such a referencing means makes it possible to reorganize the continuous flow of products 1, in particular by forming batches by grouping certain products 1. In short, the referencing means takes charge of the products 1 of said flow, moves the products 1 from upstream to downstream, by determining a position defined for each of said products 1 thus taken care of until maintaining this position defined at the time of releasing said products 1, in particular at the time of removal. In addition, obtaining the referencing of each product 1 is obtained by controlling the movement of the means for handling said products 1 used, preferably means of

gripping.

Advantageously, said referencing means comprises at least one gripping device 5 for each of said products 1. Preferably, the means of

referencing includes several gripping devices 5.

The conveying installation may comprise means for moving each gripping device 5 in said direction of movement.

As mentioned above, such displacement means can be a transfer wheel 4 on which several gripping devices 5 are mounted around the periphery.

According to a preferred embodiment, the displacement means may comprise at least one circuit 6 and several shuttles 7, each shuttle 7 supporting at least one gripping device 5, namely a single gripping device is mounted on a shuttle 7 or else several gripping devices 5 are mounted on a single shuttle 7. Each circuit 6 serves to guide the shuttles 7 along which they travel one after the other.

It is through the management of the movements of each shuttle 7, that the referencing means ensure the reorganization of the flow of products 1 towards determined positions. In addition, such a circuit 6 can include a portion extending near and along a part of a conveyor 2, allowing the handling of the products 1 from the conveyor 2 to the gripping devices 5, or vice versa. and preferably the removal from the gripping devices 5 towards the conveyor 2, when the corresponding shuttles 7 circulate along said portion.

Advantageously, the displacement means provides for independently managing the movements of each shuttle 7 along each circuit 6. Thus, the referencing of the products 1 is obtained through the control in a distinct manner.

movements of each shuttle 7.

Preferably, for this purpose, said circuit 6 cooperates with each shuttle 7 by forming a linear motor. Therefore, in this case, the gripping device 5 is provided with a movable support comprising a shuttle 7 forming at least in part a linear motor. The other part of such a linear motorization can therefore be formed by said circuit 6.

Remember that a linear motor is an electric motor in which each rotor and each stator are unwound, in particular flat; the linear motor generates a displacement force, in particular in translation, of at least one rotor relative to the stator. In the present case, preferably, each shuttle forms a rotor, while the circuit 6 forms the stator or stators.

Such a linear motor type motorization makes it possible to separately control the speed of progression of each shuttle 7, in particular as a function of the location along the circuit 6.

Therefore, from a regular flow of products 1, each being supported by a gripping device 5, it is possible to carry out a referencing by grouping of several gripping devices 5 by adapting the movement of the shuttles 7 to them. supporting, and thus products 1 thus transported.

An example of such a conveying installation is shown in Figure 10.

In particular, when depositing the products 1 transported by the gripping device 5 on a conveyor 2, it is possible to move transversely with respect to the direction of movement. In other words, it is possible to deposit the products 1 at different locations depending on the width of the conveyor 2.

To do this, the gripping device 5 according to the invention is particular.

It comprises at least one means for gripping each of said products 1 individually. Preferably, a gripping device 5 comprises a single means of gripping a single product 1 at a time.

The gripping is performed by grasping a product 1, at its upper part, more precisely at its neck.

To do this, said at least one gripping means comprises a pair of jaws 8. The jaws 8 are movable between a tightened gripping position of said neck of a product 1 and a separated position. The jaws 8 of each gripping means therefore form a clamp, able to grip the neck on either side of the product 1. This grip on either side of the neck of the product by the jaws defines a horizontal gripping plane of the neck to the ground. It will be noted that such a clamp can comprise more than two jaws 8, in particular three or four.

In particular during a pick-up step (for example during transfer from a collector 3), the jaws 8 are open, namely in the separated position, to allow the gripping means to be placed around the neck of a product 1, then the jaws 8 are closed to a tightened position, resting against said neck, ensuring the maintenance of said product 1 which is then integral with said gripping device 5. More precisely, if the neck of product 1 is provided with 'a collar 100, then the clamp can come to bear on and / or under said collar 100. Preferably, each jaw 8 is positioned when it is closed above the upper face and below the lower face of an angular portion of said flange 100. Thus, the flange 100 is introduced at least partially within a hook 80 provided within the corresponding face of each jaw 8.

In addition, the jaws 8 are brought together as far as a locking position, in which the internal face of each jaw 8 abuts against the neck of the product 1 gripped. Then, depending on the mechanism used, the jaws 8 can be slightly raised, so as to come to bear on said lower face of said angular portion of said flange 100, and thus retain it from below. Such a configuration is represented in FIG. 2, showing an engagement by clamping of the collar 100 of a product 1 by the jaws 8.

In particular, the lower part of the hook 80 makes it possible to support the product 1 clamped by the underside of its collar 100, preventing it from falling vertically.

In particular, each jaw 8 can have a rounded shape, internally concave, to match at least an angular part of the neck of a product 1 when it is gripped.

As such, advantageously, said jaws 8 extend vertically. They are positioned from above around a product 1 to be grabbed. In addition, the jaws 8 can be mounted in suspension on their support, namely projecting below or below.

In addition, the jaws 8 are movable in a vertical plane, namely in

approximation and spacing in said vertical plane.

In addition, the mobility of the jaws 8 in said vertical plane makes it possible to grasp or deposit a product 1 orthogonally or substantially orthogonally to said vertical plane containing said jaws 8. In short, the jaws 8 apart therefore allow the introduction or extraction of a product 1 which moves in a direction perpendicular to said vertical plane, in particular in a median direction of the gripper. Preferably, it is possible to grab or release a product 1 which moves orthogonally with respect to the jaw spacing plane. In addition, this grasping or this release can equally well be carried out on one side or the other, in particular to the right or to the left of said vertical separation plane.

As such, the invention also relates to a method of conveying products 1 within a production and packaging line, using at least one gripping device 5. During such a method, without limitation, said jaws 8 are moved apart or in approach in said vertical plane. In addition, when gripping or when depositing a product 1, said product 1 is moved horizontally in a direction orthogonal to said vertical plane. On the one hand, the product 1 to be grasped is brought by a conveyor 2, a collector 3 or a transfer wheel laterally with respect to the vertical plane containing the jaws 8 then separated. On the other hand, once a product 1 has been seized, during its removal, in particular to a conveyor 2, a collector 3 or a transfer wheel, it is possible to release said product 1 by separating said jaws 8, which is then taken away. in a direction orthogonal to said plane containing said jaws 8.

It will be noted that such a vertical plane can pass through the median axis of the product 1 to be seized. Preferably, the central median axis of the gripper coincides with the center of gravity of the shuttle 7. It can also be aligned centered on the axis of the product 1 grasped, especially in the case of a bottle having overall symmetry around said vertical central axis of the product 1.

In order to improve the retention of a product 1 thus grasped from above on either side of its neck by the jaws 8, preferably said at least one gripping means comprises between said jaws 8 a movable holding means 9 vertically between a retracted position and a deployed position in support upper against said neck of a product 1.

This support by the holding means 9 comes against the mouthpiece of the neck or against the stopper element closing the product 1 seized. Therefore, the retaining means 9 comprises in the lower part, at least one cap 90 conformed to the neck or to the closure element, so as to frame it in the deployed position, or even create an interlocking with the clearance.

In addition, the lower edge of said cap 90 can come to bear on a cusp optionally provided on the periphery of said neck or of the stopper element of the product 1 gripped.

The holding means 9, in the deployed position, provides an upper support improving the grip of a product 1 and its retention against the forces that it undergoes during its movements, in particular rotation or tilting under the effect of a centrifugal force, especially when the seized product 1 is filled, increasing its mass and correspondingly lowering its center of gravity.

Preferably, the retaining means 9 comprises a compression spring 93 and the cover 90 is mounted so as to move vertically relative to said spring 93, so as to compress the spring 93 when said cover 90 is pressed against the neck of a product. 1 in the deployed position.

Thus, when a product 1 is gripped by the jaws 8, the cap 90 of the retaining means 9 applies a downward vertical bearing force, improving the stability of said product 1 gripped.

Further on, the gripping means comprises a joint actuation means of the mobility of said jaws 8 and of said holding means 9. In short, the passage of the jaws 8 from the separated position to the constricted position and the passage of the holding means 9 from the retracted position to the deployed position are performed in concert, and vice versa. It is the actuating means which simultaneously controls the strokes of the jaws 8 and of the holding means 9 to come and catch a product 1, and vice versa to release it.

In particular, said actuating means can be bistable in the tightened position and in the separated position. In other words, in either of these positions, the actuating means blocks the jaws 8 and the holding means 9, while between these positions, no blocking or stable intermediate position is is obtained during the joint movements of the jaws 8 and of said holding means 9. In addition, said actuating means can comprise a locking means in one and the other of the tightened and separated positions. It will then be noted that the tightened position of the jaws 8 corresponds to the deployed position of the holding means 9, while the separated position of said jaws 8 corresponds to the retracted position of said holding means 9.

According to a preferred embodiment, said locking means can

comprise an elastic return means, in particular in the form of an elastic blade 10 or of a spring. This elastic return means can be mounted fixed, applying a return force to the mechanism of the actuating means.

As such, the gripping device 5 may comprise a frame 1 1 on which said jaws 8 are movably mounted.

In addition, according to the preferred embodiment, as can be seen in FIGS. 5 to 7, said actuating means then comprises, for each jaw 8, a parallelogram mechanism with four bars. Each mechanism comprises a pair of connecting rods 12 pivotally mounted at their upper end on the frame 1 1 and at their lower end on each jaw 8, in particular at a rectilinear portion with which the upper structure of each jaw 8 is provided. This four-bar mechanism therefore forms a deformable parallelogram. Thus, such a mechanism allows a rotating movement of each jaw 8 while maintaining their horizontality, namely said horizontal rectilinear or substantially horizontal portion. Consequently, the opposite end intended for gripping a product 1, moves in horizontal translation during the passage from the separated position to the constricted position, and vice versa. This mechanism therefore confers a circular translational movement.

In addition, at the end of the movement of bringing together the jaws 8, the mechanism induces a rise of the jaws 8 to lift the product 1 grasped, in particular by its collar 100. This rise allows in particular to press the product 1 thus grasped against the upper support. imparted by the holding means 9, in particular its cap 90. The two mechanisms are arranged in opposition, symmetrically with respect to a vertical median plane.

Furthermore, the holding means 9 can also be mounted to move relative to said frame 1 January.

In particular, as visible in Figures 5 to 7, said holding means 9 can be movable through a slide connection 91 relative to said frame 1 1, providing vertical mobility in an upward or downward translation.

In addition, the cover 90 can be mounted at the lower end of a rod 92 slidably mounted relative to said frame January 1. According to one embodiment, said actuating means comprises an actuator 13, ensuring the joint movements. Such an actuator 13 is mounted to move in vertical translation with respect to said frame 11. As can be seen in Figures 1 to 3, said actuator 13 may be in the form of a plate 130, the ends of which are mounted to slide freely on the long rods 110 which is provided with said frame 1 1, through a slide guide 131. Said plate 130 extending horizontally and is orthogonal to said rods 1 10.

In addition, an articulated connection 14 connecting said actuator 13 to each jaw 8.

According to the block diagram of the embodiment visible in FIG. 5, said articulated connection comprises an on-board motor co-operating with the connecting rods 12 of the mechanism of each jaw 8. In addition, two actuators 13 can be connected to one of the connecting rods 12 of each jaw 8 by an articulated connection 14.

According to the block diagram of the embodiment visible in FIG. 6, said articulated link 14 comprises two rods mounted, on the one hand, at their upper end, in sliding pivoting on the actuator 13, in particular along the plate. 130, and on the other hand, at their lower end, integral with a connecting rod 12 of each jaw 8, through the corresponding pivoting junction with the frame 1 January.

According to the block diagram of the embodiment visible in FIG. 7, said articulated link 14 comprises at least one rod mounted, on the one hand, at its upper end, to pivot on the actuator 13, in particular on the

plate 130, and on the other hand, at its lower end with a specific member hingedly connected to said jaws 8, in particular to their four-bar mechanism.

According to this preferred embodiment, said articulated connection 14 comprises a pivoting member 15 provided with a cradle 150 and connected to one of said jaws 8, in particular the jaw 8 located on the left. In short, the pivoting member 15 is integral with a connecting rod 12 of the mechanism of one of the jaws 8.

In addition, said articulated link 14 comprises at least one bearing 16 connected to the other of said jaws 8, namely the right one. This bearing 16 cooperates with the cradle 150 of said pivoting member 15. The bearing 16 is mounted to rotate freely, rolling inside and along the internal edge of said pivoting member 15.

In addition, said articulated connection 14 comprises at least one rod mounted to rotate freely at one end of said actuator 13 and at the end opposite to said pivoting member 15. Thus, the vertical sliding movement of the actuator 13 relative to the frame 1 1, generates a rotation of the pivoting member 15 by means of the rod, similar to a tilting. During this tilting, the guidance of the bearing 16 and the pivoting of said pivoting member 15 induce the joint actuation of the four-bar mechanism of each jaw 8, with a view to their bringing together or their separation. Examples of the two tightened and separated positions of the jaws 8 are visually comparable through FIGS. 2 and 3, showing in particular a symmetry with respect to a vertical central axis. According to another configuration, not shown, the jaws 8 can have an asymmetric displacement with respect to this vertical central axis.

As mentioned above, the actuator 13 can also jointly actuate the movement of the holding means 9. To do this, the actuating means comprises on either side a pair of rollers 17, mounted in rotation with said actuator 13 and centered symmetrically with respect to a vertical median axis of said jaws 8. The rollers 17 ensure the ascent or descent of the actuator 13, in particular its plate 130, during their cooperation with an external controller. In particular, the symmetry of the rollers 17 allows the placement of the

gripping 5 on one side or the other, without requiring any particular direction of assembly with respect to its supporting structure.

It will be noted that such an external controller can include a so-called “flat” cam with a groove forming a cam track. Said structure on which the gripping device 5 is mounted then comprises the cam track. The rollers 17 follow in rolling this cam track, with one or two rolling cooperation faces, the vertical component of which induces the sliding of said actuator 13. Preferably, the cover 90 of the retaining means 9 is mounted to slide relative to the frame. January 1 through the sliding link 91 which is provided with said holding means 9.

According to the embodiment of FIG. 5, said sliding link 91 is secured at its upper end to said actuator 13, in particular to its plate 130.

Preferably, said sliding connection 91 operates in the lower part of the frame 1 1, between the portions of the jaws 8 mounted on said frame 1 1.

According to different embodiments, as visible in Figures 6 and 7, said cap 90 comprises above a convex dome 94 cooperating in rolling on each side with a wheel 81 with which each end is provided each jaw 8. Each wheel 81 is mounted free in rotation, especially around a point of pivoting of one of the connecting rods 12 of the four-bar mechanism of each jaw 8. In particular, each wheel 81 is located at the level of said most centered pivot point, namely inwards.

Consequently, the movement in approach or separation of the jaws 8, in particular of said portions, induces the rolling of the wheels 81 on the upper face of the dome 94, generating the vertical movement of the holding means 9 and of its cap 90. As mentioned above. , under the return force of the spring 93, when the wheels 81 bear against the distal, namely upper part of the dome 94, the cap 90 comes to rest against the neck of the product 1 then grasped and clamped between the jaws 8.

Thus, the joints of the gripping means make it possible to grip a product 1 with joint actuation in movement of the jaws 8 provided vertical, by blocking from above in the gripping position by means of the holding means 9.

In particular, the joints form a component which can be controlled by the single actuating means, in particular its actuator 13, generating a single actuating force to control the movements of the various elements, without requiring several actuators with different forces to be controlled. synchronously. In addition, the joints generally operate with a single stroke, in opening and closing, and a single combination of movements to obtain synchronization of the elements for gripping a product 1.

This simplicity makes it possible to dispense with several different actuators, in particular two separate actuators for the tightening and spacing of each jaw 8 and an additional actuator dedicated to supporting the holding means 9.

According to one embodiment, said at least one gripping means is mounted on a movable support provided with a vertical central axis. Such a mobile support can be said shuttle 7 mounted on the periphery of a transfer wheel 4 or circulating along circuit 6.

Consequently, the control of the actuating means, in particular of the actuator 13, determining the opening and closing of the jaws 8 and the grasping or releasing of a product 1, can be carried out at a location, when the passage of the movable support, namely the shuttle 7. Such a trigger can in particular result from the cooperation of the rollers 17 with a cam track mounted on said circuit 6.

Another triggering can be carried out by one or more actuators arranged along a section of said circuit 6 or else at an angular position of the control wheel. transfer 4, controlling the opening or closing of the jaws 8 of a gripping device 5, see simultaneously several gripping devices 5.

In a related manner, the size of the gripping means 5, supported

lower than a shuttle 7, is considerably reduced. This space requirement may be smaller than the section, in particular the diameter, of a product 1, allowing the grouping of several products 1 seized side by side, with minimal play, or even in contact with each other.

According to one embodiment, said at least one gripping means is movable in rotation around a vertical shaft relative to said support. In short, the gripping device 5 can turn entirely on itself relative to a vertical axis. The rotation can be actuated by a dedicated, on-board and motorized mechanism independently, or else cooperating with a control of circuit 7. This angular rotation makes it possible in particular to compensate for the centrifugal force during the rotation drive of the device. gripping device 5 or during its passage along a curved section of the circuit 6. The angular rotation also makes it possible to compensate for the acceleration and deceleration forces applied to the product 1. In addition, during movement, it is possible to turn the jaws 8 so that they are always located orthogonally with respect to the applied force, in particular accelerations, avoiding forces liable to force the opening of the jaws 8. In addition, as mentioned above, the holding combined with this rotation decreases the forces undergone by the same amount.

Thus, the gripping device 5 and the installation which incorporates it allow improved gripping of the products 1 from above, with improved support. In addition, the articulations used can confer simplified actuation, with a single operating command for gripping and releasing a product 1.

Claims

1. Gripping device (5) of products (1) conveyed within an industrial line for the production and processing of said products (1), said products (1) being containers provided at the top with a neck, said device for grip (5) comprising:

- at least one means of gripping each of said products (1) individually;

- said at least one gripping means comprising a pair of jaws (8) movable between a constricted gripping position of said neck of a product (1) where said jaws (8) grip the neck of the product on either side, thus defining a horizontal gripping plane of the neck and a separated position;

- Said jaws (8) extend vertically, are movable in a vertical plane characterized in that said jaws (8) are guided in the horizontal plane for gripping the neck of the product according to a movement which comprises a translation relative to the frame ( 1 1) of said jaws.

2. Gripping device (5) according to the preceding claim, characterized in that said at least one gripping means comprises between said jaws (8) a holding means (9) movable vertically between a retracted position and a deployed position in support upper against said neck of a product (1).

3. Gripping device (5) according to the preceding claim, characterized in that the gripping means comprises joint actuation means of the mobility of said jaws (8) and of said holding means (9).

4. Gripping device (5) according to the preceding claim, characterized in that said actuating means is bistable in the tightened position and in the separated position and comprises a locking means in one and the other of the tightened positions and discarded.

5. Gripping device (5) according to one of claims 3 or 4, characterized in that it comprises a frame (1 1) on which said jaws (8) are movably mounted, said actuating means comprising for each jaw (8) a four-bar parallelogram mechanism.

6. Gripping device (5) according to any one of claims 3 to 5, characterized in that said actuating means comprises:

- an actuator (13) mounted to move in vertical translation relative to said frame (1 1),

- an articulated connection (14) connecting said actuator (13) to each jaw (8).

7. Gripping device (5) according to the preceding claim, characterized in that said articulated connection (14) comprises:

- a pivoting member (15) provided with a cradle (150) and connected to one of said jaws (8);

- at least one bearing (16) connected to the other of said jaws (8) and cooperating with said cradle (150) of said pivoting member (15);

- at least one rod mounted to rotate freely at one end of said actuator (13) and at the end opposite to said pivoting member (15).

8. Gripping device (5) according to any one of claims 3 to 7, characterized in that the actuating means comprises on either side a pair of rollers (17), mounted in rotation with said actuator ( 13) and centered symmetrically with respect to a vertical median axis of said jaws (8).

9. Gripping device (5) according to the preceding claim, characterized in that the holding means (9) comprises a compression spring (93) and a cap (90) mounted movably vertically relative to said spring (93), of so as to compress the spring (93) when the said cap (90) is pressed against the neck in the deployed position.

10. Gripping device (5) according to the preceding claim, characterized in that said cap (90) comprises above a convex dome (94) cooperating in rolling on each side with a wheel (81) which is provided at each end of each jaw ( 8).

1 1. A gripping device (5) according to any one of claims

above, characterized in that said at least one gripping means is mounted on a movable support provided with a vertical central axis, said jaws (8) comprising a vertical median axis passing through said vertical central axis of said mobile support.

12. Gripping device (5) according to claim 1 1, characterized in that said at least one gripping means is movable in rotation about a vertical shaft relative to said support.

13. Gripping device (5) according to any one of claims

preceding, characterized in that it comprises a movable support comprising a shuttle (7) forming at least in part a linear motor.

14. A method of conveying products (1) within a production and packaging line, implementing at least one gripping device (5) according to any one of claims 1 to 13, in which at least: - Said jaws (8) are moved apart or in approach in said vertical plane;

- When entering or removing a product (1), said product (1) is moved horizontally in a direction orthogonal to said vertical plane.