WO2023117062A1 - Préhenseur magnétique permettant de manipuler des récipients conçus pour contenir un produit versable - Google Patents

Préhenseur magnétique permettant de manipuler des récipients conçus pour contenir un produit versable Download PDF

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Publication number
WO2023117062A1
WO2023117062A1 PCT/EP2021/087060 EP2021087060W WO2023117062A1 WO 2023117062 A1 WO2023117062 A1 WO 2023117062A1 EP 2021087060 W EP2021087060 W EP 2021087060W WO 2023117062 A1 WO2023117062 A1 WO 2023117062A1
Authority
WO
WIPO (PCT)
Prior art keywords
magnet
gripper
trigger
arm
frame
Prior art date
Application number
PCT/EP2021/087060
Other languages
English (en)
Inventor
Angelo Proni
Original Assignee
Sidel Participations
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 Sidel Participations filed Critical Sidel Participations
Priority to PCT/EP2021/087060 priority Critical patent/WO2023117062A1/fr
Publication of WO2023117062A1 publication Critical patent/WO2023117062A1/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

Definitions

  • the present invention relates to a gripper for handling containers adapted to contain a pourable product , preferably a pourable food product BACKGROUND ART Packaging as semblies for packaging a pourable product , preferably a pourable food product like water, alcoholic beverages , soft drinks , milk, juice or similar, into containers and for treating such containers are known .
  • Such packaging as semblies comprise a number of treating unit s , each configured to carry out a specific operation during a treatment proces s of the aforementioned containers .
  • a packaging as sembly typically comprises:
  • blower machine for forming the containers from preforms ;
  • capping machine for capping the filled container
  • labelling machine for labelling the filled and capped containers, or for labelling the not already filled containers .
  • the packaging assemblies do not include any blower machine and comprise, instead of the blower machine, a washing machine, for washing the glass bottles prior to the filling, capping and labelling operations.
  • the known packaging assemblies comprise conveyors arranged between the various machines and configured to transfer the containers from one machine to another, so as to determine the successive operations on the containers themselves.
  • each conveyor is defined by a star wheel rotatable about a central axis, preferably vertical.
  • an inlet star wheel is provided between the washing machine or the blower machine and the filling machine, and an outlet star wheel is provided between the filling machine and the capping machine.
  • star wheels are conveniently provided between the various machines of the packaging assembly, e.g. between the capping machine and the labelling machine.
  • Grippers are known which are configured for receiving, gripping and holding the containers , thereby handling them through the packaging as sembly .
  • Such grippers are carried by the aforementioned conveyors .
  • each star wheel comprises a plurality of grippers fixed at it s peripheral portion, so that the grippers are advanced along a circular tra jectory about the respective central axis .
  • each gripper cyclically receives at least one container at a time from one of the aforementioned machines , or from an upstream star wheel , grips and holds such container for a given angle about the respective central axis , and eventually release s the container to another of the aforementioned machines , or to a downstream star wheel .
  • a gripper of the aforesaid type comprises a support frame mounted to the star wheel and two claws or arms hinged to the frame and thus rotatably movable between an open position, for receiving/ releasing the container, and a closed position, for holding the container, usually at it s neck, and thus advancing this latter along a conveying path .
  • the known grippers comprise a biasing member which biases the arms in one of their pos itions , conveniently the closed position .
  • biasing member is defined by a spring element , for example a helical spring, which biases the arms in the closed position .
  • Grippers which have a so-called “active" configuration, whereby they comprise actuator means for temporarily counteracting the elastic biasing force exerted by the spring, thereby causing the movement of the arms from the closed position to the open posit ion .
  • the spring biases the arms back to the closed position .
  • the actuator means comprise a known cam surface-cam follower system, whereby the conveyor comprises a fixed cam surface and the gripper carries a cam follower apt to cyclically interact with the cam surface , for counteracting the biasing force exerted by the spring and causing the movement of the arms .
  • the Applicant has observed that the grippers of the known type are st ill prone to further improvement s , in particular as per the lifespan of the gripper it self , as per the cleanlines s of the gripper and, therefore , of the packaging proces s , and as per the reduction in the quantity of the materials used and, thus , of the overall cost s .
  • the spring since the spring is repeatedly compres sed and put in traction for opening and closing the arms , it operates under high fatigue conditions and it s lifespan is thereby reduced .
  • both the spring and the cam surface-cam follower system need lubrication, which compromise the hygiene conditions of the proces s .
  • This ob j ect is achieved by a gripper for handling containers adapted to contain a pourable product as claimed in any of claims from 1 to 12 , and/or by means of a system according to any of Claims from 13 to 15 , and/or by means of an apparatus according to Claim 1 6 .
  • Figure 1 is a top schematic view, with part s removed for clarity, of part of a conveying system according to present invention ;
  • FIGS 2 and 3 are perspective views , from two dif ferent point of views and with part s removed for clarity, of a gripper according to the present invention, the conveying system according to present invention comprising the gripper according to present invention ;
  • Figure 4 is a top view, with part s removed for clarity, of the gripper according to the invention, while the gripper adopt s an open condition ;
  • Figure 5 is a top view, with part s removed for clarity, of the gripper according to the invention, while the gripper adopt s a closed condition ;
  • Figure 6 is a partially sectioned top view, with part s removed for clarity, of the gripper according to the invention, while the gripper adopt s the closed condition ;
  • Figure 7 is a partially sectioned top view, with part s removed for clarity, of the gripper according to the invention, while the gripper adopt s the open condition .
  • the gripper 4 is for handling containers 2 adapted to contain a pourable product .
  • the pourable product can be a food product , such as water, milk, wine , juice, soft drinks , beer, oil , or the like .
  • Each container can be for example a bottle , made for example of plastic or glas s .
  • the gripper 4 comprises a support frame 5 , which is fixable to a conveyor 3a .
  • the conveyor 3a is a part of a conveying system 1 .
  • the conveying system 1 is for conveying sequentially a plurality of containers along a conveying path P .
  • the gripper 4 comprises a pair of arms 6 .
  • the pair of arms comprises a first arm 6a and a second arm 6b .
  • the first arm 6a is hinged to the frame 5 by means of a first hinge 7a, to be able to rotate between a respective open position and a respective closed position .
  • the second arm 6b is hinged to the frame 5 by means of a second hinge 7b, to be able to rotate between a respective open position and a respective closed position .
  • the second hinge 7b is distinct from the first hinge 7a .
  • the closed positions of the arms 6a define or correspond to a closed condition of the gripper 4 , for retaining or holding the container 2 .
  • the open positions of the arms 6a define or correspond to an open condition of the gripper 4 , for receiving or releasing the container 2 .
  • Figures 4 and 7 show the open condition of the gripper 4 .
  • Figures 5 and 6 show the closed condition of the gripper 4 .
  • the gripper 4 comprises a first magnet 8 , which is carried by or integral with the first arm 6a .
  • the gripper 4 comprises a second magnet 10 , which is carried by or integral with the second arm 6b .
  • the gripper 4 comprises a trigger 13 .
  • the trigger 13 is hinged to the frame 5 by means of a third hinge 7 c, to be able to rotate between a first position and a second position .
  • the third hinge 7 c is distinct from the first hinge 7a and distinct from the second hinge 7b .
  • the gripper 4 comprises a third magnet 11 , which is carried by or integral with the trigger 13 .
  • the gripper 4 comprises a fourth magnet 12 , which is carried by or integral with the first arm 6a .
  • the frame 5 defines a pin 1 9 .
  • the first arm 6a defines a first abutment s surface 17 .
  • the second arm 6b defines a second abutment surface 18 .
  • the frame 5 defines a third abutment surface 25 .
  • the frame 5 defines a first stop 23a .
  • the frame 5 defines a second stop 23b .
  • the gripper 4 is configured so that , with the trigger member 13 adopting the first position ( Figure 5 ) :
  • the first arm 6a adopts the respective closed position and is locked against the respective rotation by means of magnetic interaction between the first magnet 8 and the third magnet 11 and by means of magnetic interaction between the fourth magnet 12 and the second magnet 10 ;
  • the second arm 6b adopts the respective closed position and is locked against the respective rotation by means of magnetic interaction between the second magnet 10 and the fourth magnet 12 and by means of mechanical contact interaction between the second arm 6b and the frame 5 , in particular by means of mechanical contact interaction between the second abutment surface 18 and the pin 1 9 ;
  • the trigger 13 is locked against the respective rotation by means of magnetic interaction between the third magnet 11 and the first magnet 8 and by means of mechanical contact interaction between the trigger 13 and the frame 5 , in particular by means of mechanical contact interaction between the trigger 13 and the first stop 23a .
  • Gripper 4 is configured so that , with trigger 13 adopting the second position ( Figure 4 ) :
  • the first arm 6a adopts the respective open position and is locked against the respective rotation by means of magnetic interaction between the fourth magnet 12 and the second magnet 10 and by means of mechanical contact interaction between the first arm 6a and the frame 5 , in particular by means of mechanical contact interaction between the first abutment surface 17 and the third abutment surface 25 ;
  • the second arm 6b adopts the respective open position and is locked against the respective rotation by means of magnetic interaction between the second magnet 10 and the third magnet 11 , and by means of magnetic interaction between the second magnet 10 and the fourth magnet 12 ; the trigger 13 is locked against the respective rotation :
  • the gripper 4 is configured for keeping it self automatically locked in the respective closed condition or in the respective open condition, to allow to dispense with any additional structure or element for keeping the gripper in the closed condition or in the open condition, during the conveying of the container 2 .
  • the frame 5 can define a further abutment surface , which carries out the function of the pin 1 9 .
  • the gripper 4 is configured so that the pin 1 9 defines a stroke limit for the rotation of the second arm 6b from the open position to the closed position, and therefore , through the magnetic interaction between the second magnet 10 and the fourth magnet 12 , also for the rotation of the first arm 6a from the open position to the closed position .
  • the gripper 4 is configured so that the abutment surface 25 of the frame 5 defines a stroke limit for the rotation of the first arm 6a from the closed position to the open position .
  • the frame 23 defines a slit 23 for guiding the rotation of the trigger 13 .
  • the first stop 23a corresponds to a first longitudinal end wall of the slit 23 .
  • the second stop 23b corresponds to a second longitudinal end wall of the slit 23 .
  • the second longitudinal end wall of the slit 23 is longitudinally opposite with respect to the first longitudinal end wall .
  • the gripper 4 is configured so that the rotation of the trigger 13 from the first position to the second position drives the rotation of the second arm 6b f rom the closed position to the open position, by means of magnetic interaction between the third magnet 11 and the second magnet 10 .
  • the gripper 4 is configured so that the rotation of the trigger 13 from the first position to the second position drives the rotation of the first arm 6a from the closed position to the open position, by means of magnetic interaction between the second magnet 10 and the fourth magnet 12 .
  • the gripper 4 is configured so that the rotation of the trigger 13 from the second position to the first position drives the rotation of the first arm 6a from the open position to the closed position, by means of magnetic interaction between third magnet 11 and first magnet 8 .
  • the gripper 4 is configured so that the rotation of the trigger 13 from the second position to the first position drives the rotation of the second arm 6b f rom the open position to the closed position, by means of magnetic interaction between second magnet 10 and fourth magnet 12 .
  • the trigger 13 can be used in an ef ficient manner to change the condition of the gripper 4 .
  • grey magnetic poles correspond to positive poles
  • white magnetic poles correspond to negative poles , or vice-versa .
  • the fourth magnet 12 and the second magnet 10 are positioned with their respective magnetic poles of the same sign facing one another, thereby causing a mutual repulsion of the second magnet 10 away from the fourth magnet 12 and vice-versa .
  • the gripper 4 is configured so that , with the trigger 13 adopting the first position, the third magnet 11 and the first magnet 8 face one another, with their respective magnetic poles of the same sign facing one another, thereby causing a repulsion of the first magnet 8 away from the third magnet 11 and vice-versa .
  • the gripper 4 is configured so that , with the trigger 13 adopting the second position, the third magnet 11 and the second magnet 10 face one another, with their respective magnetic poles of the same sign facing one another, thereby causing a repulsion of the second magnet 10 away from the third magnet 11 and vice-versa .
  • the gripper 4 comprises an actuator 14 for controlling the position of the trigger 13 .
  • the actuator 14 is configured for magnetically or elect romagnet ically cooperate with an actuating device 22 of the conveying system 1 .
  • the conveying system is configured for conveying sequentially a plurality of containers along a conveying path .
  • the conveying system comprises a plurality of grippers .
  • Each gripper has one or more features of a gripper 4 according to this description .
  • the system comprises a conveyor 3a, to which the frame 5 of each gripper 4 is fixed .
  • the system 1 is configured so that a movement of the conveyor 3a causes or corresponds to said conveying .
  • the conveying system 1 is configured for generating said movement of the conveyor 3a, for example by means of a motor .
  • the conveyor 3a can be a carousel conveyor or a star wheel conveyor .
  • the movement corresponds to a rotation of the carousel or a rotation of the star wheel .
  • the system 1 comprises an actuating device 22 .
  • the system 1 is configured so that the actuating device 22 , for each gripper 4 and by means of said movement , causes automatically a rotation of the trigger 13 from the first position to the second position at an opening station Al , and a rotation of the trigger 13 from the second position to the first position at a closing station A2 .
  • the closing station A2 and the opening station Al are spaced apart from each other along the path P .
  • the gripper 4 is configured for allowing to have no additional st ructure or device to keep each gripper 4 in the closed condition or in the open condition, along any stretch of the path P which extends between the opening station Al and the closing station A2 .
  • the actuating device 22 is magnetic or electromagnetic .
  • the system 1 is configured so that , for each gripper 4 , the rotations of the trigger 13 at the opening station Al and at the closing station A2 are caused by magnetic or electromagnetic cooperation between the actuator 14 and the actuating device 22 .
  • An apparatus is for the packaging of a pourable product by means of containers 2 .
  • the apparatus comprises the conveying system 1 .
  • the apparatus can comprise for example a filling machine and/or a capping machine and/or a blowing machine and/or a washing machine and/or a labelling machine .
  • first arm 6a and second arm 6b extend from frame 5 substantially along a longitudinal direction X, each arm 6 having a first free end 15 for gripping container 2 and a second free end 1 6 opposite to first free end 15 relative to the first hinge 7a or second hinge 7b, respectively .
  • first hinge 7a is arranged, relative to said longitudinal direction X, between first free end 15 and second free end 1 6 of first arm 6a ;
  • - second hinge 7b is arranged, relative to said longitudinal direction X, between first free end 15 and second free end 1 6 of second arm 6b ;
  • first magnet 8 is arranged at second free end 1 6 of first arm 6a ;
  • - second magnet 10 is arranged, relative to said longitudinal direction X, between first free end 15 and second free end 1 6 of second arm 6b, preferably in a position adj acent to second hinge 7b ;
  • - fourth magnet 12 is arranged, relative to said longitudinal direction X, between first free end 15 and second free end 1 6 of first arm 6a, preferably between first free end 15 and first hinge 7a, more preferably in a position adj acent to first hinge 7a ;
  • third hinge 7 c is arranged, relative to said longitudinal direction X, between first and second hinges 7a, 7b and said second free ends 1 6 .
  • - fourth magnet 12 is arranged in a position closer to first free ends 15 than second magnet 10 , relative to direction X;
  • third hinge 7 c is arranged, relative to a second direction Y which is transversal , in particular orthogonal to direction X, between first hinge 7a and second hinge 7b .
  • first abutment surface 17 is arranged at second free end 1 6 of first arm 6a and second abutment surface 18 is arranged at second free end 1 6 of second arm 6b .
  • the second arm 6b can define a further abutment surface 20 .
  • actuator member 14 includes a fifth magnet 21 .
  • the fifth magnet 21 is configured for cyclically interacting with the actuating device 22 , for driving, at the opening station Al and at the closing station A2 , the rotation of trigger 13 between the first position and the second position .
  • fifth magnet 21 can comprise a first permanent magnet 21a, which is apt to magnet ically interact with said actuating device 22 at the closing station A2 , and a second permanent magnet 21b, which is apt to magnetically interact with actuating device 22 at the opening station Al .
  • Actuating device 22 can comprise one or more actuating magnet s .
  • Actuating device 22 can comprise also electrically- excitable solenoids , which are arranged at the aforementioned stations , and apt to generate a magnetic field when excited .
  • actuator member 14 is more precise and selectively activatable or deactivatable .
  • the slit 23 defined by frame 5 is visible in Figures 6 and 7 , and partially visible in Figures 2 and 3 .
  • slit 23 is shaped so that first portion 24a face s towards first end wall 23a when third magnet 11 , i . e . trigger member 13 , is controlled in the first position, and/or so that second portion 24b faces towards second end wall 23b when third magnet 11 , i . e . trigger member 13 , is controlled in the second position .
  • trigger 13 when controlled in the first position, is apt to be locked against it s rotation by mechanical contact interaction of first portion 24a of coupling pin 24 with first end wall 23a of slit 23 and by magnetic interaction with first magnet 8 .
  • trigger 13 when controlled in the second position, is apt to be locked against it s rotation by mechanical interaction of second portion 24b of coupling pin 24 with second end wall 23b of slit 23 and by magnetic interaction with second magnet 10 .
  • first magnet 8 , second magnet 10 , third magnet 11 , fourth magnet 12 and fifth magnet 21 can comprise at least an upper magnet and a lower magnet , as can be derived from Figures 2 and 3 .
  • gripper 4 The operation of gripper 4 is described hereinafter starting from a condition in which arms 6 are in their respective open positions and gripper 4 , conveyed in rotation by conveyor 3a, reaches the closing station A2 .
  • third magnet 11 is in it s second position facing second magnet 10 , in particular locked in it s second position, and arms 6 are locked in their open positions .
  • first permanent magnet 21a interacts with actuating device 22 , thereby causing the movement of actuator member 14 and trigger 13 .
  • Third magnet 11 is thus moved from the second position to the first position, thereby facing first magnet 8 .
  • Arms 6 are therefore unlocked, moved in their closed positions , and locked thereat .
  • first arm 6a is moved in it s closed position by interaction of first magnet 8 and third magnet 11
  • second arm 6b is moved in it s closed position by interaction of second magnet 10 with fourth magnet 12 .
  • the movement of arms 6 stops against container 2 or when second abutment surface 18 abut s against pin 1 9 of frame 5 .
  • Container 2 is thereby gripped by gripper 4 .
  • Arms 6 are thereby unlocked; in particular, second arm 6b is moved in it s open position by interaction of third magnet 11 with second magnet 10 , and first arm 6a is moved in it s open position by interaction of fourth magnet 12 with second magnet 10 .
  • the movement of arms 6 stops when first abutment surface 17 abut s against frame 5 .
  • Container 2 is thereby released from gripper 4 .
  • the apparatus can comprise other conveyors , each of which is indicated with 3 in Figure 1 .
  • the carousel conveyor 3a is indicated with 3 .
  • Each of the other conveyors 3 can be a star wheel conveyor .
  • each of conveyors 3 or 3a can be a star wheel conveyor or a carousel conveyor .
  • first magnet 8 , second magnet 10 , third magnet 11 , fourth magnet 12 define a drive and lock device 50 which allows the gripper to lock it self in the closed condition and to lock it self in the open condition .
  • the drive and lock device 50 can be cons idered to comprise also at least the first abutment surface 17 , and/or the second abutment surface 18 , the third abutment surface 25 , and the slit 23 .
  • the drive and lock system it can be dispensed with any additional material for keeping the gripper 4 in the open condition or in the closed condition along any stretch of conveying path which extends between the closing station A2 and the opening station .
  • drive and lock system 50 allows to both drive the arms 6 between the open and closed positions and to selectively lock the arms 6 in such positions for the time needed, in a simple manner and without the use of any spring element .
  • a method of operation of the gripper 4 is clear from the features described above .
  • a method of operation of the conveying system 1 is clear from the features described above .
  • a method of operation of the apparatus 1 is clear from the features described above .

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

Abstract

Préhenseur (4) permettant de manipuler des récipients (2) conçus pour contenir un produit versable, le préhenseur (4) comprenant : - un cadre de support (5) pouvant être fixé à un transporteur (3) ; - une paire de bras (6) qui sont articulés sur le cadre (5) au moyen respectivement, d'une première charnière (7a) et d'une deuxième charnière (7b), la première charnière (7a) étant distincte de la deuxième charnière (7b), pour tourner entre une position ouverte, permettant de recevoir/libérer un récipient (2), et une position fermée, permettant de retenir ou de maintenir le récipient (2), les positions fermées des bras (6) définissant un état fermé du préhenseur (4), les positions ouvertes des bras (6) définissant un état ouvert du préhenseur (4) ; - un premier aimant (8), qui est porté par un premier bras (6a) de ladite paire de bras (6) ; - un deuxième aimant (10), qui est porté par un second bras (6b) de ladite paire de bras (6) ; - un déclencheur (13), articulé sur le cadre (5) au moyen d'une troisième charnière (7c), la troisième charnière (7c) étant distincte de la première charnière (7a) et distincte de la deuxième charnière (7b), pour tourner entre une première position et une seconde position ; - un troisième aimant (11), qui est porté par le déclencheur (13) ; - un quatrième aimant (12), qui est porté par le premier bras (6a).
PCT/EP2021/087060 2021-12-21 2021-12-21 Préhenseur magnétique permettant de manipuler des récipients conçus pour contenir un produit versable WO2023117062A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2021/087060 WO2023117062A1 (fr) 2021-12-21 2021-12-21 Préhenseur magnétique permettant de manipuler des récipients conçus pour contenir un produit versable

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2021/087060 WO2023117062A1 (fr) 2021-12-21 2021-12-21 Préhenseur magnétique permettant de manipuler des récipients conçus pour contenir un produit versable

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Publication Number Publication Date
WO2023117062A1 true WO2023117062A1 (fr) 2023-06-29

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6626476B1 (en) * 2000-07-18 2003-09-30 Applied Materials, Inc. Robotic gripper apparatus
DE202005002924U1 (de) * 2005-02-23 2006-03-30 Krones Ag Klammergreifer für ein Gefäßtransportsystem
DE102008055617A1 (de) * 2008-11-03 2010-05-20 Khs Ag Klammer zum Ergreifen von Flaschenhälsen, insbesondere von PET-Flaschen
DE102010009364A1 (de) * 2010-02-25 2011-08-25 KHS GmbH, 44143 Flaschenklammer mit Sperre
US20120227355A1 (en) * 2011-03-09 2012-09-13 Krones Ag Closing Tool
US8894114B2 (en) * 2010-11-25 2014-11-25 Khs Gmbh PET bottle gripping device
JP2015231652A (ja) * 2014-06-10 2015-12-24 Ｋｙｂ株式会社 ロボットハンド
DE102011117622B4 (de) * 2011-11-04 2020-03-26 Khs Gmbh Magnetisch sperrbare Flaschenklammer

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6626476B1 (en) * 2000-07-18 2003-09-30 Applied Materials, Inc. Robotic gripper apparatus
DE202005002924U1 (de) * 2005-02-23 2006-03-30 Krones Ag Klammergreifer für ein Gefäßtransportsystem
DE102008055617A1 (de) * 2008-11-03 2010-05-20 Khs Ag Klammer zum Ergreifen von Flaschenhälsen, insbesondere von PET-Flaschen
DE102010009364A1 (de) * 2010-02-25 2011-08-25 KHS GmbH, 44143 Flaschenklammer mit Sperre
US8894114B2 (en) * 2010-11-25 2014-11-25 Khs Gmbh PET bottle gripping device
US20120227355A1 (en) * 2011-03-09 2012-09-13 Krones Ag Closing Tool
DE102011117622B4 (de) * 2011-11-04 2020-03-26 Khs Gmbh Magnetisch sperrbare Flaschenklammer
JP2015231652A (ja) * 2014-06-10 2015-12-24 Ｋｙｂ株式会社 ロボットハンド

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