DISPOSITIVO PARA PREENSÃO E TRANSPORTE DE OBJETOS
Patent Information
- Authority / Receiving Office
- BR · BR
- Patent Type
- Applications
- Current Assignee / Owner
- TYROLON GMBH
- Filing Date
- 2023-03-14
- Publication Date
- 2026-08-04
Smart Images
Figure 00000000_0000_ABST
Abstract
Description
1 / 30 “DEVICE FOR GRASPING AND TRANSPORTING OBJECTS” Description
[001] The invention relates to a device for grasping and transporting objects, for example, containers, comprising: an axis; an arrangement comprising at least one support, which is arranged so as to be fixed against rotation on the axis; at least one gripping device arranged on the support, wherein each gripping device comprises a pair of gripping arms for gripping one of the objects; and an adjustment mechanism for adjusting an axial position of the arrangement along the axis.
[002] Document EP 3 239 078 A1 describes a height-adjustable transport device, which has a positioning plate and twelve gripping devices, as well as a drive device and a locking mechanism. Each gripping device has a pair of gripping arms consisting of two gripping arms with gripping portions, two support pins for the gripping arms, a switching shaft with a switching claw, and a receiving base to which the support pins and the switching shaft are fixed. The positioning plate and the gripping devices fixed to it can be rotated by means of a drive shaft of the transport device and, to avoid imbalance, are arranged and / or configured axially symmetrically around a drive shaft.The drive mechanism is rotatably mounted on the drive shaft, so that the drive mechanism does not rotate so intensely during the operation of the transport device and always actuates the gripping devices, in particular the switching grippers, in at least one specific position. A mechanism of... Petition 870250081241, dated 10 / 09 / 2025, page 6 / 49 2 / 30 locking is additionally used to completely prevent rotation of the drive device with the drive shaft. The locking mechanism is configured as a mesh extending from the drive device and connected to a stationary object or, respectively, to an object that does not rotate with the drive shaft. Both the positioning plate and the drive device are connected to the drive shaft and can be moved (vertically) along said drive shaft. However, to ensure that the positioning plate also rotates with the drive shaft, the positioning plate can be moved along vertical grooves or, respectively, rails at the connection point between the positioning plate and the drive shaft, or fixed to the drive shaft by means of a fastening element. Said fastening element can also serve to lock the height of the positioning plate on the drive shaft.Another height-adjustable transport device has a pneumatic or hydraulic drive. Another transport device has a height-adjustable positioning plate, a fixed support plate, a clamping plate, and a handwheel as a manual drive to adjust the height of the positioning plate. The handwheel is arranged coaxially to a drive shaft and has a spindle with a helical thread. The spindle is rotatably mounted on the clamping plate and extends through a spindle nut on the positioning plate to the support plate. The spindle nut is firmly integrated into the positioning plate.
[003] To change the height of the positioning plate and, consequently, that of the gripping devices, the fastening element would have to be loosened, the positioning plate moved manually, and the new height fixed by means of the fastening element. This is laborious, and a precise height adjustment is also difficult. Pneumatic or hydraulic drives increase the costs and weight of the Petition 870250081241, dated 10 / 09 / 2025, page 7 / 49 3 / 30 device. A spindle interacting with a spindle nut requires an additional clamping plate. This makes access to the clamping devices more difficult. As a result, replacing or cleaning the clamping devices becomes more laborious. If the drive shaft were combined with the spindle, this would lead to the problem that the support plate would have to be mounted on the shaft with a precise fit and therefore the thread would be tensioned by the support plate.
[004] The object of the invention is to indicate a device of the type mentioned above, which may have a compact and lightweight design, but which allows adjusting the height of the support equipped with the gripping devices in a precise and relatively simple manner.
[005] The objective is achieved by the device, according to the invention, for grasping and transporting objects, for example, containers, which is characterized by the fact that the device comprises an adjustment mechanism for adjusting the axial position of the arrangement along the axis, which comprises a rack configured on the axis and a transmission shaft that is rotatably mounted in the arrangement and interacts with the rack.
[006] The device is particularly suitable for grasping, holding, and guiding containers, the container being held by a pair of grasping arms of one of the grasping apparatuses. The containers may, in particular, be containers with an elongated portion which is subjected to grasping and holding by the apparatuses. Bottle-shaped containers with a neck are prototypes of this. Depending on the design of the arms, the bottle may be made of glass or plastic. The device is also suitable for carrying other containers. These other containers are, for example, cans or cups, or generally containers with a round cross-section.
[007] The shaft is rotated around a fixed axis of rotation. In most applications, the axis of rotation is aligned vertically. The support is Petition 870250081241, dated 10 / 09 / 2025, page 8 / 49 4 / 30 arranged on the shaft in such a way as to be protected against rotation, so that it rotates with the shaft, i.e., it cannot rotate against it. The support may, for example, be designed as a support wheel. In one embodiment, it has a plate-shaped design. At least one, as a general rule, several gripping devices are fixedly arranged on the support. In particular, they may be arranged along the circumference of the support, where the gripping arms extend mainly in the radial direction. An object may be guided with the device in a rotational position between the arms of one of the gripping devices and firmly gripped and released again in a further rotational position. For example, objects such as bottles may be transferred from one conveyor line to the next with the device. The gripping devices may have actuators to rotate the gripping arms or may be operated remotely.
[008] The support, and therefore the gripping devices arranged on the support, are part of an arrangement that can be axially adjusted as a whole. The presence of an adjustment mechanism means that the arrangement does not need to be manually moved in the axial direction. A rack can be formed on the shaft, but it does not need to extend over the entire circumference of the shaft. It simply needs to extend in the axial direction. Consequently, the shaft can otherwise have a cylindrical (circular) design, where the surface of the cylindrical housing forms the main part of the shaft's circumference. This allows for a precise fit between the support hub and the shaft. There is little or no tilting or non-circular movement of the support, even if objects are held only by the gripping devices on one side. The teeth can be substantially defined by notches transverse to the axial direction. These teeth are more robust than a thread.Since the drive shaft is rotatably mounted in the arrangement and interacts directly with the rack, no additional plate is required. Petition 870250081241, dated 10 / 09 / 2025, page 9 / 49 5 / 30 axially fixed. One end of the shaft can therefore remain free during operation. As a result, access to the gripping devices is facilitated, for example, for cleaning or maintenance purposes, or for replacing the arms.
[009] The drive shaft can be rotated in several ways. As the height of the arrangement is generally not changed frequently, this can be done, for example, with a tool that is not part of the arrangement. This makes the arrangement lighter. However, it is also possible to provide an electric, electromagnetic, pneumatic or hydraulic drive.
[010] The drive shaft does not need to have an elongated shape. It can also be designed to have a shape substantially similar to that of a wheel, for example, as a gear with a rotation axis transverse to the shaft axis.
[011] In one embodiment, however, the drive shaft is rotatably mounted around a spindle aligned substantially parallel to the rack.
[012] As a result, the arrangement remains relatively compact in the radial direction (based on the axis of rotation of the shaft).
[013] In one embodiment, the drive shaft is a worm shaft.
[014] A worm shaft has a helical winding. In combination with the rack, a rotational motion of the drive shaft is converted into a linear motion of the arrangement along the axis. The axis of rotation of a worm shaft can be aligned substantially parallel to the longitudinal direction of the rack. The transmission ratio can be adjusted through the winding pitch.
[015] In one embodiment, the arrangement can be inserted into the shaft or, respectively, can be removed from the shaft through a first axial end of the shaft, and the shaft can be coaxially connected to a drive shaft. Petition 870250081241, dated 10 / 09 / 2025, p. 10 / 49 6 / 30 at a second, opposite end.
[016] Consequently, the shaft and the axially adjustable arrangement form a unit that can be separated from the drive shaft, for example, for maintenance or cleaning purposes. To ensure that the second end is accessible, the axially adjustable arrangement can additionally be removed from the shaft via the first end without the need to remove other parts beforehand. For this purpose, depending on the position and shape of the drive shaft, the rack can extend to the first end.
[017] In one example of this embodiment, a connecting flange for connecting the shaft to the transmission shaft is provided at the second end.
[018] The flange can be configured as a single piece with the shaft, connected to it in a firmly joined manner, or installed by means of a positive fit and / or friction. The flange connection is relatively stable and allows for a fairly precise coaxial arrangement of the drive shaft and the shaft.
[019] In one embodiment of the device, the arrangement can be inserted into the shaft or, respectively, can be removed from the shaft by means of a first axial end of the shaft, and the transmission shaft is rotatably mounted in a part of the arrangement, which is disposed at an end of the arrangement closer to the first end.
[020] No other part of the device is radially arranged close to the axis between the first free end of the shaft and the end of the arrangement axially closest to the first end, at least in the region closest to the axis when viewed in the radial direction. Consequently, said axial end of the arrangement, which can be axially adjusted in position, is easily accessible. A separate tool can be used, for example, to rotate the drive shaft.
[021] In one embodiment of the device, the transmission shaft has a Petition 870250081241, dated 10 / 09 / 2025, p. 11 / 49 7 / 30 portion for attaching at least one tool or actuator at one end.
[022] The aforementioned portion will be exposed and / or projected. As the adjustment is only made occasionally, the assembly does not need to have its own actuator.
[023] In an example of an embodiment in which the assembly can be inserted into the shaft or, respectively, can be removed from the shaft by means of a first axial end of the shaft, wherein the transmission shaft is rotatably mounted in a part of the assembly, which is disposed at an end of the assembly nearest to the first end, and wherein the transmission shaft has a portion for coupling at least one tool or actuator at one end, the portion is disposed at an end of the transmission shaft nearest to the first end.
[024] The actuator or tool can therefore be positioned from above to adjust the axial position of the assembly.
[025] In one embodiment of the device, the support comprises a round body and the gripping arms project out from a circumferential edge of the round body.
[026] The body can have a basic shape in the form of a disc or a wheel.
[027] In one embodiment of the device, the drive shaft is rotatably mounted on or within the support.
[028] As a result, the number of parts is reduced. In addition, the height adjustment mechanism and the gripping devices are located approximately in a plane in a common axial position.
[029] One embodiment of the device further comprises an apparatus for forming a reversible friction connection between the arrangement and the shaft.
[030] As a result, the adjusted axial position is guaranteed, and the adjustment mechanism is relieved. However, the shaft may still have a surface of Petition 870250081241, dated 10 / 09 / 2025, page 12 / 49 8 / 30 predominantly cylindrical (circular) coating. The gripping device can act directly on said surface.
[031] In one embodiment of the device, each gripping apparatus has at least one actuating portion which, after actuation, is adapted to produce a pivot of at least one of the arms of the pair of gripping arms around a respective articulation axis, the arrangement comprising at least one component which can be moved relative to the support in the direction of rotation and is adapted, after rotation of the axis, to actuate the respective actuating portion of the gripping apparatus in order to rotate at least one arm.
[032] As the arrangement comprises the components, the axial position of said components can be adjusted by means of the adjustment mechanism. The axial distance of the gripping device in relation to the component can be fixed once, not changing subsequently after actuation of the adjustment mechanism. The components can define a control cam which, after rotation of the shaft in at least one angular position range, actuates the respective drive portion of the gripping device to rotate at least one arm.
[033] An example of this embodiment further comprises at least one locking network rigidly connected to at least one component, which extends in a primarily radial direction and is adapted for coupling to an object that is stationary with respect to the axis.
[034] As a result, it is ensured that the gripping arm pairs of the gripping devices open and close when the shaft is rotated. The component, or components, respectively, also rotate or do not rotate. The connection may allow relative axial movement between the component and the locking network, or not allow any relative movement.
[035] In an example of one of the embodiments, in which each gripping apparatus has at least one actuation portion which, after actuation, is Petition 870250081241, dated 10 / 09 / 2025, page 13 / 49 9 / 30 adapted to produce a pivot of at least one of the arms of the pair of gripping arms around a respective articulation axis, and wherein the arrangement comprises at least one component that can be moved relative to the support in the direction of rotation and is adapted, after rotation of the axis, to actuate the respective drive portion of the gripping apparatus to rotate at least one arm, each gripping apparatus comprises at least one commutation shaft rotatably arranged around an articulation axis by means of actuation of at least one drive portion, wherein the commutation shaft can be axially adjusted with the arrangement.
[036] This reduces the complexity of adjustment when adjusting the axial position of the support with the gripping devices. In addition, the gripping devices form a unit with the switching shaft, which can be easily disassembled. There is no need to provide separately mounted switching shafts along which the gripping devices are moved.
[037] In one example of this embodiment, the actuating portion comprises a lever disposed on the commutation shaft and extending from said commutation shaft, for example, in the form of a roller lever.
[038] In this embodiment, at least one component may, for example, define a control cam by radial distance from the axis of rotation of the shaft. The commutation axis remains at the same radial distance from the axis of rotation of the shaft. The end of the lever is relocated when the support with the gripping devices performs a rotational movement relative to the component. Even if the actuating portion does not move along a control cam, but rather engages with the component or one of the components in another way, such an effect is achieved.
[039] In an example of any of the modalities, where each gripping apparatus has at least one actuation portion which, after Petition 870250081241, dated 10 / 09 / 2025, page 14 / 49 10 / 30 drive, is adapted to produce a pivot of at least one of the arms of the pair of gripping arms around a respective articulation axis, wherein the arrangement comprises at least one component that can be moved relative to the support in the direction of rotation and is adapted, after rotation of the axis, to drive the respective drive portion of the gripping apparatus to rotate at least one arm, and wherein each gripping apparatus comprises at least one commutation shaft rotatably arranged around an articulation axis by means of the drive of at least one drive portion, wherein the commutation shaft can be axially adjusted with the arrangement, each gripping apparatus is configured so that the pivot movements of the arms of a pair of gripping arms are coupled around their respective articulation axes.
[040] As a result, one switching axis is sufficient for each gripping apparatus. Furthermore, the arms of a pair of gripping arms move synchronously, moving away from and towards each other.
[041] In a further example of any of the embodiments, wherein each gripping apparatus has at least one actuating portion which, after actuation, is adapted to produce a pivot of at least one of the arms of the pair of gripping arms around a respective articulation axis, wherein the arrangement comprises at least one component which can be moved relative to the support in the direction of rotation and is adapted to actuate the control cam, after rotation of the axis, the respective actuating portion of the gripping apparatus to articulate at least one arm, and wherein each gripping apparatus comprises at least one commutation axis rotatably arranged around an articulation axis by actuation of at least one actuating portion, wherein the commutation axis can be axially adjusted with the arrangement, each gripping apparatus comprises an apparatus for generating a resetting force which leads to Petition 870250081241, dated 10 / 09 / 2025, page 15 / 49 11 / 30 a torque acting on the commutator shaft.
[042] The reset force can, in particular, produce a pivot towards the other of the gripping arms of the pair, i.e., force the pair of gripping arms into a closed position. At the same time, the reset force ensures that the drive part does not move away from the component or components, respectively, for example, a control cam defined by it / them. Consequently, a positive connection between the component, for example, the control cam, and the drive part is not required. This simplifies the installation and maintenance of the device.
[043] In one embodiment of the device, each gripping apparatus comprises at least one base as a support for at least one of the arms, on which the arm or, respectively, the arms are rotatably mounted, wherein the base is an integral part of the device support.
[044] This reduces installation costs, leads to weight savings and simplifies a design in which (only) the arms of the gripping devices can be replaced.
[045] The invention is explained in more detail with reference to the accompanying drawings, in which: FIG. 1 is a perspective view of an early transport device; FIG. 2 is a top view of the first transport device; FIG. 3 is a bottom view of the first transport device; FIG. 4 is a side view of the first transport device showing only a gripping device; FIG. 5 is a perspective view of parts of the first transport device; FIG. 6 is a side view of parts of the first transport device; Petition 870250081241, dated 10 / 09 / 2025, p. 16 / 49 12 / 30 FIG. 7 is a perspective view of one of the gripping devices included in the first transport device; FIG. 8 shows a cross-section of an axially adjustable part of the first transport device; FIG. 9 shows a cross-section of an axially adjustable part of a modified variant of the first transport device; FIG. 10 is a top view of a second transport device; FIG. 11 is a perspective view of the second transport device; FIG. 12 is a perspective view of parts of the second transport device; FIG. 13 is a side view of parts of the second transport device; FIG. 14 is a second perspective view of parts of the second transport device; FIG. 15 is a top view of a gripping device for the second transport device; and FIG. 16 is a side view of the gripping device shown in Fig. 14.
[046] A first transport device 1 (FIGURES 1-8) for a bottle-shaped container 2 (FIG. 1) is first explained in more detail below, which, in principle, is also suitable for transporting other types of objects, or can be adapted for that purpose.
[047] The first transport device 1 comprises a shaft 3. The shaft 3 has a basic cylindrical (circular) shape. However, two grooves 5, 6 extending in the axial direction (based on a rotation axis 4 of the shaft 3) are configured on the shaft 3. The shaft 3 also has a rack 7 formed by notches that run transversely to the rotation axis 4, extending in the same way in the axial direction.
[048] The first transport device 1 comprises a set of 8 Petition 870250081241, dated 10 / 09 / 2025, p. 17 / 49 13 / 30 arranged on shaft 3 (FIG. 8). Assembly 8 can be inserted into shaft 3 through a first end 9 of shaft 3. It comprises a hub 10, a support plate 11, a control cam support 12, and a base piece 13 of an adjustment mechanism, which is provided with a cover plate 14. The support plate 11 is rigidly connected to the hub 10. The base piece 13 of the adjustment mechanism is also rigidly connected to the hub 10. The control cam support 12 is mounted on the hub 10 so that it can rotate around it. A rotation axis of the control cam support 12 is aligned coaxially with the rotation axis 4. Consequently, the control cam support 12 can be moved relative to the support plate 11 in the direction of rotation. However, the parts of assembly 8 are not movable relative to each other in the axial direction, at least during operation. In the illustrated configuration, the relative axial position cannot be modified in any way.In an alternative embodiment, means may be provided to adjust the relative axial position. However, this adjustment would be maintained during operation.
[049] The base piece 13 is arranged on shaft 3 in a way that is protected against rotation. In the illustrated embodiment, two springs 15 and 16 are provided for this purpose, each interacting with one of the grooves 5, 6. Since the base piece 13 is rigidly connected to the support plate 11, the support plate 11 is also arranged on shaft 3 in a way that is protected against rotation.
[050] A first locking network 17 is rigidly connected to the control cam support 12 and extends in the radial direction. At one end far from the axis of rotation 4, the locking network 17 has a passage through which a column 18 is guided. The position of the column 18 is fixed relative to the axis of rotation 4. Consequently, the control cam support 12 cannot rotate together with the support plate 11 and the shaft 3.
[051] At a second end (which is not visible in the drawings) Petition 870250081241, dated 10 / 09 / 2025, page 18 / 49 14 / 30 opposite the first end 9, shaft 3 is connected, at least indirectly, in a rigid and coaxial manner, to a drive shaft 19. Consequently, the assembly 8 and shaft 3 are part of a unit that can be separated from the drive shaft 19. The connection to the drive shaft 19 may, for example, comprise a flanged connection.
[052] The adjustment mechanism comprises a worm shaft 20 that is rotatably mounted on the base piece 13 and interacts with the rack 7. The worm shaft 20 can be rotated around a rotation axis 21 that is aligned substantially parallel to the rotation axis 4. As a result, the base piece 13 can have a relatively compact design in the radial direction. The cover plate 14 encloses the worm shaft 20 in the base piece 13 in the axial direction. An end portion 22 of the worm shaft 20 has a polygonal cross-section and projects relative to the cover plate 14. Since the base piece 13 forms the assembly piece 8 closest to the first free end 9 of the shaft 3 in the axial direction, the end portion 22 is relatively easy to access for locating a tool or for attaching an actuator. There are no other parts of the transport device 1 between the first free end 9 of the shaft and the assembly 8.
[053] The axial position of assembly 8 can be adjusted by rotating the worm shaft 20 around its axis of rotation 21.
[054] In the illustrated embodiment, a gripping device 23 (FIG. 8) is additionally provided to form a reversible friction connection between the assembly 8, in particular the part of the assembly 8 arranged in a way protected against rotation, and the shaft 3. In this embodiment, the gripping device 23 acts directly on the outer surface of the shaft 3. The gripping device 23 can be operated by means of a lever 24. Said lever 24 also projects in relation to the base piece 13, in particular in relation to the cover plate 14. Other types of gripping devices are possible, for example, those comprising a Petition 870250081241, dated 10 / 09 / 2025, page 19 / 49 15 / 30 clamp or handle. The gripping devices 23 fix the axial position of the assembly 8, which has been adjusted by means of the adjustment mechanism.
[055] In the illustrated embodiment, eight 25a-h gripping devices are arranged in a distributed manner along the circumference of the support plate 11 (FIGURES 1-3). They have the same design, so their construction is explained based on an exemplary 25a gripping device (FIGURES 4-7).
[056] The gripping apparatus 25a has gripping arms 28, 29 arranged pivotally around their respective articulation axes 26, 27. Each gripping arm 28, 29 comprises a gripping arm body 30, 31 and a gripping portion 32, 33 that is interchangeably connected to them. Each gripping arm 28, 29, in the example, each gripping arm body 30, 31, is connected to the support plate 11 by means of a rolling element 34, 35. The rolling elements 34, 35 define the respective articulation axes 26, 27 of the gripping arms 28, 29. At least the gripping portions 32, 33 project relative to a circumferential edge 36 of the support plate 11 in a predominantly radial direction.
[057] The articulation movements of the gripping arms 28, 29 are synchronized by interlocking teeth. In addition, interactive magnets 37, 38 are arranged on the gripping arms 28, 29 at a radial distance from the respective articulation axes 26, 27. A resetting device in the form of a resetting spring 39 connects the gripping arms 28, 29. Both the magnets 37, 38 and the resetting spring 39 exert a force that moves the gripping arms 28, 29 towards each other.
[058] The gripping apparatus 25a comprises a commutator shaft 40 which is rotatably mounted on the support plate 11 and extends through said support plate in the axial direction. At one axial end there is a control element 41 which, when rotating the commutator shaft 40 around a Petition 870250081241, dated 10 / 09 / 2025, page 20 / 49 The 16 / 30 axis of rotation of the commutation shaft 40 exerts a force on at least one of the gripping arms 28, 29, generating a torque that separates the gripping arms 28, 29. This torque acts against the torque generated by the magnets 37, 38 and the reset spring 39. A drive portion in the form of a roller lever 42 is disposed at the other end of the commutation shaft 40. A roller 43 of the roller lever 42 is pressed by the torque generated by the magnets 37, 38 and the reset spring 39 against one or more control cam supports on the circumference 12. During the movement of the roller 43 along the control cams, the radial position of the roller 43 is modified (relative to the axis of rotation 4).
[059] The control element 41 and the roller lever 42 are fixed in relation to the commutation shaft 40 during operation. The commutation shaft 40 is axially fixed in a non-movable manner in the support plate 11. Since the axial distance of the control cam support 12 from the support plate 11 does not change, when adjusting the axial position of the assembly 8, the roller 43 remains in the correct axial position relative to the control cams with which it interacts.
[060] In the illustrated embodiment, the first transport device also comprises a base plate 44 with recesses to receive the belly of the bottle. In the example, the base plate 44 is composed of two parts and can be removed. It can be rotated around a rotation axis aligned coaxially with the rotation axis 4. The rotational movement is coupled to that of axis 3. However, the axial position of the base plate 44 cannot be adjusted in conjunction with that of the assembly 8. Consequently, the first transport device 1 can be adjusted to containers of different heights.
[061] A modified variant 45 (FIG. 9) of the first transport device 1 also comprises a shaft 46 that can be rotated around a Petition 870250081241, dated 10 / 09 / 2025, p. 21 / 49 17 / 30 rotation axis 47. It has a first axial end 48 and a second opposite axial end 49. The first end 48 is a free end during operation. At the second end 49, a flange 50 is provided for detachable connection of the shaft 46 to a transmission shaft (not shown).
[062] The variant of device 45 also comprises an assembly 51 disposed on shaft 46. The assembly 51 can be inserted into shaft 46 through the first end 48 of shaft 46. It comprises a hub 52, a support plate 53 and a control cam support 54. While the first transport device 1 additionally comprises a base piece 13 of an adjustment mechanism, this is integrated into the hub 52 in the variant of device 45. The hub 52 is provided with a cover plate 55.
[063] The support plate 53 is rigidly connected to the hub 52. The control cam support 54 is mounted on the hub 52 so that it can rotate around the hub 52. A rotation axis of the control cam support 54 is aligned coaxially with the rotation axis 47. Consequently, the control cam support 54 can be moved relative to the support plate 53 in the direction of rotation. However, the parts of the assembly 51 are not movable relative to each other in the axial direction, at least during operation.
[064] The hub 52 is arranged on the shaft 46 in such a way as to be protected against rotation, in the same way as the base piece 13. As the hub 52 is rigidly connected to the support plate 53, the support plate 53 is also arranged on the shaft 46 in such a way as to be protected against rotation.
[065] A locking net 56 is rigidly connected to the control cam support 54 and extends in the radial direction. At one end far from the axis of rotation 47, the locking net 56 has a passage through which a column can be guided, whose position is fixed relative to the axis of rotation 47. Consequently, the control cam support 54 cannot rotate either. Petition 870250081241, dated 10 / 09 / 2025, page 22 / 49 18 / 30 the support plate 53 and the shaft 46.
[066] The adjustment mechanism for adjusting the axial position of the assembly 51 comprises a worm shaft 57 which is rotatably mounted in the hub 52 and which interacts with a rack 58 configured on the shaft 46. The worm shaft 57 can be rotated around a rotation axis 59 which is aligned substantially parallel to the rotation axis 47. The cover plate 55 encloses the worm shaft 57 in the axial direction in the hub 52. An end portion 60 of the worm shaft 57 has a polygonal cross-section and projects relative to the cover plate 55. As the portion of the hub 52 in which the worm shaft 57 is disposed in the assembly part 51 closest to the first free end 48 of the shaft 46 in the axial direction, the end portion 60 is relatively easy to access for locating a tool or for coupling an actuator. No other part of the transport device variant 45 is provided between the first free end 48 of the shaft and the assembly 51.
[067] The axial position of the assembly 51 can be adjusted by rotating the worm shaft 57 around its axis of rotation 59. A gripping device (not shown), such as the gripping device 23 of the first transport device 1, can be provided to fix this position.
[068] In other words, it can be observed that assembly 51 is not simply an inverted version of assembly 8 of the first transport device 1. The worm shaft 57 is always arranged in a piece of assembly 51, which is located closer to the first free end 48 of the shaft 46 in the axial direction than the support plate 53. As a result, the gripping devices (not illustrated in FIG. 9) arranged on the support plate 53 do not hinder access to the adjustment mechanism.
[069] This principle is also used in a second transport device 61 (FIGURES 10-16). Petition 870250081241, dated 10 / 09 / 2025, page 23 / 49 19 / 30
[070] The second transport device 61 also comprises a shaft 62 having a basic cylindrical (circular) shape. However, a single groove 64 extending in the axial direction (based on a rotation axis 63 of the shaft 62) is configured on the shaft 62. The shaft 62 further has a rack 65 formed by notches running transversely to the rotation axis 63 and extending equally in the axial direction. The second transport device 61 also comprises an assembly 66 disposed on the shaft 62. The assembly 66 can be inserted into the shaft 62 through a first end 67 of the shaft 62. Said assembly 66 comprises a support wheel 68 and a control cam support 69.
[071] The support wheel 68 has an integral hub 70, spokes 71a-e functioning as connecting networks and a continuous circumferential portion 72. In an alternative embodiment, the support wheel 68 can be configured in multiple parts. However, the one-piece design provides weight savings and a reduction in mass inertia.
[072] The control cam support 69 is mounted on the hub 70 so that it can rotate around the hub 70. A rotation axis of the control cam support 69 is aligned coaxially with the rotation axis 63. Consequently, the control cam support 69 can be moved relative to the support wheel 68 in the direction of rotation. However, the parts of the assembly 66 are not movable relative to each other in the axial direction, at least during operation.
[073] The hub 70 is arranged on the shaft 62 in a way that is protected against rotation by means of a portion 73 that fits into the groove 64.
[074] In one embodiment, the shaft 62 can be configured so that at least two grooves extending in the axial direction are provided. In this embodiment, it is consequently possible, in the case of a corresponding configuration of the transport device 61, in particular by providing multiple portions 73, to ensure an arrangement of the hub 70 such that Petition 870250081241, dated 10 / 09 / 2025, p. 24 / 49 20 / 30 protect it against rotation on shaft 62. The availability of more than one groove 64 allows the insertion of hub 70 onto shaft 62 in different ways. As an example, four grooves can be provided, arranged at equidistant intervals on shaft 62. Consequently, hub 70 can also be inserted onto shaft 62 with a 90° rotation.
[075] A locking net 74 is rigidly connected to the control cam support 69 and extends in the radial direction. At an end distant from the axis of rotation 63, the locking net 74 has a fork 75 with which it can be fixed by an object comparable to the column 18. Consequently, the control cam support 69 cannot rotate together with the support wheel 68.
[076] At a second end 76 opposite the first end 67, the shaft 62 can be connected, at least indirectly, in a rigid and coaxial manner to a transmission shaft. A flange 77 is provided for this purpose. Consequently, the assembly 66 and the shaft 62 form part of a unit that can be connected to a transmission shaft and removed from it again with relative ease.
[077] The adjustment mechanism comprises a worm shaft 78 rotatably mounted in the hub 70 and interacting with the rack 65. The worm shaft 78 can be rotated around a rotation axis 79, aligned substantially parallel to the rotation axis 63. As a result, the hub 70 can have a relatively compact design in the radial direction. This effect is enhanced by the fact that the hub 70 is laterally open in the region of the worm shaft 78. However, a cover plate 80 (FIG. 13) encloses the worm shaft 78 in the hub 70 in the axial direction.
[078] A final portion 81 of the worm shaft 78 has a polygonal cross-section and projects relative to the cover plate 80. As the portion of the hub 70 on which the worm shaft 78 is mounted forms the part of the assembly 66 that is most Petition 870250081241, dated 10 / 09 / 2025, page 25 / 49 21 / 30 near the first free end 67 of the shaft 62 in the axial direction, the end portion 81 for locating a tool or for coupling an actuator is relatively easily accessible. No other part of the transport device 61 is provided between the first free end 67 of the shaft and the assembly 66.
[079] The axial position of assembly 66 can be adjusted by rotating the worm shaft 78 around its axis of rotation 79.
[080] In the illustrated embodiment, a gripping device 82 (FIG. 13) is additionally provided to form a reversible friction connection between the assembly 66, in particular the part of the assembly 66 arranged in a rotation-protected manner, and the shaft 62. In this embodiment, the gripping device 82 acts directly on the outer surface of the shaft 62. The gripping device 82 can be operated by means of a lever 83. Said lever 83 also projects in relation to the hub 70, in particular in relation to the cover plate 80. Other types of gripping devices are possible, for example, those comprising a clamp or handle. The gripping device 82 fixes the axial position of the assembly 66, which has been adjusted by means of the adjustment mechanism.
[081] In the illustrated embodiment, nine gripping devices 84a-i are arranged in a distributed manner along the circumference of the support wheel 68, in particular along the circumferential portion 72. They have the same design, so their construction is explained based on an exemplary gripping device 84 (FIGURES 15-16). More details about the gripping device 84 can be found in European Patent Application No. 21170053.9, dated April 23, 2021.
[082] The gripping apparatus 84a comprises a first arm 85 and a second arm 86. The first arm 85 and the second arm 86 form a pair of gripping arms. In the illustrated embodiment, only one pair of gripping arms is provided per gripping apparatus. However, more than one pair of Petition 870250081241, dated 10 / 09 / 2025, page 26 / 49 22 / 30 gripping arms can also be provided.
[083] The first arm 85 is mounted in a double housing 88 so that it can rotate around a first articulation axis 87 (FIG. 16). The second arm 86 is mounted in the double housing 88 so that it can rotate around a second articulation axis 89. In an alternative embodiment, separate housings can be provided in place of the double housing 88.
[084] In the implementation in the second transport device 61, the double housing 88 is an integral part of the support wheel 68, i.e., it is configured as a single piece with it. This reduces the installation cost.
[085] The articulation axes 87, 89 are aligned substantially parallel to each other and, in the embodiment illustrated, are also aligned substantially parallel to the rotation axis 63 of the assembly 66.
[086] It is possible to imagine a central plane parallel to the two articulation axes 87, 89 between the two arms 85, 86, and to which the arms 85, 86 approach when closing the pair of gripping arms, and from which they move away when opening. In a top view parallel to the articulation axes 87, 89, a central line is produced. If the arms 85, 86 are arranged symmetrically, as in the present case, the central line forms, at least approximately, a bisector of the opening angle.
[087] To ensure this, the articulation movements of the first arm 85 and the second arm 86 are coupled, although the control component of the transport device generates only a torque exerted on the first arm 85.
[088] In the illustrated embodiment (FIGURES 15-16), the first arm 85 is constructed from two parts, namely, a first inner arm part 90 and a second outer arm part 91.
[089] The first part of arm 90 is a substantially solid body. The second part of arm 91 functions as a joint clamp. The second Petition 870250081241, dated 10 / 09 / 2025, page 27 / 49 Part 23 / 30 of arm 91 comprises two fingers that are extended in the axial direction (based on the first articulation axis 87), whose free ends form the free ends of the first arm 85. In the illustrated embodiment, the fingers are adjusted to the contour of a bottle neck, i.e., curved. The second part of arm 91 can be replaced.
[090] The first part of the arm 90 is fixed to a switching shaft 92 in order to protect it against rotation. The switching shaft 92 is mounted in the double housing 88 and guided through it. A roller lever 93 extending from said switching shaft 92 is disposed at one axial end thereof.
[091] The roller lever 93 has a rotatably mounted roller 94. This is adapted to follow the control cam defined by the control cam support 69 when the gripping apparatus 84a is guided beyond the control cam by the relative rotation of the support wheel 68. A torque is generated, which is exerted on the first arm 85. The first arm 85 transmits a force to the second arm 86, so that only the external force exerted on the drive part moves both arms 85, 86. In the illustrated embodiment, the pair of gripping arms opens against a resetting force. In principle, however, an embodiment is also conceivable in which the pair of gripping arms closes against a resetting force and the drive part is adapted to open the pair of gripping arms.
[092] As the roller lever 93 is arranged axially spaced from the first arm 85, it and at least one of the arms 85, 86 may overlap when viewed parallel to the articulation axes 87, 89. As a result, the footprint of the gripping apparatus 84a is relatively small.
[093] In the illustrated embodiment, the second arm 86 is also constructed from two parts, namely, a first inner arm part 95 and a Petition 870250081241, dated 10 / 09 / 2025, page 28 / 49 24 / 30 second part of the external arm 96. The first part of the arm 95 is a substantially solid body. The second part of the arm 96 functions as a joint clamp. In the illustrated embodiment, the second part 91 of the first arm 85 is the mirror image of the second part 96 of the second arm 86. As they are symmetrical with respect to a plane of symmetry transverse to the articulation axes 87, 89, the parts of the second arm 91, 96 are structurally identical, only installed in reverse order.
[094] The first part of arm 95 of the second arm 86 is the mirror image of the first part of arm 90 of the first arm 85. It is true that, in the illustrated embodiment, it has a circular hole through which a second shaft 97 is guided. This is rotatably mounted in the double housing 88 and guided through it.
[095] The second parts of the arm 91, 96 project radially outwards in relation to the circumferential portion 72 of the support wheel 68.
[096] Recesses facing each other and the aforementioned central plane are configured in the first part 90 of the first arm 85 and in the first part 95 of the second arm 86. The recesses have substantially a channel-shaped design; recognizably, they are bounded in the axial direction at their respective ends located closest to the double housing 88. A power transmission body 98 held between the recesses is supported on these boundaries.
[097] The recesses have a rounded inner contour when viewed in the axial direction. They surround the force transmission body 98 in such a way that a force directed predominantly parallel to the aforementioned central plane can be transmitted through it. A portion of the first part 90 of the first arm 85 and a portion of the first part 95 of the second arm 86 delimit a respective portion of an inner surface of the first recess or, Petition 870250081241, dated 10 / 09 / 2025, page 29 / 49 25 / 30 respectively, of the second recess. These surface portions have a respective normal, which has a principal component parallel to the aforementioned central plane, at least in the closed condition of the pair of gripping arms. Furthermore, it is located between the articulation axes 87, 89, but at a distance from the respective articulation axes 87, 89. Consequently, a torque is generated by the transmitted force.
[098] A spring 73 that wraps around arms 85, 86 exerts a resetting force, in this case, a closing force. In other embodiments, other devices for exerting a resetting force may be provided additionally or alternatively. Examples can be found in document WO 2020 / 108758 A1.
[099] In the illustrated embodiment, the power transmission body 98 is an elongated body. Due to the shape of the recesses, the longitudinal axis of the power transmission body extends substantially in the axial direction, based on the articulation axes 87, 89. In an alternative embodiment, the power transmission body 98 may be spherical and the recesses may have a cylindrical or spherical design. In the illustrated embodiment, the power transmission body 98 is designed as a cylinder with a circular cross-section. A cylindrical shape with a polygonal cross-section is also possible. However, the round shape leads to more uniform power transmission and, consequently, less wear and abrasion.
[0100] As illustrated in FIGURES 15 and 16, the switching shaft 92 is connected to the first arm 85. In the case of the gripping devices 84a-i of the second transport device 61, as illustrated in FIGURES 10-14, this is the second arm 86. That is, both arrangements are possible. It is simply the roller lever 93 that must be arranged according to the arrangement and direction of rotation. Petition 870250081241, dated 10 / 09 / 2025, pp. 30 / 49 26 / 30
[0101] When installed in assembly 66, the gripping device 84a has only a small extension in the direction of the axis of rotation. Furthermore, it can be manufactured with relatively few components. The double housing 88 is relatively compact in the radial direction (based on the axis of rotation 63), since only the commutation shaft 92 and the second shaft 62 are mounted in it. This is due to the fact that the first arm 85 is installed directly on the commutation shaft 92. The force transmission body 98 and the reset spring 73 ensure that the articulation movements of the two arms 85, 86 are synchronized.
[0102] The commutator shaft 92 is fitted with the assembly 66 in the axial direction. As a result, it is relatively short.
[0103] The second transport device 61 is compact and lightweight. In addition, the adjustment mechanism is easily accessible. This also applies to the gripping devices 84a-i.
[0104] The invention is not limited to the illustrated embodiments, which may be varied within the scope specified by the claims. The control cam support 12, 69 may be designed, for example, as a cylindrical (circular) drum, to the surface of the housing are removable discrete bodies that define the portions of the actual control cam. The transport device may thus be optimized more flexibly for a specific deployment. List of Reference Numbers - 1st transport device - Bottle - Axle - Axis of rotation - 1 spider - 2nd slot Petition 870250081241, dated 10 / 09 / 2025, page 31 / 49 27 / 30 Rack and pinion - Axially positionable assembly - 1 the end of the shaft - Cube Support plate - Control cam support - Base piece - Cover plate - 1st spring - 2nd spring Blocking network - Column - Transmission shaft Endless shaft - Axis of rotation Final portion - Gripper Lever 25a-h - Grip devices Left articulation axis - Right articulation axis Left gripping arm - Right gripping arm - Body of the left gripping arm - Body of the right gripping arm Left grasping portion - Right grasp portion Petition 870250081241, dated 10 / 09 / 2025, pp. 32 / 49 28 / 30 Left rolling element Right-hand rolling element - Circumferential border Left magnet - Right magnet Reset spring - Commutation axis Control element Roller lever - Rollers Grounding plate - Device variant - Axle - Axis of rotation - 1st extremity - 2nd end - Flange - Set - Cube Support plate - Control cam support - Cover plate Blocking network Endless shaft Rack and pinion - Axis of rotation Final portion Petition 870250081241, dated 10 / 09 / 2025, pp. 33 / 49 29 / 30 - 2nd transport device - Axle - Axis of rotation - Groove Rack and pinion - Set - 1st End - Support wheel - Control cam support - Cube 71a-e - Rays - Circumferential portion - Coupling portion Blocking network - Fork - 2nd end - Flange Endless shaft - Axis of rotation - Cover plate Final portion - Gripper Lever 84a-i - Grip devices - 1st arm - 2nd arm - 1st articulation axis Petition 870250081241, dated 10 / 09 / 2025, pp. 34 / 49 30 / 30 - Double casing - 2nd articulation axis - Part 1 of the 1st arm - 2nd part of the 1st arm - Commutation axis Roller lever - Rollers - Part 1 of the 2nd arm - Part 2 of the 2nd arm - 2nd axis - Power transmission body Reset spring Petition 870250081241, dated 10 / 09 / 2025, pp. 35 / 49
Claims
1 / 4 CLAIMS 1. Device for grasping and transporting objects (2), for example, containers, comprising: a shaft (3; 46; 62); an arrangement (8; 51; 66) comprising at least one support (11; 53; 68) which is arranged to protect it against rotation on the shaft (3; 46; 62), wherein an axial position of the arrangement (8; 51; 66) along the shaft (3; 46; 62) can be adjusted; and at least one gripping device (25a-h; 84a-i) disposed on the support (11; 53; 68), wherein each gripping device (25a-h; 84a-i) comprises a pair of gripping arms (28, 29; 85, 86) for gripping one of the objects (2), CHARACTERIZED in that the device comprises an adjustment mechanism for adjusting the axial position of the arrangement (8; 51; 66) along the axis (3; 46; 62), which comprises a rack (7; 58; 65) configured on the axis (3; 46; 62) and a transmission shaft (20; 57; 78) which is rotatably mounted on the arrangement (8; 51; 66) and interacts with the rack (7; 58; 65).
2. Device according to claim 1, CHARACTERIZED in that the transmission shaft (20; 57; 78) is rotatably mounted around a rotation axis (21; 59; 79) aligned substantially parallel to the rack (7; 58; 65).
3. Device according to claim 1 or 2, CHARACTERIZED in that the transmission shaft (20; 57; 78) is a worm shaft.
4. Device, according to any of the preceding claims, CHARACTERIZED in that the arrangement (8; 51; 66) can be inserted into the shaft (3; 46; 62) or, respectively, can be removed from the shaft (3; 46; Petition 870250081241, dated 10 / 09 / 2025, page 36 / 49 2 / 4 62) through a first axial end (9; 48; 67) of the shaft (3; 46; 62), and in that the shaft (3; 46; 62) can be coaxially connected to a transmission shaft (19) at a second opposite end (49; 76).
5. Device according to claim 4, CHARACTERIZED in that a connecting flange (50; 77) for connecting the shaft (46; 62) to the transmission shaft (19) is provided at the second end (49; 76).
6. Device, according to any of the preceding claims, CHARACTERIZED in that the arrangement (8; 51; 66) can be inserted into the shaft (3; 46; 62) or, respectively, can be removed from the shaft (3; 46; 62), through a first axial end (9; 48; 67) of the shaft (3; 46; 62), and wherein the transmission shaft (20; 57; 78) is rotatably mounted in a part of the arrangement (8; 51; 66), which is disposed at an end of the arrangement (8; 51; 66) nearest to the first end (9; 48; 67).
7. Device, according to any of the preceding claims, CHARACTERIZED in that the transmission shaft (20; 57; 78) has a portion (22; 60; 81) for coupling at least one tool or actuator at one end.
8. Device according to claim 6 or 7, CHARACTERIZED in that the portion (22; 60; 81) is disposed at one end of the transmission shaft (20; 57; 78) nearest to the first end (9; 48; 67).
9. Device, according to any of the preceding claims, CHARACTERIZED in that it further comprises an apparatus (23; 82) for forming a reversible friction connection between the arrangement (8; 51; 66) and the shaft (3; 46; 62).
10. Device, according to any of the preceding claims, CHARACTERIZED in that each gripping apparatus (25a-h; 84a-i) has at least one actuating portion (42; 93) which, when actuated, Petition 870250081241, dated 10 / 09 / 2025, p. 37 / 49 3 / 4 is adapted to produce a pivot of at least one of the arms (28, 29; 85, 86) of the pair of gripping arms around a respective articulation axis (87, 89), and wherein the arrangement (8; 51; 66) comprises at least one component (12; 54; 69) that can be moved relative to the support (11; 53; 68) in the direction of rotation and is adapted, when rotating the axis (3; 46; 62), to actuate the respective drive portion (42; 93) of the gripping apparatus (25a-h; 84a-i) to rotate at least one arm (28, 29; 85, 86).
11. Device according to claim 10, CHARACTERIZED in that it further comprises at least one locking network (17; 56; 74) rigidly connected to at least one component (12; 54; 69), which extends in a predominantly radial direction and is adapted for coupling to an object (18) that is stationary with respect to the axis (3; 46; 62).
12. Device according to claim 10 or 11, CHARACTERIZED in that each gripping apparatus (25a-h; 84a-i) comprises at least one commutation shaft (40; 92) rotatably arranged around an articulation axis (87) by actuation of one of at least one actuation portions (42; 93), wherein the commutation shaft (40; 92) can be axially adjusted with the arrangement (8; 51; 66).
13. Device according to claim 12, CHARACTERIZED in that the actuating portion (42; 93) comprises a lever disposed on the commutation shaft (40; 92) and extending from said commutation shaft, for example, in the form of a roller lever.
14. Device according to claim 12 or 13, CHARACTERIZED in that each gripping apparatus (25a-h; 84a-i) is configured in such a way that the pivot movements of the arms (28, 29; 85, 86) of a pair of gripping arms are coupled around their respective articulation axes (87; 89).
15. Device according to any one of claims 12 to 14, CHARACTERIZED in that each gripping apparatus (25a-h; 84a-i) comprises an apparatus (37, 38, 39; 99) for generating a resetting force that leads to a torque acting on the commutation shaft (40; 92). Petition 870250081241, dated 10 / 09 / 2025, pp. 39 / 49