Apparatus for holding containers and container handling apparatus

Abstract

The invention relates to a device (1) for holding containers (7) in a container handling device, for holding beverage containers (7) in a neck section or a belly section, comprising two gripper arms (2) pivotable relative to one another in a pivot plane (21), which each have a holding section (20) for holding a container (7) to be held, a lifting lever (3) movable relative to the pivot plane (21) along its longitudinal axis (30), a coupling element (4) rotatably coupled to a pivot lever (23) arranged in a torsion-proof manner on the gripper arms (2) and rotatably coupled to the lifting lever, and also a magnet arrangement (8) which constitutes a means for holding the coupling element (4) in a predefined position relative to a geometric axis (46) oriented between a coupling portion (41) of the coupling element (4) to the lifting lever (3) and a coupling portion (42) of the coupling element (4) to the pivot lever (23), and to a container handling device equipped with such a device.

Description

Technical Field

[0001] The present invention relates to a device for holding a container in a container handling apparatus, such as a device for holding a beverage container in the neck section or the belly section of a container closure apparatus. Background Technology

[0002] It is known that in beverage bottling facilities, containers to be filled or already filled are held by means of equipment for holding containers, and in this way transported through various processing stations of the container handling equipment. Different equipment for holding the respective containers is known, and said equipment holds the respective containers to be processed in different ways and methods.

[0003] Therefore, passive devices or passive clamps for holding containers are known, which are elastically pre-tensioned and then held simply by pushing the corresponding container into the device for holding the container. Such a clamp for gripping containers is known from DE102015218204A1. The clamp has a fixed position. In order to grip the container, the container must be pressed into the clamp. Here, rigid gripping arms open outward, so that the container must move against the closing force of the gripping arms generated by the opening of the clamp. As a result, the container is loaded with a large force when pushed in, making such holding devices unsuitable for gripping or holding fragile and / or deformable, as well as thin-walled containers. In addition, there is a tendency to scratch the surface of the corresponding container, which degrades the quality of the container.

[0004] Furthermore, active devices or active clamps for holding containers are also known, wherein the opening and closing of the corresponding holding section of the device for holding containers is actively performed by means of an actuator. Such active devices for holding containers are particularly useful for safely and protectively receiving containers from previous containers or ensuring that containers are handed over to subsequent containers in a similarly safe and protective manner. In particular, by actively opening and closing the corresponding containers, increased friction at the container can be avoided, which could, for example, cause scratches, and a preset holding or clamping force can be adjusted to be followed within a preset tolerance range of the container dimensions. Such active devices for holding containers consist of many parts, such as clamping arms, bushings, spring elements, preload elements, and corresponding connecting elements for securely connecting the aforementioned components, as well as control elements for controlling the position of the clamping arms or holding sections, such as actuators, rollers, and teeth. Therefore, such containers require extensive cleaning and have correspondingly high production costs. Such devices for holding containers are known, for example, from US2012 / 085068A1 or DE102009043984A1.

[0005] In beverage bottling facilities, the products being filled are often highly sensitive to contaminants, which means that, for example, container filling or sealing of containers with container closures is carried out in a special atmosphere, provided, for example, through a clean room or isolator.

[0006] To reduce cleaning costs, it is known that the control unit for controlling or presetting the position of the gripper is located outside the cleaning chamber, as described in DE102010049026A1 or DE102012112946A1. Since the control unit is located radially inside the device for holding the container relative to its axis of rotation, a relatively large installation space in the radial direction is mandatory for the transport equipment. Summary of the Invention

[0007] Based on known prior art, the object of the present invention is to provide an improved device for holding a container in a container handling device, preferably in a neck section or a belly section in a container sealing device, and a corresponding method.

[0008] The objective is achieved by a device having the features of claim 1 for holding a container in a container handling apparatus, preferably for holding a beverage container in a neck or belly section in a container closure apparatus. Advantageous improvements are derived from the dependent claims, the description, and the drawings.

[0009] Accordingly, an apparatus for holding a container in a container handling device is proposed, preferably for holding the beverage container in a neck or belly section. The apparatus includes two gripping arms pivotable relative to each other in a pivot plane. Each gripping arm has a holding section for holding the container to be held, a lifting rod movable along its longitudinal axis relative to the pivot plane, and a coupling element rotatably coupled to a pivot lever torsionally mounted on the gripping arm and rotatably coupled to the lifting rod. The apparatus further includes a magnetic device configured to hold the coupling rod in a predetermined position relative to a geometric axis oriented between the coupling portion of the coupling element and the lifting rod and the coupling portion of the coupling element and the pivot lever.

[0010] Because the device includes a lifting rod movable relative to the pivot plane along its longitudinal axis and a coupling element rotatably connected to a pivot lever mounted on the gripper arm and rotatably connected to the lifting rod, the minimum structural space in the radial direction of the container transport device can be smaller compared to conventional devices. Instead of radially inward manipulation, the control device for the gripper arm of the device for holding the container can be positioned above or below the pivot plane. In principle, there is no limitation on structural space. It is also feasible to place the device for holding the container near the axis of rotation of the transport device.

[0011] Furthermore, compared to pivoting or rotating control elements, the seal between the movable lifting rod and the housing of the container handling equipment can be constructed more simply, and in particular, a static seal can be achieved on the lifting rod and the housing.

[0012] Furthermore, the control device or control unit can be easily placed in areas unlikely to be contaminated or only minimally contaminated by the filling product. In other words, the control device or control unit can also be located outside the cleanroom.

[0013] Furthermore, the device therefore includes a magnet assembly configured to hold the coupling element in a predetermined position relative to a geometric axis oriented between the coupling element and the coupling portion or connection of the lifting rod and between the coupling element and the coupling portion or connection of the pivot lever. This ensures that the coupling element does not tilt about the geometric axis during device operation, thereby preventing contact with the lifting rod or the housing component that at least partially surrounds the lifting rod. Accordingly, this avoids undesirable abrasion of the coupling element on the lifting rod and / or housing component during device operation, which would cause mechanical wear in the corresponding area and the risk of contamination of the packing and / or the container to be held, as well as other components of the facility including the device, by debris generated by abrasion.

[0014] Therefore, the magnet device provides balance of the coupling element relative to the lifting rod or housing component, or provides the rotational angular position of the coupling element relative to the geometric axis, without the need for additional wear parts such as springs or sliding bearings, which would otherwise lead to cost and additional undesirable friction.

[0015] The magnet device preferably provides magnetic force, preferably magnetic repulsion, between the coupling element and the lifting rod and / or between the coupling element and the housing component that at least partially surrounds the lifting rod and / or other elements spatially associated with the lifting rod, wherein the coupling element is held in a predetermined position, i.e., a rotational angular position relative to the geometric axis, by means of the provided magnetic force.

[0016] It has been proven advantageous that the rotatability of the pivot lever relative to the lifting rod and / or relative to the pivot lever enables pivoting about at least two, preferably three, mutually orthogonally oriented axes by at least a predetermined pivot angle. Pivoting about multiple axes can be provided individually by independent bearing devices having a degree of freedom, i.e., rotatability about one axis. Alternatively or additionally, pivoting about at least two axes can also be provided by bearing devices. Preferably, pivoting about three orthogonally oriented axes is provided by bearing devices, preferably by ball joint-shaped bearing devices or by ball joints.

[0017] According to another preferred embodiment, the magnet device has at least one magnet element on the coupling element pointing towards the lifting rod and at least one magnet element on the side of the lifting rod pointing towards the coupling element, wherein the magnet elements are arranged substantially opposite each other and oriented such that the magnet elements face each other with the same polarity. In other words, the magnet element on the side of the coupling element and the magnet element on the side of the lifting rod opposite to it constitute a pair of opposing magnet elements.

[0018] Because the pair of magnetic elements are positioned opposite each other with the same polarity, there is magnetic repulsion between them, which prevents the magnetic elements from moving toward each other, thereby preventing the coupled element from moving toward or tilting toward the lifting rod.

[0019] It has proven advantageous to arrange multiple magnetic elements on the coupling element, which are opposite to multiple magnetic elements on the side of the lifting rod. Preferably, at least one pair of opposite magnetic elements is arranged on one side of the geometric axis of the coupling element, and at least one pair of opposite magnetic elements is arranged on the other side of the geometric axis. This provides magnetic repulsion on both sides of the geometric axis, such that the coupling element is correspondingly pressed away from the lifting rod on both sides of the geometric axis.

[0020] By appropriately setting and configuring the magnetic elements with respect to their distance from the geometric axis and their magnetic strength, the coupling elements can be held in a preset position or orientation, in which mechanical contact between the coupling elements and the lifting rod and / or housing components is avoided.

[0021] It has been proven advantageous to orient the lifting boom perpendicular to the pivot plane relative to its longitudinal axis. Other orientations of the lifting boom relative to the pivot plane are also feasible, for example, orientations at angles other than 90°, orientations located within the pivot plane, or orientations located in a plane parallel to the pivot plane.

[0022] In order to convert the movement of the lifting boom into the pivoting motion of the holding areas relative to each other, it is preferable to provide a coupling device between the grab arm and the lifting boom, which converts the movement of the lifting boom into the pivoting motion of the holding areas relative to each other.

[0023] According to a preferred embodiment, the grippers are pivotally disposed about a common pivot axis. Alternatively, the grippers may each have their own pivot axis about which they are pivotally disposed.

[0024] Alternatively, the pivoting of the grippers relative to each other can be achieved by the movement of the grippers in the pivot plane, preferably by the movement and pivoting of the grippers relative to each other, without the grippers having a fixed pivot axis.

[0025] In order to maintain the movement of the segments relative to each other, it is also possible to make only one of the grippers move while the other remains fixed.

[0026] Preferably, each of the two gripping arms has a pivot lever, which is coupled to the lifting rod via a coupling element, or the gripping arms are rotatably coupled to each other, preferably via two engaging gears.

[0027] According to another preferred embodiment, the coupling element is coupled to the lifting rod by means of a ball joint, and / or the pivot lever is coupled to the coupling element by means of a ball joint.

[0028] In order to adjust the position of the gripper arm, the coupling element can have an adjusting element, preferably an eccentric element, to adjust the pivot position of the gripper arm. Preferably, the distance between the coupling element and the coupling portion of the lifting rod and the coupling portion of the coupling element and the pivot lever can be changed by adjusting the adjusting element.

[0029] According to another preferred embodiment, the lifting rod includes a slider element, wherein at least one coupling element is coupled to the lifting rod via the slider element.

[0030] Preferably, the slider element includes at least one magnetic element of the magnet device. It has proven advantageous that the slider element includes all the magnetic elements on the side of the lifting rod, because this enables at least one magnetic element of the coupling element and the magnetic elements disposed opposite to it on the side of the lifting rod to be positioned relative to each other with particular precision in any position of the lifting rod relative to the grab arm.

[0031] According to a preferred improvement, the coupling element can be coupled to the slider element on one side relative to the longitudinal axis, and the coupling element can be coupled to the pivot lever on the other side.

[0032] It has been proven that if the slider element is configured in an S-shape and connected to the lifting rod at the center section, a simple and stable structure for holding the container can be achieved.

[0033] According to another preferred embodiment, the coupling element at the lifting rod is arranged along the longitudinal axis above the coupling portion of the coupling element and the pivot lever, relative to the orientation of the container held by the gripping arm in the device for holding the container. If the pivot lever extends on one side of the holding section relative to the axis of rotation, then the gripping arm is opened by the movement of the lifting rod toward the gripping arm, in other words, by the orientation caused by the downward movement of the lifting rod relative to the device for holding the container, i.e., the holding sections of the gripping arm pivot away from each other. Correspondingly, the holding sections can be closed by lifting the lifting rod, i.e., by the upward movement of the lifting rod, wherein the holding sections pivot in opposite directions toward each other.

[0034] If the pivot lever extends relative to the axis of rotation on the side opposite to the holding section, for example, on the back side of the device, then the gripping arm can be closed by moving the lifting rod toward the gripping arm; in other words, the gripping arm can be closed relative to the device for holding the container by moving the lifting rod downward, i.e., the holding sections of the gripping arm pivot toward each other. Correspondingly, the holding section can be opened by raising the lifting rod, i.e., moving the lifting rod upward, wherein the holding sections pivot away from each other in the opposite direction.

[0035] Alternatively, the coupling portion of the coupling element at the lifting rod can be positioned below the coupling portion of the coupling element and the pivot lever in the direction of the longitudinal axis. This allows the gripper to open when the pivot lever is positioned on one side of the holding section, by moving the lifting rod toward the gripper arm—in other words, by the orientation caused by the downward movement of the lifting rod relative to the equipment for holding the container—while the holding sections pivot away from each other in the opposite direction. Closure is achieved when the pivot lever extends on the side opposite to the holding section. Correspondingly, by raising the lifting rod (i.e., moving the lifting rod upwards), the holding section can be closed when the pivot lever is positioned on one side of the holding section, i.e., the holding sections of the gripper arm pivot toward each other, and closure is achieved when the pivot lever extends on the side opposite to the holding section.

[0036] Therefore, according to another preferred embodiment, the coupling between at least one pivot lever and at least one coupling element can be arranged on the side opposite to the holding section relative to the pivot axis, or the coupling between at least one pivot lever and at least one coupling element can be arranged on the side of the holding section relative to the pivot axis.

[0037] According to another preferred embodiment, the lifting rod has a control unit on its side opposite to the gripper arm, the control unit being used to control the position of the lifting rod relative to the longitudinal axis. Therefore, the control unit can be positioned in an area where the risk of contamination by the filling product is low. In particular, this makes it possible to position the control unit outside the housing, which surrounds the gripper arm of the device used to hold the container.

[0038] In order to keep the holding section of the grab arm in a preset position, such as the closed position or the open position of the holding section, the control unit may have a pretensioning element, preferably a spring, for pretensioning the lifting rod to the preset position.

[0039] Alternatively or additionally, the lifting rod may include an interaction section for interacting with a preset device for preset the position of the lifting rod, wherein the interaction element is preferably in the form of a slider element, a bolt and / or a roller, preferably configured for sliding and / or rolling on the preset device configured as a guide bend or guide groove.

[0040] According to another preferred embodiment, the lifting rod includes two rod elements movable relative to each other in the direction of the longitudinal axis, wherein the rod elements are coupled via spring elements in the direction of the longitudinal axis. This allows for the provision of a holding force generated according to the spring travel of the spring elements, by which the container is held in the holding section. This holding force is here generated by the overtravel of the rod elements relative to each other, where the overtravel is the spring travel of the spring elements.

[0041] According to another preferred embodiment, the lifting rod includes a seal for sealing the lifting rod relative to a housing opening of the container handling equipment housing, through which the lifting rod extends. It is therefore feasible to house the gripper arm within the housing, wherein a specialized atmosphere, preferably corresponding to a cleanroom, can be provided inside the housing, particularly an atmosphere with reduced bacterial counts, in which containers held by the gripper arm can be processed, and a control unit can be located outside the housing.

[0042] Preferably, the seal is fixed to the lifting rod. Alternatively or additionally, the seal may also be configured to be fixed to an opening in the housing.

[0043] Preferably, the seal is configured to compensate for the travel required for pivoting the grab arm during operation of the lifting boom, wherein the seal preferably comprises a silicone material and / or is configured as a bellows.

[0044] In this regard, "fixed" is understood as statically fixed, where there is no relative movement or relative movement is not feasible between the lifting rod and the seal or between the housing and the seal.

[0045] According to another preferred embodiment, the coupling housing surrounds at least one coupling element and at least one pivot lever, wherein preferably, the lifting rod extends through a preferably sealed opening in the coupling housing, and the gripping arms are respectively fixed on shafts pivotable about a pivot axis of the gripping arms, wherein the shafts extend through preferably sealed holes in the coupling housing. Thus, the coupling areas between the lifting rod and the gripping arms, particularly the areas where the coupling element is coupled to the lifting rod, the areas where the coupling element is coupled to the pivot lever, and the bearing arrangements of the shafts on the support, are all protected by the coupling housing from contamination, such as contamination by the filling product.

[0046] The above objective is also achieved by a container handling apparatus having the features of claim 10. Improvements to the container handling apparatus arise from the dependent claims, as well as from this specification and the accompanying drawings.

[0047] Accordingly, a container handling apparatus is proposed, preferably for closing containers with a container closure, the container handling apparatus including a transport device for transporting the containers. A characteristic of this container handling apparatus is that the transport device has a device for holding the containers according to one of the above embodiments.

[0048] Because the transport equipment has the device for holding the container as described in one of the above embodiments, the advantages and effects described with respect to the device are also applied to the container handling equipment in a similar manner.

[0049] According to a preferred embodiment, the container handling equipment includes a housing for providing an enclosed space, wherein a gripping arm is disposed inside the housing, and a lifting rod extends through an opening in the housing, wherein a control unit is disposed outside the housing, preferably above the opening in the housing.

[0050] Preferably, the housing opening is sealed by providing a seal as described above between the housing opening and the lifting rod. Attached Figure Description

[0051] Preferred further embodiments of the invention are described in detail below with reference to the accompanying drawings. As shown herein:

[0052] Figure 1 A schematic side view of the container handling equipment is shown.

[0053] Figure 2 A schematic perspective side view of a device used to hold a container is shown.

[0054] Figure 3 schematically shown Figure 2 A three-dimensional rear view of the equipment in the image;

[0055] Figure 4 schematically shown Figure 2 Rear view of the device in the image;

[0056] Figure 5 schematically showing the through Figures 2 to 4 A cross-sectional view of the coupling elements of the device in the diagram;

[0057] Figure 6 schematically shown Figure 2 A three-dimensional side view of a sub-region of the device;

[0058] Figure 7 schematically shown Figure 5 A three-dimensional side view of the coupling element in the diagram;

[0059] Figure 8 schematically shown Figure 2 A sectional view of a sub-region of the device;

[0060] Figure 9 Schematic illustration of the open state Figure 2 A pair of grippers in the device;

[0061] Figure 10 Schematic illustration of the off state Figure 9 A pair of grippers;

[0062] Figure 11 schematically shown Figure 2 Functional diagram of the equipment in the diagram;

[0063] Figure 12 A schematic diagram illustrating the function of another device for holding a container; and

[0064] Figure 13 A side view of another device used to hold a container is shown schematically. Detailed Implementation

[0065] In the following description, preferred embodiments are illustrated with reference to the accompanying drawings. Here, in different drawings, identical, similar, or functionally equivalent elements are given the same reference numerals, and some of these elements are not described again to avoid redundancy.

[0066] exist Figure 1 The diagram schematically shows a side view of a container handling apparatus 100, which includes a transport device 110 for transporting containers 7, a handling device 130, currently in the form of a closing device for closing containers 7 with a container closure (not shown), and a housing 120 that at least partially surrounds the handling device 130. The housing 120 can be, for example, an insulator used to create an atmosphere shielded from the environment within its interior cavity.

[0067] The transport equipment 110 has a device 1 for holding a container 7, the device including two gripping arms 2 pivotable relative to each other in a pivot plane 21, each gripping arm having a holding section 20 for holding the container 7 to be held, currently in the neck section of the container 7.

[0068] The device 1 shown here also includes a lifting rod 3, which is coupled to the gripper arm 2, such that the holding section 20 can pivot relative to each other by relative movement of the lifting rod 3 perpendicular to the pivot plane 21. Figure 1 In the figure, the movement of the lifting rod 3 is indicated by reference numeral 37, and the pivoting of the grab arm 2 is indicated by reference numeral 25.

[0069] In a variant of device 1 (not shown here), the lifting rod 3 can also be configured to move at an angle other than 90° relative to the pivot plane 21, or to move within the pivot plane 21 itself or in a plane parallel to the pivot plane 21. Accordingly, the lifting rod 3 can also be oriented at an angle other than 90° relative to the pivot plane 21, either within the pivot plane 21 or in a plane parallel to the pivot plane 21.

[0070] In the configuration shown here, the lifting rod 3 extends along its longitudinal axis 30. Currently, the lifting rod 3 is oriented perpendicular to the pivot plane 21 about its longitudinal axis 30.

[0071] A coupling device 10 is provided between the lifting rod 3 and the grab arm 2. The coupling device is designed to convert the movement of the lifting rod 3 perpendicular to the pivot plane 21 into the pivoting of the grab arm 2 relative to each other.

[0072] The lifting boom 3 includes a control unit 5 for controlling the position of the lifting boom 3 relative to the longitudinal axis 30. The control unit 5 includes a preload element 50, currently in the form of a helical spring, which is supported on one side of a shoulder 38 of the lifting boom 3 and on the other side of a carrier 111 of the transport device 110.

[0073] A rolling bearing 53 is provided between the shoulder 38 and the end of the helical spring supported on the shoulder, the rolling bearing being used for rotational decoupling of the preload element 50 and the shoulder 38.

[0074] With the aid of the pretensioning element 50, the lifting rod 3 is pretensioned in the direction of the longitudinal axis 30, which currently corresponds to the direction of gravity g, and observed in the upper end position.

[0075] Furthermore, the control unit 5 includes an interaction section 51, currently in the form of a roller 52, which is capable of rolling on a guide curve (not shown). In the upper end position of the lifting rod 3, the gripping arm 2, and thus the holding section 20, is in the open position. To move the gripping arm 2, and thus the holding section 20, into the closed position, the lifting rod 3 must overcome the preload of the preload element 50 and move perpendicularly to the pivot plane 21 toward the gripping arm 2, in which the container 7 to be held is held. The movement 37 of the lifting rod in the direction of gravity g is converted into a pivoting movement 22 of the gripping arm 2 via the coupling device 10.

[0076] The lifting rod 3 includes two rod elements 33 and 34 that are movable relative to each other in the direction of the longitudinal axis 30, and the rod elements are coupled in the direction of the longitudinal axis via a spring element 35. The overtravel of the spring element 35 and the upper rod element 33 allows a closing force to be provided on the retaining section 20 accordingly.

[0077] The overtravel of lever element 33, i.e., the path that lever element 33 additionally travels via roller 52 after gripper arm 2 is in the closed position due to the movement of lifting element 3 toward gripper arm 2, corresponds in this case to the spring travel of spring element 35. Through this spring travel, pressure is transmitted to lower lever element 34 according to the spring stiffness of spring element 35. This pressure is transmitted to gripper arm 2 via coupling device 10, causing gripper arm 2 to press against the container 7 to be held with a corresponding closing force at its holding section 20.

[0078] Alternatively, the lifting rod can also be coupled to the grab arm, causing the lifting rod 3 to rise against the direction of gravity g. Therefore, the preload element 35 can be configured as a tension spring.

[0079] The gripper arm 2 of device 1 is disposed within an enclosed space provided by housing 120. The lifting rod 3 extends through housing opening 121, wherein the control unit 5 is disposed outside housing 120, currently positioned above housing 120.

[0080] The lifting rod 3 includes a seal 36, by means of which the lifting rod 3 seals relative to the housing seal 21. Currently, the seal 36 is securely fixed to the lifting rod 3 and equally securely fixed to the housing opening 121 or the housing 120. The seal 36 is configured such that the required stroke of the lifting rod 3 during operation can be compensated by the seal 36. Currently, the seal 36 is made of silicone and is constructed in the form of a bellows.

[0081] Alternatively, the seal 36 can also be constructed in the form of a hollow cylinder.

[0082] Figure 2 and Figure 3A perspective side view and a perspective rear view of a device 1 for holding a container are schematically shown, for example, capable of being contained according to... Figure 1 In the container handling equipment 100.

[0083] As already regarding Figure 1 As described, the device 1 includes two gripping arms 2 and a lifting rod 3 that are pivotable relative to each other in a pivot plane 21.

[0084] The gripping arms 2 are pivotally mounted on the support 11 about a pivot axis 22 formed by a mechanical shaft 24 oriented parallel to the longitudinal axis 30. Each gripping arm 2 further includes a pivot lever 23 mounted on the shaft 24, which extends perpendicularly to the pivot axis 22 on the side opposite to the holding section 20. The pivot lever 23 is torsionally connected to the gripping arm 2 in this configuration.

[0085] The lifting rod 3 includes an S-shaped slider element 31, which is rigidly fixed to the lifting rod 3 in the central section 32 of the slider element 31.

[0086] Each pivot lever 23 is coupled to the lifting rod 3 via a coupling element 4, wherein a second coupling portion 42 between the coupling element 4 and the pivot lever 23 is located on a side opposite to the holding section 20 relative to its respective pivot axis 22. Each coupling element 4 is pivotally mounted on one side of the slider element 31 of the lifting rod 3 via a ball joint 45 on three mutually orthogonally oriented axes. On the other side of the coupling element 4, the pivot lever 23 is pivotally supported on the coupling element 4 via another ball joint 45 on three mutually orthogonally oriented axes.

[0087] Furthermore, each coupling element 4 includes an adjustment element 43, currently configured as an eccentric element, for adjusting the pivot position of the gripper arm. The distance between the first coupling portion 41 and the second coupling portion 42 can be adjusted via the eccentric element.

[0088] As shown schematically Figure 2 and Figure 3 Rear view of device 1 Figure 4 As seen in the diagram, the first coupling portion 41 between the coupling element 4 and the slider element 31 is positioned above the second coupling portion 42 between the coupling element 4 and the pivot lever 23, wherein the first coupling portion 41 and the second coupling portion 42 are positioned on the side opposite to the holding section 20 relative to the pivot axis 22. Therefore, the movement of the lifting rod 3 in the direction of gravity g causes the gripper arm 2 to close.

[0089] Figure 5 Schematic illustration of the penetration based on Figures 2 to 4A cross-sectional view of one of the coupling elements 4 of the device 1, wherein the coupling element 4 here includes an adjusting element 43 in the form of a screw having a frustoconical section, wherein by adjusting the position of the adjusting element 43, the distance 48 between the ball joints 45 can be adjusted along the direction of the geometric axis 46 oriented between the first coupling portion 41 or connecting portion of the coupling element 4 and the lifting rod 3 and the second coupling portion 42 or connecting portion of the coupling element 4 and the pivot lever 23.

[0090] The ball joint 45 provides the pivotability of the coupling element 4 relative to the pivot lever 23 or relative to the lifting rod 3 about three mutually orthogonally oriented axes 40, 46, 47.

[0091] Due to the pivotability of the coupling element 4 about the geometric axis 46, it is theoretically feasible for the coupling element 4 to tilt towards the lifting rod 3 about the geometric axis 46 and, for example, to contact the housing component 12 of the slider element 31 and / or the support 11. To prevent this, a magnet device 8 is provided, configured to hold the coupling element 4 in a predetermined position relative to the geometric axis 46 oriented between the first coupling portion 41 or connecting portion of the coupling element 4 and the lifting rod 3 and the second coupling portion 42 or connecting portion of the coupling element 4 and the pivot lever 23, as will be discussed below. Figures 6 to 8 As described in detail.

[0092] As from Figure 6 As seen in the picture, Figure 6 A schematic perspective side view of a sub-region of device 1 is shown, in which connecting element 4 is hidden, and the magnet device 8 has two magnet elements 81 on the side of the lifting rod 3, which are currently inserted into the side 39 of the slider element 31 that points toward the coupling element 4. In this case, the magnet elements 81 are arranged on different sides relative to the geometric axis 46.

[0093] Figure 7 A three-dimensional side view is schematically shown by observing the side 49 of the coupling element 4 facing the slider element 31. The magnet device 8 further includes a plurality of magnet elements 80, 80', which are mounted in the coupling element 4 on side 49. In this case, the two magnet elements 80 are arranged on different sides relative to the geometric axis 46, more precisely, such that the magnet elements are respectively opposite one of the magnet elements 81 in the mounted state, as per [reference to...]. Figure 8 As detailed above, coupling element 4 also includes two additional magnetic elements 80'. Their arrangement provides a substantially symmetrical construction for coupling element 4, making its mounting position on device 1 irrelevant.

[0094] Figure 8A schematic cross-sectional view perpendicular to the geometric axis 46 at the height of the magnet elements 80, 81 is shown. Each magnet element 80 is substantially opposite to each other. Accordingly, the magnet elements 80, 81 arranged on one side about the geometric axis 46 constitute a first pair of opposite magnet elements 80, 81. Figure 8 The view shown in the figure consists of magnetic elements 80 and 81 shown above geometric axis 46, and magnetic elements 80 and 81 arranged on the other side about geometric axis 46 constitute a second pair of opposing magnetic elements 80 and 81. Figure 8 The view shown consists of magnetic elements 80 and 81, which are shown below geometric axis 46.

[0095] The paired magnetic elements 80 and 81 are oriented toward each other so that they face each other with the same polarity, thus achieving a repulsive effect. Currently, their south poles are opposite each other.

[0096] Because the paired magnetic elements 80 and 81 are positioned opposite each other with the same polarity, a magnetic repulsion force 83 exists between the paired magnetic elements 80 and 81. This magnetic repulsion force prevents the paired magnetic elements 80 and 81 from moving towards each other, thereby preventing the coupling element 4 from being able to... Figure 8 The preset position shown is tilted about geometric axis 46 and tilted to one side toward slider element 31.

[0097] The magnetic elements 81 are preferably constructed of the same type, meaning they have substantially the same magnetic strength. Similarly, the magnetic elements 80 are constructed of the same type, meaning they have substantially the same magnetic strength. Because the distances 82 from these two pairs to the geometric axis 46 are also the same, the torques applied to the coupling element 4 about the geometric axis 46 via the corresponding magnetic repulsion 83 caused by the pairs are substantially balanced, thus maintaining the predetermined position of the coupling element 4 relative to the geometric axis 46.

[0098] from Figure 9 The diagram schematically shows a pair of gripping arms 2 of device 1 in the open state, and... Figure 10 The diagram schematically shows the state when closed. Figure 9 A pair of grippers in the middle.

[0099] Figure 11 schematically shown Figures 2 to 4A functional diagram of device 1 is shown, in which the lifting rod 3, together with the S-shaped slider element 31 and the coupling element 4 and its coupling elements 41 and 42, are shown in the upper position when viewed in the direction of gravity by solid lines. The position of the lifting rod 3 after it has moved a predetermined movement 37 is indicated by dashed lines. Through this movement 37, the second coupling part 42 is correspondingly offset outwards by 44 perpendicular to the longitudinal axis 30. The pivot lever 23, coupled to the second coupling part 42 by the coupling element 4, undergoes a pivoting movement corresponding to this offset 44, and the pivot lever transmits the pivoting movement to the corresponding gripper arm 2.

[0100] Due to the arrangement of the first coupling part 41 above the second coupling part 42, the grab arm 2 is closed by the downward movement of the lifting rod 3.

[0101] Figure 12 A schematic diagram illustrating the function of another device 1 for holding a container is shown. Device 1 and... Figure 11 The devices in the diagram are basically the same, with the first coupling part 41 located below the second coupling part 42. Accordingly, since the first coupling part 41 and the second coupling part 42 are located on the side opposite to the holding section 20 relative to the pivot axis 22, the closing of the grab arm 2 is performed by raising the lifting rod 3, i.e., moving it 37 against the direction of gravity.

[0102] from Figure 13 The diagram schematically shows a side view of another device 1 used to hold container 7. Device 1 is essentially the same as... Figures 2 to 4 The corresponding device includes a coupling housing 6 that surrounds a slider element 31, a coupling element 4, and a pivot lever 23.

[0103] The lifting rod 3 extends through an opening 60 in the coupling housing 6 sealed by means of a seal 62, and the shaft 24 of the grab arm 2 extends through a hole 61 in the coupling housing 6 sealed by means of a seal 63.

[0104] Seal 62 is configured to compensate for the necessary travel of the lifting rod 3 during operation. Furthermore, seal 63 is configured to compensate for the necessary pivoting movement of the shaft 24 during operation.

[0105] Where applicable, all individual features shown in the embodiments can be combined and / or interchanged with each other without departing from the scope of the invention.

[0106] List of reference numerals

[0107] 1 Equipment

[0108] 10 Coupling devices

[0109] 11 Brackets

[0110] 12. Housing components

[0111] 2. Grab arm

[0112] 20. Maintain section

[0113] 21 Pivot Plane

[0114] 22 Pivot axis

[0115] 23 Pivoting lever

[0116] 24-axis

[0117] 25 Pivot

[0118] 3. Lifting mast

[0119] 30. Longitudinal axis

[0120] 31 Slider element

[0121] 32. Central Section

[0122] 33-bar element

[0123] 34-bar component

[0124] 35 springs

[0125] 36 Seals

[0126] 37 Move

[0127] 38 shoulder

[0128] 39 sides

[0129] 4. Coupling elements

[0130] 40 Rotation axis

[0131] 41. Coupling part with lifting rod

[0132] 42. Coupled with the pivot lever

[0133] 43 Adjustment element

[0134] 44 staggered

[0135] 45 ball joint

[0136] 46 Geometric Axis

[0137] 47. Axis of rotation

[0138] 48 Distance

[0139] 49 sides

[0140] 5 Control Unit

[0141] 50 Preload Components

[0142] 51 Interaction Section

[0143] 52 Rollers

[0144] 53 Rolling bearings

[0145] 6. Coupled Housing

[0146] 60 opening

[0147] 61 holes

[0148] 62 Seals

[0149] 63 Seals

[0150] 7 Containers

[0151] 8. Magnet device

[0152] 80 Magnet Components

[0153] 81 Magnet Components

[0154] 82 spacing

[0155] 83 Magnetic repulsion

[0156] 100 Container Handling Equipment

[0157] 110 Transportation Equipment

[0158] 111 Bearing component

[0159] 120 housing

[0160] 121 Shell opening

[0161] 130 processing equipment

[0162] g direction of gravity

Claims

1. An apparatus (1) for holding a container (7) in a container handling apparatus (100), the apparatus comprising: Two gripping arms (2) pivotable relative to each other in a pivot plane (21), each gripping arm having a holding section (20) for holding a container (7) to be held; and a lifting rod (3) movable relative to the pivot plane (21) along its longitudinal axis (30); and a coupling element (4) rotatably coupled to a pivot lever (23) disposed on the gripping arm (2) and rotatably coupled to the lifting rod (3). Its features are, A magnet device (8) is provided, which is configured to keep the coupling element (4) in a preset orientation relative to a geometric axis (46), the geometric axis being oriented between a first coupling portion (41) of the coupling element (4) and the lifting rod (3) and a second coupling portion (42) of the coupling element (4) and the pivot lever (23), wherein the magnet device (8) has at least one magnet element (80) on the coupling element (4) pointing to the lifting rod (3) and at least one magnet element (81) on the side of the lifting rod (3) pointing to the coupling element (4).

2. The device (1) according to claim 1, characterized in that, The magnetic elements (80, 81) are disposed opposite to each other, and the magnetic elements (80, 81) are oriented such that the magnetic elements face each other with the same polarity.

3. The device (1) according to claim 2, characterized in that, Multiple magnet elements (80) are provided on the coupling element (4), and the magnet elements are opposite to multiple magnet elements (81) on the side of the lifting rod (3).

4. The device (1) according to claim 1, characterized in that, The gripping arms (2) are pivotally mounted about a common pivot axis, or the gripping arms (2) each have their own pivot axis (22), the gripping arms are pivotally mounted about their own pivot axis, and / or the two gripping arms (2) each have a pivot lever (23), the pivot levers are coupled to the lifting rod (3) via a coupling element (4), or the gripping arms (2) are rotatably coupled to each other.

5. The device (1) according to any one of claims 1 to 4, characterized in that, The coupling element (4) is coupled to the lifting rod (3) by means of a ball joint (45), and / or the pivot lever (23) is coupled to the coupling element (4) by means of a ball joint (45), and / or the coupling element (4) has an adjusting element (43) to adjust the pivot position of the gripper (2).

6. The device (1) according to any one of claims 1 to 4, characterized in that, The lifting rod (3) includes a slider element (31), wherein at least one coupling element (4) is coupled to the slider element (31).

7. The device (1) according to claim 4, characterized in that, With respect to the orientation of the container (7) held by the gripper (2), the coupling element (4) is positioned above the second coupling part (42) of the coupling element (4) and the pivot lever (23) in the longitudinal axis (30) direction, or the coupling element (4) is positioned below the second coupling part (42) of the coupling element (4) and the pivot lever (23) in the longitudinal axis (30) direction, and / or the second coupling part (42) between at least one pivot lever (23) and at least one coupling element (4) is positioned on the side opposite to the holding section (20) relative to the pivot axis (22), or the second coupling part (42) between at least one pivot lever (23) and at least one coupling element (4) is positioned on the side of the holding section (20) relative to the pivot axis (22).

8. The device (1) according to any one of claims 1 to 4, characterized in that, The lifting rod (3) has a control unit (5) on its side opposite to the grab arm (2), the control unit being used to control the position of the lifting rod (3) relative to the longitudinal axis (30).

9. The device (1) according to any one of claims 1 to 4, characterized in that, The lifting rod (3) includes two rod elements (33, 34) that are movable relative to each other in the direction of the longitudinal axis (30), wherein the rod elements (33, 34) are coupled via a spring element (35) in the direction of the longitudinal axis (30).

10. The device (1) according to any one of claims 1 to 4, characterized in that, The lifting rod (3) includes a seal (36) for sealing the lifting rod (3) relative to a housing opening (121) of the housing (120) of the container handling equipment (100), the lifting rod extending through the housing opening.

11. The device (1) according to any one of claims 2 to 4, characterized in that, The coupling housing (6) surrounds the at least one coupling element (4) and the at least one pivot lever (23), and the gripping arms (2) are respectively fixed on a shaft (24) pivotable about the pivot axis (22) of the gripping arms (2), wherein the shaft (24) extends through a hole (61) in the coupling housing (6).

12. The device (1) according to any one of claims 1 to 4, characterized in that, The device (1) is configured to hold a beverage container (7) in the neck or abdominal segment.

13. The device (1) according to claim 3, characterized in that, Relative to the geometric axis (46) of the coupling element (4), at least one pair of opposing magnetic elements (80, 81) are disposed on one side of the geometric axis (46), and at least one pair of opposing magnetic elements (80, 81) are disposed on the other side of the geometric axis (46).

14. The device (1) according to claim 4, characterized in that, The gripper (2) is rotatably coupled to each other via two interlocking gears.

15. The device (1) according to claim 5, characterized in that, The adjusting element (43) is an eccentric element.

16. The device (1) according to claim 5, characterized in that, The distance (48) between the first coupling part (41) of the coupling element (4) and the lifting rod (3) and the second coupling part (42) of the coupling element (4) and the pivot lever (23) can be changed by adjusting the adjusting element (43).

17. The device (1) according to claim 6, characterized in that, Relative to the longitudinal axis (30), the coupling element (4) is coupled to the slider element (31) on one side and to the pivot lever (23) on the other side.

18. The device (1) according to claim 6, characterized in that, The slider element (31) is S-shaped and is connected to the lifting rod (3) at the central section (32).

19. The device (1) according to claim 6, characterized in that, The slider element (31) includes at least one magnet element (81) of the magnet device (8).

20. The device (1) according to claim 8, characterized in that, The control unit (5) includes a pre-tightening element (50) and / or an interaction section (51), the pre-tightening element being used to pre-tighten the lifting rod (3) to a preset position, and the interaction section being used to interact with a preset device to preset the position of the lifting rod (3).

21. The device (1) according to claim 20, characterized in that, The preload element (50) is a spring.

22. The device (1) according to claim 20, characterized in that, The interaction section is constructed in the form of a sliding element, a bolt and / or a roller (52).

23. The device (1) according to claim 20, characterized in that, The interacting section is configured to slide and / or roll on a pre-designed device configured as a guide bend or guide groove.

24. The device (1) according to claim 10, characterized in that, The seal (36) is fixed to the lifting rod (3) and / or the seal (36) is configured to be fixed to the housing opening (121).

25. The device (1) according to claim 10, characterized in that, The seal (36) is configured to compensate for the travel required for pivoting the grab arm (2) during operation of the lifting rod (3).

26. The device (1) according to claim 10, characterized in that, The seal (36) comprises a silicone material and / or is configured as a bellows.

27. The device (1) according to claim 11, characterized in that, The lifting rod (3) extends through an opening (60) in the coupling housing (6).

28. The device (1) according to claim 27, characterized in that, The lifting rod (3) extends through a sealed opening (60) in the coupling housing (6).

29. The device (1) according to claim 11, characterized in that, The shaft (24) extends through a sealed hole (61) in the coupling housing (6).

30. A container handling apparatus (100) including a transport device (110) for transporting a container (7). Its features are, The transport equipment (110) has a device (1) for holding the container (7) according to any one of the preceding claims.

31. The container handling apparatus (100) according to claim 30 further includes a housing (120) for providing an enclosed space, wherein the gripper (2) is disposed inside the housing (120) and the lifting rod (3) extends through the housing opening (121), wherein the control unit (5) is disposed outside the housing (120).

32. The container handling apparatus (100) according to claim 31, characterized in that, The control unit (5) is located above the housing opening (121).

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