Clamping head for grabbing single-piece goods and rotating and distributing system for single-piece goods

Abstract

A gripping head (1) for gripping single-piece goods (3) and a rotating and dispensing system (10) for single-piece goods (3) are disclosed. The clamping head (1) has a first clamping bar (7) and a second clamping bar (8), which can perform a feed movement for receiving at least one piece of goods (3) in a clamping manner and are fixed to a gripper base (5) of the clamping head (1). The gripping head (1) further comprises at least one support bar (9) for the single piece of goods (3), which is located between the first gripping bar (7) and the second gripping bar (8) and is held on the gripper base (5) by means of at least one bearing (4). The at least one support bar (9) is held in a movable manner relative to the gripper base (5) by means of the at least one bearing (4) such that the at least one support bar (9) can adjust its effective extent (R2) starting from the gripper base (5) by means of an action relative to the gripper base (5).

Description

Technical Field

[0001] This utility model relates to a gripping head for grasping single items and a rotation and distribution system for single items having such a gripping head. Background Technology

[0002] In the field of packaging and palletizing technology, grippers with multiple strips for clamping individual items are known from the prior art in order to bring individual items into a relative arrangement suitable for forming stackable layers. In the case of known grippers, these strips or clamping strips can perform a feed movement, resulting in the individual item being forcefully held between the strips. The gripper can then rotate and / or move the held individual item relative to other individual items. After rotation and / or movement, the strips can open or increase the relative distance between them, resulting in the previously clamped item being released again.

[0003] A single item can be, for example, a bundle containing multiple beverage containers, such that a corresponding clamp can receive such a bundle and then rotate or move it as needed. For example, bundles in which several beverage containers are held together by strapping and / or rolls of tape are known. Furthermore, there are bundles in which items are held together by a so-called pallet, with several beverage containers standing upright on the pallet, and the pallet having side lugs that have been moved to an upright position. Bundles in which beverage containers are held together by a flat packaging blank placed on the respective beverage containers in an upward direction are also known for some time. This packaging blank, referred to in practice as a top clamp, can be formed of cardboard and / or hardboard.

[0004] Clamps are known in the prior art to receive one or more bundles in a clamping manner, whereby these bundles have been moved one after another into the working area of ​​the clamp. Furthermore, known clamps can receive bundles arriving side-by-side into the working area of ​​the clamp in a clamping manner. In this implementation, bundles arranged adjacent to each other are grouped together during the feed movement of the clamping bar. Practice has shown that subsequent manipulation of the bundles often results in displacement of the bundles held clamped on the clamp, especially when the bundles are rotated on the clamp.

[0005] To avoid this problem, grippers with at least one separating plate or support plate disposed between the gripping bars are known. When multiple bundles arranged adjacent to each other are gripped by the gripper, the respective bundles come into contact with the surface of the separating plate or support plate, thereby preventing the bundles from unintentionally separating from the gripper during subsequent handling. Such grippers are known from EP 4 067 271 A1.

[0006] Therefore, depending on the corresponding operation to be performed, at least one corresponding separation plate or support plate is necessary or useful, or it can be omitted entirely if the corresponding operation does not require such a separation plate or support plate. If the gripper is used for different operation tasks, the gripper must therefore be adapted to the corresponding operation tasks, which may require at least one separation plate or support plate to be arranged on the gripper, or at least one separation plate or support plate to be removed from the gripper.

[0007] Ideally, the changeover time of the gripper could be shortened, or even eliminated entirely if necessary. A gripper with greater flexibility in receiving single items is also desirable compared to grippers known in the prior art.

[0008] Furthermore, the gripper cannot be adjusted or changed within the work process, as this would require manual operator intervention. Therefore, grippers known from the prior art cannot perform the task of gripping a single item supplied via unidirectional feeding within a given work process, followed immediately by gripping a single item supplied via bidirectional feeding. However, such a gripper may be useful, even necessary, for the ability to manipulate single items into an arrangement suitable for stackable layers formed from single items. A gripper capable of accomplishing this task is desirable. Utility Model Content

[0009] Therefore, one object of this invention is to provide a possibility that can further increase the flexibility of different manipulation tasks. Furthermore, one object of this invention is to provide a possibility that, when switching between different manipulation tasks, the switching time of the gripper can be at least shortened, or even completely eliminated.

[0010] This utility model relates to a gripping head for gripping a single item. The gripping head includes a first gripping bar and a second gripping bar, which are capable of performing feed movements for receiving at least one single item in a clamping manner, and are fixed to a gripper base of the gripping head.

[0011] Here, the first and second clamping bars can each perform linear movement within the range of the feed movement, or the first and second clamping bars can each move in a linear direction within the range of the feed movement. Optionally, the first and second clamping bars can pivot within the range of the feed movement.

[0012] In this embodiment, the first pivot provided for the first clamping bar and the second pivot provided for the second clamping bar can be oriented parallel to each other. If the clamping head is configured as a component of the rotation and dispensing system described below, the pivot can extend parallel to the transport direction of at least one horizontal conveying device of the rotation and dispensing system.

[0013] The first and second clamping bars can be, for example, clamping claws, pincer-shaped clamping arms, metal plates, or other clamping structures. Alternatively or additionally, the first and / or second clamping bars may each have a profile and / or a reversible, elastically deformable element, which is prepared to contact the surface of the respective single item to be received in a clamping manner.

[0014] In this implementation, the risk of damage to at least one individual item received in a clamping manner due to contact with the clamping strips is reduced. If the first and / or second clamping strips have a profile, the static friction between the first and / or second clamping strips and the at least one individual item received in a clamping manner is increased, thereby reducing the risk of at least one individual item received in a clamping manner via the first and second clamping strips unintentionally detaching from the clamping head.

[0015] Therefore, the features of the first and second clamping bars are broadly understood herein, and include any structure suitable for receiving single items in a clamping manner.

[0016] Furthermore, the gripping head includes at least one support bar for a single item, located between the first and second gripping bars and held on the gripper base by at least one support. It can be designed as follows:

[0017] - At least one support bar is movably held relative to the gripper base by at least one support, such that at least one support bar can adjust or change its effective range from the gripper base by movement relative to the gripper base, and / or

[0018] - At least one support bar is movably held relative to the clamp base by at least one support, such that at least one support bar moves away from the area between the two clamp bars by action relative to the clamp base.

[0019] Here, the movement of at least one support bar relative to the clamp base can be designed to be either rotary or linear.

[0020] As an alternative or supplement, in order to adjust its effective range from the gripper base, it can be designed such that at least one support bar contains at least two telescopic components, or is formed by at least two telescopic components.

[0021] If at least two telescopic components are described in connection with this patent application, they should be understood herein as at least two components capable of retracting and extending relative to each other, so as to adjust or change their effective range from the gripper base.

[0022] Alternatively, the first and / or second clamping bars can be designed to include at least one suction element, which can generate negative pressure relative to at least one of the corresponding clamped and received single items. In this way, the risk of the corresponding single item accidentally detaching from the clamping head during manipulation via the clamping head can be minimized. In embodiments proven useful here, the first and / or second clamping bars each include multiple suction elements, which can each generate negative pressure relative to at least one of the corresponding clamped and received single items.

[0023] By adjusting the effective range, at least one support bar can provide a contact surface for multiple clamped and received individual items, and when at least one support bar extends from the gripper base within the first effective range, it can also penetrate between adjacent individual items to be clamped and received. Furthermore, if the first and second gripping bars perform their feeding actions, within the adjusted second effective range (which is smaller than the first effective range), at least one support bar cannot reach the corresponding at least one individual item to be clamped and received, and is only positioned above the corresponding individual item. Therefore, the gripping head according to this invention offers high flexibility for the corresponding at least one individual item to be clamped.

[0024] At least one support can be designed such that at least one support bar can be moved relative to the gripper base by a single item, for which the free end region of at least one support bar is placed on the single item.

[0025] In such proven and useful embodiments, a contact element with reversible elastic deformation capability, particularly made of rubber or foam material, is connected to the free end region of at least one pre-designed support strip for placement on a single item. This prevents damage to the corresponding single item.

[0026] Additionally, the gripper head may include at least one actuator, and at least one support bar may be movable relative to the gripper base to adjust its effective range based on the gripper base. At least one actuator may be fixed to the gripper base.

[0027] In various embodiments, the gripping head can be configured to grasp individual items as beverage container bundles. Such beverage container bundles may include multiple beverage bottles and / or multiple beverage cans held together by at least one packaging device.

[0028] The support can also provide linear guidance for the movement of at least one support bar.

[0029] As an alternative or supplement, at least one support may be designed to include at least one scissor mechanism, wherein at least one support bar is movably held relative to the gripper base by means of at least one support, such that at least one support bar can adjust its effective range from the gripper base relative to the gripper base by the action caused by at least one scissor mechanism.

[0030] The scissor mechanism may include multiple scissor levers or exactly two scissor levers hinged together, such that at least one support bar can adjust its effective range from the gripper base relative to the gripper base by the action caused by at least one scissor mechanism.

[0031] The gripper head can be designed to include exactly one support bar, wherein exactly one support bar is held on the gripper base by a support, such that exactly one support bar can only move relative to the gripper base along its longitudinal direction. Specifically, exactly one support bar can be held on the gripper base by a support such that the exactly one support bar is at the same distance from the first and second gripping bars. Therefore, it is possible to consider holding exactly one support bar on the gripper base with one degree of freedom f=1 by a support.

[0032] In other embodiments, the gripper head may include at least two support bars for a single item, held on a gripper base by corresponding supports between the first and second support bars, and located between the first and second support bars. The supports of the at least two support bars may be designed such that each of the at least two support bars can move along the gripper base in a straight direction perpendicular to its longitudinal direction, and each can adjust its effective range from the gripper base relative to the gripper base by movement. The at least two support bars can be held on the gripper base with two degrees of freedom (f=2) by corresponding supports.

[0033] This utility model also relates to a rotation and distribution system for a single item of goods, having at least one clamping head according to at least one of the foregoing embodiments.

[0034] The rotation and distribution system may include at least one industrial robot with at least one gripper head disposed thereon, wherein at least one industrial robot is a gantry robot and / or a triangular gantry robot.

[0035] Furthermore, the rotation and distribution system may include at least one horizontal conveying device through which a single item can be moved to the working area of ​​at least one gripping head. The rotation and distribution system may be configured and equipped for such operation of the at least one gripping head, such that the at least one single item maintains surface contact with the at least one horizontal conveying device when it is received and manipulated in a clamping manner via the at least one gripping head.

[0036] The rotation and distribution system can also be configured and equipped to form an arrangement or specific arrangement consisting of a large number of individual items. This arrangement or specific arrangement can be matched with a stackable layer consisting of a large number of individual items.

[0037] Furthermore, according to at least one embodiment described above, a method for gripping and manipulating a single piece of goods via at least one gripping head is described. In this method, the single piece of goods is moved to the working area of ​​at least one gripping head via at least one horizontal conveying device.

[0038] Here, by the feed movement of its first and second clamping bars, at least one clamping head receives at least one single item in a clamping manner and manipulates the at least one single item received in a clamping manner.

[0039] In order to receive at least one single item in a clamping manner, the effective range of at least one support bar is designed to be adjusted as needed, such that the at least one support bar is located between multiple single items to be clamped and received with a first effective range extending from the clamp base, or is located only above the at least one single item to be clamped and received with a second effective range extending from the clamp base that is reduced relative to the first effective range.

[0040] The clamping head may include a scissor mechanism, and the effective range of at least one support bar will be adjusted as needed to clamp and receive a single item corresponding to at least one item.

[0041] The free end region of at least one support bar can be placed on the single item to be clamped and received, such that at least one support bar moves relative to the clamp base, and the first effective range of the previously formed at least one support bar is reduced to a second effective range of at least one support bar.

[0042] In this method, the goods can also be bundles of beverage containers.

[0043] It is possible that during the operation, at least one individual item received in a clamping manner can be rotated and / or tilted relative to the transport direction of at least one horizontal conveying device. In this case, surface contact between the corresponding at least one individual item received in a clamping manner and at least one horizontal conveying device can be maintained continuously during the operation.

[0044] Furthermore, at least one gripper head can form a corresponding arrangement from the corresponding plurality of individual goods, which matches the stackable layer to be formed from the corresponding plurality of individual goods. In order to form the corresponding arrangement, the gripper head receives and manipulates at least one individual goods moved into its working area multiple times in each case.

[0045] The device can be constructed in such a way that a stackable layer can be formed from the device by pushing together multiple individual items that make up the device. Therefore, a corresponding arrangement can be formed by multiple individual items that can be transferred to the corresponding stackable layer by pushing them together.

[0046] To form the corresponding arrangement, it is possible to consider at least one gripping head clamping, receiving and manipulating individual goods from the first horizontal conveyor and the second horizontal conveyor, wherein if multiple individual goods to be received together are located on the first horizontal conveyor, at least one support bar of at least one gripping head is arranged only within its first effective range extending from the gripper base between these multiple individual goods to be received together.

[0047] Furthermore, it can be designed such that if the single item to be clamped and received is located on the second horizontal conveyor, at least one support bar of at least one clamping head is arranged above the single item to be clamped and received with its second effective range extending from the clamping base.

[0048] At least one clamping head is also possible

[0049] - First, a first arrangement consisting of a first number of individual items is formed, which matches a first stackable layer that can be formed from the first number of individual items. To form the first arrangement, gripping heads repeatedly receive and manipulate multiple individual items moving into their working areas in a clamping manner. When receiving the corresponding multiple individual items in a clamping manner, at least one support bar is arranged between adjacent individual items within a first effective range extending from the gripper base, such that the individual items received by the gripping head form surface contact with at least one support bar. Here, the same gripping head may subsequently...

[0050] - A second arrangement consisting of a second number of individual items is formed, which matches a second stackable layer that can be formed from the second number of individual items. To form the second arrangement, a gripping head repeatedly receives and manipulates a single item moving into its working area in a clamping manner, or repeatedly receives and manipulates multiple individual items moving sequentially along a row into its working area, and reduces the first effective range of at least one previously formed support bar to a second effective range for clamping and receiving. For this second effective range, if the gripping head receives a single item moving into its working area in a clamping manner, or multiple individual items moving into its working area in a row, then at least one support bar is positioned above the single item or above the multiple individual items moving sequentially along a row into its working area. Further, it is possible here...

[0051] The first arrangement of individual goods and the second arrangement of individual goods are pushed together to form a first stackable layer based on the first number of individual goods and a second stackable layer based on the second number of individual goods. The first stackable layer and the second stackable layer are placed on the same pallet by a palletizer.

[0052] This allows for the production of mixed pallets in a simple manner and with high throughput.

[0053] In this regard, it should also be emphasized that the features mentioned above regarding embodiments of the clamping head according to the present invention or embodiments of the rotation and dispensing system according to the present invention also relate to or may relate to certain aspects of the described method. Therefore, if any embodiment of the clamping head or the rotation and dispensing system according to the present invention is mentioned anywhere in the description, this also applies to embodiments of the described method. Conversely, all aspects and variations explained in connection with embodiments of the described method also relate to or may relate to certain aspects of the clamping head or the rotation and dispensing system according to the present invention. Therefore, if certain aspects or effects are mentioned at any point in the description of the method, this also applies to the clamping head and the rotation and dispensing system according to the present invention. Various embodiments of the described method can also be implemented or performed through embodiments of the rotation and dispensing system according to the present invention. Attached Figure Description

[0054] In the following sections, embodiments of the present invention and their advantages will be explained in more detail with reference to the accompanying drawings. The dimensional proportions of individual elements in the drawings do not always correspond to actual dimensional proportions, as some shapes are simplified and others are enlarged for better illustration compared to other elements.

[0055] Figure 1 and Figure 2 A schematic diagram of a first embodiment of the clamping head according to the present invention and a first embodiment of the rotation and dispensing system according to the present invention are shown.

[0056] Figure 3 and Figure 4 A schematic diagram of a second embodiment of the clamping head according to the present invention and a second embodiment of the rotation and dispensing system according to the present invention is shown.

[0057] Figure 5 and Figure 6 A schematic perspective view of another embodiment of the clamping head according to the present invention is shown.

[0058] Figure 7 The flowchart illustrates the steps that may be provided individually or in combination as shown in various embodiments of the method. Detailed Implementation

[0059] The same reference numerals are used for elements that are identical or have the same effect in this invention. Furthermore, for clarity, only the reference numerals necessary for the description of the corresponding figure are depicted in a single drawing. The embodiments shown are merely examples of the design schemes of this invention and do not represent conclusive limitations.

[0060] Figure 1 and Figure 2 A schematic diagram of a first embodiment of the clamping head 1 according to the present invention and a first embodiment of the rotation and dispensing system 10 according to the present invention is shown.

[0061] According to Figure 1 and Figure 2 In one embodiment, the rotation and distribution system 10 includes a clamping head 1 and a horizontal conveying device 14. Figure 1 In this process, the individual goods 3 formed into a beverage container bundle 6 are moved to the working area of ​​the gripper head 1 via a horizontal conveyor 14. This beverage container bundle 6 may include multiple beverage bottles or multiple beverage cans held together by a packaging device.

[0062] Packaging devices can be, for example, strapping. Packaging devices can also be flat packaging blanks formed from cellulose-containing materials, into which beverage containers, bottles, or cans are inserted.

[0063] Furthermore, the beverage container bundle 6 may include multiple beverage containers connected to each other by adhesive bonding. Other packaging devices and / or connections are also conceivable for assembling beverage containers into the beverage container bundle 6 in this manner.

[0064] exist Figure 1In this case, the horizontal conveyor 14 is transported in the direction of the image plane. The additional single item 3 is transported in the direction of the image plane, which is consistent with... Figure 1 The two individual cargo items 3 that can be seen are aligned. Because these additional individual cargo items 3 are hidden by the two individual cargo items 3, therefore... Figure 1 They cannot be seen in the text. Figure 1 The two individual cargo items 3 shown are arranged side by side perpendicular to the transport direction of the horizontal conveyor 14.

[0065] The clamping head 1 includes a first clamping bar 7 and a second clamping bar 8, which are only used in... Figure 1 The diagram is shown schematically. In practice, the clamping bars 7 and 8 can be formed, for example, by clamping claws, pincer-like arms, or metal plates. Thus, as... Figure 5 and Figure 6 As shown, the clamping head 1 may include clamping bars 7 and 8, for example. On the respective wide side surfaces facing the individual item 3 to be received, the clamping bars 7 and 8 may each have a contour and / or defined shape corresponding to the respective individual item 3 to be received, such that the individual item 3 to be received is immersed in the clamping bars 7 and 8 in a form-locking manner and / or such that the static friction between the clamping bars 7 and 8 and the individual item 3 is increased due to the contour. In this way, the risk of the individual item 3 being clamped and received by the clamping head 1 being unintentionally separated from the clamping head 1 during operation of the clamping head 1 can be reduced.

[0066] In order to grip a single item 3 or a bundle of beverage containers 6 in a clamping manner using the clamping bars 7 and 8, the clamping bars 7 and 8 perform a feed movement, wherein the clamping bars 7 and 8 reduce the relative distance between them, thereby moving in a linear direction and perpendicular to the transport direction of the horizontal conveyor 14 along the clamping base 5 on which the clamping bars 7 and 8 are respectively fixed. Figure 1 Arrows are used to indicate this.

[0067] During the feeding movement of clamping bars 7 and 8, the individual item 3 or the beverage container bundle 6 is thus pushed together on clamping bars 7 and 8 until the individual item 3 or the beverage container bundle 6 impacts the support bar 9 of the clamping head 1. The support bar 9 is a separating plate that contacts the surface of the individual item 3 or the beverage container bundle 6 when the corresponding individual item 3 or the corresponding beverage container bundle 6 is held in a clamping manner between clamping bars 7 and 8. This support bar 9 is necessary or useful in practice when the individual item 3 held in a clamping manner on the clamping head 1 is manipulated by the clamping head 1 to prevent the individual item 3 from being accidentally released from the clamping head 1.

[0068] Therefore, the separation plate or support bar 9 ensures that the individual goods 3 are fully secured to the clamping head 1, and also prevents the individual goods 3 from moving relative to each other when they are manipulated by the clamping head 1. If the individual goods 3 are configured as beverage container bundles 6, practice has shown that if adjacent individual goods 3 are held in a clamping manner by clamping bars 7 and 8 and without support bars 9, the beverage containers of the first beverage container bundle 6 can be immersed between multiple beverage containers of adjacent beverage container bundles 6.

[0069] This nested arrangement of beverage container bundles 6 is undesirable and generally unsuitable for further processing of beverage container bundles 6 that have already been manipulated by the gripper head 1. Furthermore, when beverage container bundles 6 have been gripped by the gripper head 1 and are in this engaged arrangement, they frequently detach from the gripper head 1.

[0070] Therefore, when several individual goods 3 that are adjacent in the transport direction perpendicular to the horizontal conveyor 14 need to be clamped together by the clamping head 1, the support bar 9 is always required to receive the individual goods 3 in a clamping manner.

[0071] The gripping head 1 is connected to the control device S. After the gripping head 1 receives a single item 3 in a clamping manner, the single item 3 is manipulated by the gripping head 1, and in this case, the single item 3 is tilted and / or rotated about a vertically extending axis relative to the transport direction of the horizontal conveyor. The movement of the gripping head 1 occurs under the triggering of the control device S in such a way that, after manipulation via the gripping head 1, multiple single items 3 are arranged in a manner that matches a stackable layer to be formed by the corresponding multiple single items 3.

[0072] For this purpose, it may be necessary to rotate individual items 3 on the gripper head 1, while during operation, these individual items 3 do not tilt or shift relative to the transport direction of the horizontal conveyor 14. To achieve this arrangement, it may also be necessary to tilt and shift individual items 3 on the gripper head 1 relative to the transport direction of the horizontal conveyor 14, while these individual items 3 do not rotate about the vertical axis.

[0073] For some individual items 3, in order to form such an arrangement, during the manipulation process, it may also need to be tilted and shifted relative to the transport direction of the horizontal conveyor 14, and it also needs to be rotated about the vertical axis. As long as the individual items 3 provided for the corresponding arrangement are already in a position and orientation suitable for the corresponding arrangement, they can also be moved through the working area of ​​the gripper head 1 without the gripper head 1 grasping and manipulating these individual items 3.

[0074] like Figure 1As shown, the clamping force required to hold a single item 3 on the gripping head 1 is applied via the gripping bars 7 and 8. Therefore, the clamping force required to hold the single item 3 is applied jointly by the gripping bars 7 and 8, and the clamping force is transferred from one of the two single items 3 to the corresponding other single item 3 via the support bar 9 to achieve force connection. Figure 1 In the diagram, the clamping force is represented by the arrow F.

[0075] In practice, the support bar 9 must be designed with low rigidity so that a single piece of goods 3 received by the clamping head 1 cannot be clamped by the clamping bar 7 and the support bar 9, or by the clamping bar 8 and the support bar 9, thus preventing damage or accidental deformation of the support bar 9. For clamping heads known in the prior art, the clamping force of the clamping bars 7 or 8 is too large, making it impossible for the support bar 9 to withstand the clamping force. Therefore, in practice, when it is necessary to manipulate multiple adjacent pieces of goods 3 perpendicular to the transport direction of the horizontal conveyor 14, or when there is only a single piece of goods 3 or multiple pieces of goods 3 arranged one after another in the transport direction of the horizontal conveyor 14, multiple clamping heads are used to create a corresponding arrangement from the multiple pieces of goods 3 that matches the stackable layer.

[0076] On the other hand, according to Figure 1 and Figure 2 The gripping head 1 in this embodiment can perform multiple different manipulation tasks, and in this case, it can either receive multiple individual goods 3 adjacent to each other in the transport direction perpendicular to the horizontal conveyor 14, or grip a single individual goods 3. For this reason, the rotation and distribution system 10 can have a very compact structure, since no additional gripping head 1 is required to perform the described manipulation tasks. Furthermore, the rotation and distribution system 10 can operate at high throughput.

[0077] pass Figure 1 and Figure 2 As can be seen from the combined view, the support bar 9 is held on the gripper base 5 by the support 4. Here, the support 4 is designed so that if the free end region 19 of the support bar 9 is pushed against the single item 3, and the gripper base 5 then continues to descend toward the single item 3, the support bar 9 can perform an avoidance action or can move toward the gripper base 5.

[0078] When multiple individual goods 3 are adjacent to each other in the direction of transport perpendicular to the horizontal conveyor 14, the support bar 9 can extend from the gripper base 5 with a first effective range R1, so that when these individual goods 3 are gripped in a clamping manner by the feed movement of the gripping bars 7 and 8, the support bar 9 is located between the individual goods 3 adjacent in the direction of transport perpendicular to the horizontal conveyor 14.

[0079] If only one or more individual items 3 that move only along one row via the horizontal conveyor 14 need to be received by the gripper head 1, then when the support bar 9 originates from the gripper base 5, it has Figure 1 When the first effective range R1 is shown, this cannot be achieved by means of the clamping head 1. Therefore, for clamping heads known in the prior art, the support bar 9 would be removed from the clamping head. Therefore, the known clamping heads have low flexibility in receiving single items 3 in a clamping manner. In addition, adapting the clamping head 1 to different supplies of single items 3 is very time-consuming.

[0080] With the support 4 mentioned above, the support bar 9 is movably arranged on the gripper base 5. Therefore, when the gripping head 1 grasps only a single item 3 or grasps only a row of single items 3 moving sequentially along the horizontal conveyor 14, the support bar 9 can move upward or perpendicular to the conveying direction of the horizontal conveyor. In order to receive a single item 3 or multiple single items 3 arranged in a row, the support bar 9 is placed on the single item 3 or the row of single items, and then the gripping head 5 is lowered so that the gripping head 1 approaches the horizontal conveyor 14.

[0081] During this process, individual items 3 or items arranged in a row 3 push the support bar 9 towards the clamp base 5, so that the support bar 9 only... Figure 2 The second effective range R2 shown extends from the gripper base 5. Next, the first gripping bar 7 and the second gripping bar 8 perform a feeding action, wherein a single piece of goods 3 or a row of single pieces of goods 3 are gripped in a clamping manner by the first gripping bar 7 and the second gripping bar 8.

[0082] By rotating and / or laterally offset relative to the transport direction, the single item 3 or a row of single items 3 gripped in a clamping manner is then manipulated by the clamping head 1. During this process, the free end region 19 of the support bar 9 maintains surface contact with the single item 3 or the row of single items clamped in a clamping manner by the clamping head 1.

[0083] After a single item 3 or a row of single items 3 has been manipulated by the clamping head 1, the clamping connection formed so far between the single item 3 or the row of single items 3 and the clamping bars 7 and 8 is cancelled. For this purpose, the clamping bars 7 and 8 are removed and the relative distance between them is increased.

[0084] Next, the entire gripper head 1 is lifted relative to the horizontal conveyor 14. During this process, the support bar 9 moves relative to the gripper base 5 due to its mass, increasing its previously formed second effective range R2 relative to the gripper base 5, and eventually reaching a position where the support bar 9, originating from the gripper base 5, has already... Figure 1 The first effective range R1 is shown in the figure. Next, the clamping head 1 can be used to select according to... Figure 1 To receive multiple adjacent single items 3 or a single item 3 perpendicular to the conveying direction of the horizontal conveyor 14, the support bar 9 is again placed on the single item 3 through its free end region 19.

[0085] Figure 3 and Figure 4 A schematic diagram of a second embodiment of the clamping head 1 according to the present invention and a second embodiment of the rotation and dispensing system 10 according to the present invention are shown. Figure 3 and 4 The implementation method of the clamping head 1 and according to Figure 1 and 2 The difference in the implementation of the clamping head 1 is that, according to Figure 3 and 4 In one embodiment, two support bars 9 are arranged between the clamping bars 7 and 8, rather than exactly one support bar 9.

[0086] according to Figure 3 This implementation allows for the reception of three adjacent single items 3 perpendicular to the conveying direction of the horizontal conveyor 14. For this purpose, a support bar 9 extends between two adjacent single items 3 perpendicular to the conveying direction of the horizontal conveyor 14.

[0087] To receive three adjacent single items 3 perpendicular to the conveying direction of the horizontal conveyor 14 in a clamping manner, the clamping bars 7 and 8 perform a feeding action, during which the three single items 3 are pushed together by the clamping bars 7 and 8 and form surface contact with the support bar 9 in the process. Next, if the single item 3 is received in a clamping manner by the clamping head 1, then... Figure 3 The single item 3 shown in the middle is flat against each of the two support bars 9. If the single item 3 is held in a clamping manner by the clamping head 1, the two outer single items 3 are flat against each of the support bars 9 and respectively against the clamping bars 7 or 8.

[0088] According to Figure 3 and 4 In this embodiment, the support 4 is designed to move together with the support bar 9 along the gripper base 5 in a direction perpendicular to the conveying direction of the horizontal conveying device 14. This movement is... Figure 3 The arrow indicates the support bar. The support bar is held on the clamp base with a degree of freedom f=2 by support 4.

[0089] In this way, if the clamping bars 7 and 8 perform a feeding action, the support bar 9 will be pushed together with the single piece of goods 3. Here, it can be considered that the support bar 9 interacts with the corresponding spring; if the single piece of goods 3 is released from the clamping head 1, the spring will push the corresponding support bar 9 back to its initial position.

[0090] Similarly, as Figure 4 As shown, the gripping head 1 receives only a single item 3 or multiple single items arranged in a row. If it is necessary to grip a single item 3 or multiple single items 3 arranged sequentially in the conveying direction of the horizontal conveyor 14 by clamping the gripping head 1, the gripping bars 7 and 8 will be moved towards each other until the two support bars 9 are above the corresponding single item 3 to be received or above the multiple single items 3 arranged sequentially in the conveying direction of the horizontal conveyor 14.

[0091] Next, the gripping head 1 is lowered toward the horizontal conveying device 14, so that the support bar 9 abuts against the corresponding single item 3 or multiple single items 3 arranged in a row through its free end region 19. Next, by further lowering the gripping head 1, the support bar 9 is pushed relative to the gripper base 5 and perpendicular to the conveying direction of the horizontal conveying device 14 until the support bar 9 has a reduced effective range R2 from the gripper base 5. Next, the distance between the gripping bars 7 and 8 is further reduced, so that the gripping bars 7 and 8 clamp the corresponding single item 3 or multiple single items 3 arranged in a row in the conveying direction of the horizontal conveying device 14.

[0092] Next, by rotating and / or tilting relative to the conveying direction of the horizontal conveyor 14, the gripping head 1 manipulates the corresponding gripping of a single piece of goods 3 or a row of gripping single pieces of goods 3.

[0093] Figure 5 and Figure 6 Schematic perspective views of another embodiment of the clamping head 1 according to the present invention are shown. In particular, Figure 5 and Figure 6 The combined view clearly shows the functional principle of another embodiment of the support 4, which can be designed in various embodiments of the clamping head 1 according to this utility model.

[0094] The clamping head 1 or support 4 includes a scissor mechanism 21 on which a support bar 9 is suspended. Here, the scissor mechanism 21 consists of exactly two scissor levers 23 and 23' and a hinge 24, through which the two scissor levers 23 and 23' are rotatably connected. Figure 5 and Figure 6As shown, the effective range R1 or R2 of the support bar 9, starting from the clamp base 5, is adjusted by means of the scissor mechanism 21. For this purpose, the scissor levers 23 and 23' will rotate relative to each other about the horizontal axis of rotation provided by the hinge 24.

[0095] Figure 7 The flowchart illustrates the various embodiments of method 100 that can be implemented individually or according to Figure 7 The combination shown provides the steps.

[0096] In step 110, the gripping head 1 is positioned above the single piece of goods 3 to be received. The support bar 9, designed as part of the gripping head 1, has a first effective range R1 extending from the gripper base 5 of the gripping head 1.

[0097] In step 120, the gripping head 1 is then lowered toward the single item 3, so that the free end region 19 of the support bar 9 first abuts against the single item 3. Further lowering of the gripping head 1 causes the corresponding single item 3 to push the support bar 9 relative to the gripper base 5, thus shortening the effective range R1 previously extending from the gripper base 5 to a smaller effective range R2.

[0098] In step 130, following step 120, the gripping bars 7 and 8 of the gripping head 1 perform a feed motion, thereby gripping the individual piece of goods 3 in a clamping manner. During this process, the support bar 9 continues to maintain contact with the individual piece of goods 3 through its free end region 19.

[0099] In step 140, the individual item 3 received in a clamping manner is manipulated by the clamping head 1 and rotated and / or tilted relative to the transport direction of the horizontal conveyor 14 during this process, so that the individual item 3 stands upright on the horizontal conveyor 14. In this case, the manipulation is performed to form an arrangement of stackable layers suitable for production from the individual item 3 and other individual items 3.

[0100] List of reference numerals

[0101] 1 clamping head

[0102] 3 single items

[0103] 4 bearings

[0104] 5. Clamping base

[0105] 6 Beverage container bundles

[0106] 7 clamping bars, first clamping bar

[0107] 8 clamping bars, second clamping bar

[0108] 9 support bars

[0109] 10 Rotation and Distribution System

[0110] 14 Horizontal Conveying Device

[0111] 19 Free end region

[0112] 21 Scissor Mechanism

[0113] 23 Scissors Lever

[0114] 23' Scissors Lever

[0115] 100 methods

[0116] 110 Method Steps, First Method Steps

[0117] Method 120 steps, second method steps

[0118] Method 130, Step 3

[0119] 140 Method Steps, Fourth Method Step

[0120] R1 First effective range

[0121] R2 Second Effective Range

[0122] S control device.

Claims

1. A gripping head for gripping a single item, comprising: - A first clamping bar (7) and a second clamping bar (8), which are capable of performing feed movements for receiving at least one single item (3) in a clamping manner, and are fixed to the clamping base (5) of the clamping head (1), and - At least one support bar (9) for the single item (3), located between the first clamping bar (7) and the second clamping bar (8) and held on the clamping base (5) by at least one support (4), characterized in that, At least one of the support bars (9) is held movably relative to the clamp base (5) by at least one of the supports (4), such that at least one of the support bars (9) can adjust its effective range (R1, R2) from the clamp base (5) by movement relative to the clamp base (5) and / or at least one of the support bars (9) includes or is formed by at least two telescopic members in order to adjust its effective range (R1, R2) from the clamp base (5).

2. The clamping head according to claim 1, wherein at least one of the supports (4) is designed such that at least one of the support bars (9) can move relative to the clamping base (5) through the single item (3), for which the free end region (19) of at least one of the support bars (9) is placed on the single item (3).

3. The clamping head according to claim 2, wherein the free end region (19) of at least one of the support bars (9) for placement on the single item (3) has a contact element with reversible elastic deformation capability.

4. The clamping head according to claim 3, wherein the contact element having reversible elastic deformation capability is formed of rubber or foam material.

5. The clamping head according to claim 1, wherein the clamping head comprises at least one actuator, and at least one of the support bars (9) can be moved relative to the clamping base (5) to adjust its effective range (R1, R2) from the clamping base (5).

6. The gripper head according to any one of claims 1 to 5, wherein the gripper head is designed to grip the single item (3) as a beverage container bundle (6).

7. The clamping head according to any one of claims 1 to 5, wherein the support (4) provides linear guidance for the movement of at least one of the support bars (9).

8. The clamping head according to any one of claims 1 to 5, wherein the clamping head comprises exactly one of the support bars (9), wherein, One of the support bars (9) is held on the clamp base (5) by the support (4) such that one of the support bars (9) can only move relative to the clamp base (5) along its longitudinal direction.

9. The clamping head according to any one of claims 1 to 5, wherein the clamping head comprises at least two support bars (9) for the single item (3), which are held on the clamping base (5) between the first clamping bar (7) and the second clamping bar (8) by corresponding supports (4), and are located between the first clamping bar (7) and the second clamping bar (8), wherein, The support (4) of at least two of the support bars (9) is designed such that at least two of the support bars (9) can each move along the clamp base (5) in a straight direction perpendicular to their longitudinal direction, and can each adjust their effective range (R1, R2) from the clamp base (5) by moving relative to the clamp base (5).

10. The clamping head according to any one of claims 1 to 5, wherein at least one of the supports (4) comprises at least one scissor mechanism (21), and at least one of the support bars (9) is movably held relative to the clamping base (5) by means of at least one of the supports (4), such that at least one of the support bars (9) can adjust its effective range (R1, R2) from the clamping base (5) relative to the clamping base (5) by the action caused by at least one of the scissor mechanism (21).

11. A rotation and distribution system for a single item of goods, characterized in that, The rotation and dispensing system has at least one clamping head (1) according to any one of claims 1 to 10.

12. The rotation and dispensing system according to claim 11, wherein the rotation and dispensing system comprises at least one industrial robot having at least one of the gripping heads (1) disposed thereon, The at least one industrial robot is a gantry robot and / or a triangular motion robot.

13. The rotation and distribution system according to claim 11 or claim 12, wherein the rotation and distribution system comprises at least one horizontal conveyor (14) through which the individual item (3) can be moved to the working area of ​​at least one of the gripping heads (1), wherein, The rotation and distribution system (10) is configured and equipped for such operation of at least one of the gripping heads (1), such that at least one of the single goods (3) maintains surface contact with at least one of the horizontal conveying devices (14) when being received and manipulated in a clamping manner via at least one of the gripping heads (1).

14. The rotation and distribution system according to claim 11 or claim 12, wherein the rotation and distribution system is configured and equipped with an arrangement for forming a plurality of individual goods (3), the arrangement being adapted to form a stackable layer from the plurality of individual goods (3).

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