Gripper head for picking up single-piece goods and rotating and distributing system

Abstract

This utility model discloses a gripping head (10) for gripping a single item (24) and a rotation and distribution system. The gripping head (10) includes at least two gripping bars (12, 14) and a support bar (16). The gripping bars cooperate with each other and can be brought close together to temporarily grip a single item (24) or a group of single items (24). The gripping bars are movably arranged on the gripper base (20) of the gripping head (10). The support bar is suspended on the gripper base (20) and located between the two movable gripping bars (12, 14) for separating the single items (24) gripped by the at least two close-to-each-each gripping bars (12, 14) in a clamping manner and bringing them together. In particular, the support bar (16) is movably suspended on the gripper base (20) and its position is adjusted according to the position of at least one single item (24) gripped by the gripping bar (12,14) or according to the position of multiple single items (24), or its position is deviated from the position of at least one single item (24) gripped by the gripping bar (12,14).

Description

Technical Field

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

[0002] Known packaging or palletizing equipment for stacking, palletizing, rotating, and / or distributing packages or bundles containing multiple items (such as beverage containers) typically features a horizontal conveyor with a conveyor belt. Individual items or bundles are transported on the conveyor belt in an uninterrupted or irregular sequence to a handling device. Individual items or bundles are shifted, aligned, and / or rotated at the handling device to form a suitable spatial arrangement, which lays the foundation for pushing the items or bundles together in downstream grouping stations to form stackable layers of individual items or bundles.

[0003] Current handling devices can achieve the displacement, alignment, and / or rotation of individual items or bundles. They can be equipped with grippers, for example, suspended from a gantry system, capable of displacement, rotation, and vertical movement within a defined range of motion to lift individual items or bundles for rotation and / or displacement. Rotation and / or displacement can also be performed without the individual items or bundles moving vertically. In more known embodiments, the grippers can also be arranged on a multi-axis robotic arm located on the side of a horizontal conveyor.

[0004] After the rotation and / or displacement process, the interlocking strips typically equipped with the gripper can be opened or their relative distance increased to release the previously clamped individual item at a preset target position. Such strips may, for example, have flat side surfaces that make surface contact with the individual item to hold it under force. Such strips may also be formed by or include gripping fingers that extend in a form-fitting manner between adjacent beverage containers of the individual item, reducing the risk of the clamped item accidentally disengaging from the associated gripper during manipulation. These gripping fingers are particularly useful if the gripper is intended for high-speed or high-frequency manipulation of individual items.

[0005] A single item can be, for example, a bundle containing multiple beverage containers, such that a corresponding clamp can receive the 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, bundles exist in which items are held together by a so-called pallet that receives multiple beverage containers; this pallet may have side lugs or edge segments that have been moved to an upright position. Bundles are also known in which beverage containers are held together by a flat packaging blank inserted into the respective beverage container in an upward direction. This packaging blank, referred to in practice as a top clamp, can be formed of cardboard and / or hardboard.

[0006] In addition, various gripping heads are used, and besides the known two gripping bars that can come together, a separator plate is centrally positioned between the two gripping bars. The two gripping bars and the separator plate are suspended from a horizontal support, which can be rotatably mounted on a tripod, gantry suspension device, or similar suspension linkage (not shown). The separator plate is centrally suspended from the support, and in use, when the gripping bars come together from the outside, the separator plate brings the two gripped items together.

[0007] Practice has shown that using grippers to manipulate bundles often results in the bundles being displaced from the gripper, especially when the bundles are rotated using the gripper. If two adjacent bundles are displaced relative to each other, they can form an arrangement where, for example, the beverage container portion of the first bundle extends between the beverage containers of the adjacent bundles. In the packaging and palletizing technology field, this arrangement is called a nested arrangement. When bundles form a nested arrangement, their common width decreases, which is undesirable in practice and can lead to malfunctions or problems during subsequent processing. Furthermore, nested bundles often unintentionally detach from the gripper because they are no longer held with the required clamping force on the gripper's straps.

[0008] To avoid this problem, grippers with at least one separation plate or support plate arranged between the gripping bars are often used. If multiple bundles arranged adjacent to each other are gripped by the gripper, the corresponding bundles come into contact with the surface of the separation plate or support plate, thereby preventing the bundles from accidentally separating from the gripper during subsequent handling.

[0009] This gripper is disclosed in EP 4 067 271 A1. This case discloses a gripper for grasping a single item moving in multiple parallel columns, and a corresponding method for handling a single item moving in multiple parallel columns. Two gripping bars can move closer together to hold single items from different parallel columns in a clamping manner. Furthermore, the gripper is equipped with support bars arranged between the gripping bars. The support bars are movably mounted, thus their position can be changed to accommodate different single item positions or different sizes of the grasped single items.

[0010] EP 2 388 216 A1 discloses another clamping device for handling single items or bundles. The clamping device disclosed in this application has two opposing clamping members that can be brought together to receive a single item. Each clamping head has two clamping bars that can be brought together and a separator plate centrally located between the two clamping heads. The two clamping bars and the separator plate are each suspended on a horizontal support, which can be rotatably mounted on a tripod, gantry suspension device, or similar suspension linkage (not shown). The separator plate, centrally suspended on the support, brings two gripped single items together when the clamping bars bring together from the outside. These known clamping heads are generally used for single-lane or dual-lane operations and are designed accordingly.

[0011] Numerous application examples demonstrate that, depending on the specific operation to be performed, at least one corresponding separating plate or support plate is necessary or useful, or can be omitted entirely if the operation does not require such a separating 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 either arranging at least one separating plate or support plate on the gripper or removing at least one separating plate or support plate from the gripper. In particular, if the gripper is initially supplied with a single item that moves sequentially along just one column, and subsequently supplied with a single item that moves along two or more parallel columns to the gripper's working area, it is necessary to adapt the gripper to the different operation tasks. Furthermore, an operator is required to make the relevant adjustments to the gripper, which effectively requires additional labor.

[0012] Furthermore, known grippers are generally designed for single-lane or multi-lane operations. These grippers for dual-lane or multi-lane operations are generally equipped with a central separating plate for this purpose, or, where necessary, multiple separating plates according to EP 4067 271 A1, for mutual support of the gripped packages or individual goods.

[0013] However, this variant of the gripper head designed for multi-way operations cannot be used to grip single, individual items. Just as grippers without separators typically do not work reliably when gripping two or more individual items, the items can easily fall out. Furthermore, when gripping multiple items combined together, such as bundles containing grouped containers, grippers without separators may cause the components of the individual items to squeeze against each other.

[0014] Ideally, the modification time of the gripper should be minimized, and if necessary, the corresponding modification work on the gripper should even be eliminated entirely. A gripper that offers greater flexibility in receiving single items compared to grippers known in the prior art is also desirable. Utility Model Content

[0015] In view of the known prior art, the primary objective of this invention is to provide a universal gripping head and a universal rotating and dispensing system having such a gripping head, so as to be able to grasp and reposition individual items in different configurations. In other words, it should be able to handle single items, pairs of items, or combinations of multiple items. Ideally, this should be achieved without requiring modification.

[0016] To achieve the aforementioned objectives, or at least some of them, this invention provides a gripping head for grasping and / or manipulating single items. The gripping head includes at least two gripping bars that cooperate with each other to temporarily grip a single item or a group of single items in a clamping manner. The gripping bars are arranged on a gripper base of the gripping head. At least one gripping bar may be fixedly arranged on the gripper base, or secured there, or movably suspended there. At least one other gripping bar is movably suspended on the gripper base; thus, if two gripping bars are present, at least one is movable, while the other may be arranged or suspended on the gripper base in a secure or movable manner. In this way, if one gripping bar is fixed, at least one other gripping bar can move toward the opposite fixed gripping bar to clamp and receive at least one single item. In another case, if two of the at least two clamping bars are movable, they can be brought together to clamp and receive at least one single item.

[0017] The simplest gripper head may optionally include at least two gripping bars that cooperate with each other to temporarily grasp a single item or a group of single items in a clamping manner. The gripping bars are arranged on a gripper base of the gripper head. Specifically, a first gripping bar may be fixedly fastened to the gripper base, while at least one other gripping bar is movably suspended from the gripper base and may move toward the opposite gripping bar to clamp and receive at least one single item.

[0018] However, as an alternative (i.e., as an alternative to a fixed arrangement of the first clamping bar), the first clamping bar can also be movably suspended on the clamping head or its clamping base.

[0019] Another clamping bar movably suspended from the clamping head on the clamping base can also be regarded as a second clamping bar, which can approach the first clamping bar that is fixedly fastened to the clamping base or movably suspended there, to clamp and receive at least one single item.

[0020] Generally, the gripping head of this invention is used to grip one or more individual items, groups of individual items, or groups of individual items. The gripping head has a first gripping bar and at least one second gripping bar, capable of performing a closing motion to receive at least one individual item in a clamping manner. If necessary, the gripping head may also have two or more gripping bars, as will be described in detail below with reference to specific embodiments. Typically, the first and second gripping bars each perform a linear motion during the closing motion, which generally means that the first and second gripping bars each move in a linear direction during the closing motion.

[0021] Alternatively, the first and second clamping bars can pivot during the approaching movement. In this embodiment, the first pivot provided for the first clamping bar and the second pivot provided for the second clamping bar can be spaced apart from each other and oriented parallel to each other. If the clamping head is configured as a component of the rotation and dispensing system described below, the pivots can extend parallel to the transport direction of at least one horizontal conveying device of the rotation and dispensing system.

[0022] The first and second clamping bars (and any other clamping bars that may exist, see below) may be, for example, clamping claws, pincer-like clamping arms, plates, or other clamping structures. Alternatively or additionally, the first and / or second clamping bars (and any other or third clamping bars that may exist) may each have a profile and / or a reversibly deformable element, prepared for contact with the surface of the corresponding single item to be received in a clamping manner. In such an embodiment, the risk of damage to at least one corresponding single item received in a clamping manner due to contact with the clamping bars can be reduced.

[0023] If the first and / or second clamping bars (and any other or third clamping bars that may be present) have a profile, the static friction between the first and / or second clamping bars (and / or other or third clamping bars) and at least one single item received in a clamping manner increases, thereby reducing the risk that at least one single item received in a clamping manner by the first and second clamping bars (and third clamping bars) may inadvertently become detached from the clamping head. Therefore, the features of the first and second clamping bars (and other or third clamping bars) used herein should be understood in this example as comprehensive in every case; in principle, these features are intended to cover any structure suitable for clamping and receiving single items.

[0024] In addition, the gripper head preferably includes a support bar suspended on the gripper base and located between two movable gripping bars, which is particularly suitable for separating and bringing together at least two individual items or groups of individual items when they are gripped in a clamping manner by the gripping bars that are close to each other.

[0025] If such a support bar is present, it is located between the first clamping bar and the second clamping bar. Additionally, there is a clamping base on which the first and second clamping bars (and possibly a third clamping bar) and at least one support bar are arranged.

[0026] At least one support bar is selectively fastened or fixed to the gripper base. Alternatively, the support bar can be movably suspended from the gripper base, thus allowing its position on the gripper base to be changed as needed. For example, the suspension method allows the position of the support bar to adapt to the position of at least one or more individual items gripped by the gripper bar, thereby making the positioning of the support bar variable to avoid gripping at least one individual item.

[0027] At least one support strip may be formed from at least one plate structure or at least one separate plate. In addition, at least one support strip, the first clamping strip, and the second clamping strip (and possibly a third or other clamping strip) may be oriented parallel or substantially parallel to each other, or at least partially aligned with each other.

[0028] The gripping head can be designed to grasp single items, especially bundles of beverage containers. Such bundles of beverage containers may include multiple beverage bottles and / or multiple beverage cans held together by at least one packaging material.

[0029] This type of gripper head is particularly useful for grasping, receiving, and rotating single-item pairs or combinations of single-item goods and the aforementioned beverage container bundles, and transferring them to a designated target location at a specified destination. This variant of the gripper head is typically used in so-called two-way operations, where single-item goods or rows of single-item goods or regular combinations of single-item goods are grasped one after another along two parallel paths by the converging movement of gripping bars movably suspended on the gripper base, to perform a pre-defined maneuvering motion, thereby transferring the grasped single-item pairs or combinations of single-item goods to a predetermined target location in a specified orientation.

[0030] To achieve these repeatable manipulation steps, which can be performed in the same or different ways, the gripper head can move in space together with the gripper base to which it is attached. This defines a motion space for the gripper head, which is realized through the design of the existing suspension mechanism of the gripper head. For example, the gripper head can be part of a grouping system and can be movably suspended on a gantry system, which typically moves along three defined axes. Thus, the gripper head can move along these three axes within its structurally defined motion space above the transfer plane or load-bearing plane used to position a single piece of goods that needs to be repositioned in a predetermined manner. The three axes of such a gantry system are typically orthogonal to each other in space, so this principle of motion can also be viewed as mobility along the horizontal x-axis and y-axis, and the vertical z-axis.

[0031] All these axes impose limitations on the gripper head, which can only move within its respective linear effective distance, within the design range of the gantry system, before reaching a mechanical stop or the end of the linear mobility defined by control. All these linear limitations collectively constitute the total motion space of the gripper head. Furthermore, the gripper base can typically rotate about a vertical axis of rotation on the gripper head, allowing not only the displacement of individual items but also the rotation of individual items according to their preset positions. Gripper bases that can rotate in this way are often referred to as rotatable tool heads in rotation and distribution systems, and therefore can be considered as such tool heads here as well.

[0032] In addition to the gantry system mentioned as an example, suspension systems that operate according to the principle of parallel kinematics (often called tripod robots or tripod suspension systems) are also suitable for gripper suspension devices that can be positioned in a defined three-dimensional motion space and perform rotational motion there when needed.

[0033] Suspension systems that utilize multi-axis robots for motion control are also conceivable. The gripper head could also be selectively suspended from the articulated robot arm.

[0034] As described above, a support bar, particularly arranged in a movable or displaceable manner on the gripper base, can be provided between the two movable gripping bars. This support bar separates and brings together the individual items gripped by the movable gripping bars. This support bar can be designed as a separation plate, or alternatively referred to as a separation strip or similar name. In dual-track operations, where individual items are supplied in parallel, or where individual items are positioned in multiple rows at the transfer location, the two gripping elements move towards the separation strip from both sides. This allows the separation strip to secure and separate the individual items or groups of individual items as the movable gripping bars approach from the outside towards the two individual items or groups of individual items.

[0035] To avoid excessive gaps between individual items being gripped simultaneously when handling a large number of items continuously, the separation plate that forms a support bar in the gripping head should be designed to be relatively thin. Such gaps are detrimental; for example, they can damage layer patterns when merging them and adversely affect the further transfer of these merged layer patterns.

[0036] In one embodiment of the clamping head of this utility model, in addition to the first clamping bar that is fixedly fastened to the clamping base, two other clamping bars can be movably suspended on the clamping base. To better clarify the correspondence, these two clamping bars are also referred to as the second clamping bar and the third clamping bar.

[0037] In this variant of the gripper head, the second and third movable gripping bars can be brought close together to grip and receive at least two individual items or groups of two individual items in a clamping manner.

[0038] The second movable clamping strip is also used for single-path operations. For this purpose, it can be brought closer to the fixed first clamping strip from the back, and preferably has a more stable dimension to allow for force application from both sides. This more stable strip is usually also slightly wider. Since a smaller center-to-center distance is typically required when grouping the two bundles in the subsequent pre-grouping process, the design chosen here, with its relatively thin separating plate and slightly wider second clamping strip operating in two directions, functions well.

[0039] In this variant of the gripper head, a support bar, fixedly positioned on the gripper base, can be strategically placed between the two movable gripping bars. This support bar separates and brings together individual items gripped between the movable gripping bars. This support bar can be designed as a separation plate, or alternatively referred to as a separation strip or similar name. In dual-track operations, where individual items are supplied in parallel, or where individual items are positioned in multiple rows at the transfer location, the two gripping elements move towards the separation strip from both sides. This allows the separation strip to secure and separate the individual items or groups of individual items as the movable gripping bars approach from the outside towards them.

[0040] The clamping head of this utility model can also be designed such that when gripping a single item or gripping multiple groups of single items that are in contact with each other and cannot be separated during gripping, the support bar movably suspended on the base of the clamp can rest against one of the two movable clamping bars, thereby not functioning as needed, and pressing and clamping the single item or group of single items between the clamping bars through the contact surface of the clamping bar it is attached to.

[0041] To achieve this variability of the gripper head, the support bar is preferably suspended movable on the gripper base. It is particularly useful here to provide aligned or antiparallel movement directions for the two gripping and support bars that can approach each other. For example, the support and gripping bars can be mounted within a common horizontal track on the gripper base and can be moved relative to or towards each other.

[0042] This provides a gripping head in which a support bar movably suspended from the gripper base can variably correspond to one of the gripping bars, thereby selectively gripping pairs of individual goods or single items. In the first case, the support bar can perform its separating function to prevent two individual goods or groups of individual goods from sliding together, which can also be referred to as nesting. In the second case, the support bar can interfere and rest against one of the gripping bars to avoid collision with individual items or pairs or groups of individual goods that do not require further subdivision.

[0043] In the clamping head of this invention, the adjustment movement of the support bar is preferably coupled with the clamping bar, which can be abutted against as needed. For example, it can be configured such that, in an unloaded state, the support bar can return to the center position of the clamping base or clamping head under spring support.

[0044] Alternatively, the adjustment movement of the support bar can be coupled with the opening or returning movement of one of the clamping bars, so that it can return to the center position of the clamp base or clamping head.

[0045] According to another embodiment of the clamping head of this utility model, the support bar has a contoured working surface on at least one side corresponding to the surface profile of one of the clamping bars. Thus, once the support bar rests against the clamping bar, the contoured working surface of the support bar can at least partially embed into the working surface of the clamping bar. For example, a similar effect can be achieved by the corresponding grid profiles of the support bar and the clamping bar, which can interlock with each other, thereby rendering the support bar inactive and no longer in contact with the individual item when resting against the clamping bar.

[0046] According to another embodiment of the clamping head of this invention, at least one support bar can have an effective distance reduced relative to the first and second clamping bars (and possibly a third clamping bar) starting from the clamping base. Therefore, when the clamping head is at a height level where at least one support bar contacts the single item to be clamped and can extend between adjacent single items to be clamped during clamping and receiving of a single item, at least one support bar can provide contact surfaces for multiple single items to be clamped and received.

[0047] Furthermore, in this embodiment, at least one support bar can be moved to another height level due to a reduced effective distance, at which at least one support bar does not touch at least one single item to be received, but the first and second clamping bars (and possibly a third clamping bar) can continue to have surface contact with the single item to be clamped and received due to their greater effective distance when the first and second clamping bars (and possibly a third clamping bar) perform a closing movement. If at least one single item is clamped by the first and second clamping bars (and / or possibly a third clamping bar), at least one support bar can be positioned above the at least one single item clamped.

[0048] In practice, it is sufficient if the effective distance of at least one support bar from the gripper base is only slightly reduced compared to the effective distances of the first and second gripping bars (and possibly a third gripping bar). Alternatively or supplementarily, the effective distance of at least one support bar from the gripper base may be reduced by at least one-third compared to the effective distances of the first and second gripping bars (and / or the third gripping bar). Alternatively or supplementarily, the reduced effective distance of at least one support bar from the gripper base may also be, for example, less than about five centimeters.

[0049] The following implementation has also proven advantageous: at least one support bar is arranged in such a way that when at least one support bar is placed on a single item, at least one support bar automatically disengages from the gripper base. This prevents damage in case of inaccurate or incorrect positioning of the gripper. This protection or safeguard applies to all gripper head implementation variations with support bars or separation plates mentioned herein.

[0050] The gripping head can be designed to grasp individual items bundled as beverage containers. Such beverage container bundles may include multiple beverage bottles and / or multiple beverage cans held together by at least one packaging device.

[0051] In different embodiments, the gripper head may have exactly one support bar, or only one support bar, which is fixedly and non-adjustably at a predetermined position on the gripper base. This means that exactly one support bar can be fixedly fastened to a predetermined position on the gripper base. The predetermined position can be designed such that when exactly one support bar is fixedly fastened to the predetermined position on the gripper base in a non-adjustable or fixed manner, the distance between exactly one support bar and the first and second gripping bars is at least approximately the same.

[0052] In an alternative embodiment, the gripper head may include at least two or exactly two support bars located between a first gripping bar and a second gripping bar (or possibly a third gripping bar), each having a reduced effective distance from the base relative to the first and second (or third) gripping bars. The reduced effective distances of the at least two or exactly two support bars may be the same from the gripper base. The at least two or exactly two support bars may be adjusted linearly along the gripper base. In particular, the at least two or exactly two support bars may be adjusted linearly along the gripper base such that when the first and second (and possibly a third) gripping bars perform a closing movement, the at least two or exactly two support bars are pushed together with the single item.

[0053] As described above, in the gripping head of this invention, the gripping bars can be formed or equipped with gripping claws that can approach towards a single item to be gripped. Optionally, contours, anti-slip coatings, or similar structures can be provided on the contact surfaces of the gripping bars that can approach the single item. Alternatively, attachments made of an elastic material capable of improving adhesion to the sidewalls of the contacting single item can be provided; such attachments are, for example, formed of plastic or rubber elements with elastic flexibility. These optional contours reasonably match the corresponding contours of the movable support plate, so that if a support plate is not needed for single-path operation or when only a single item is gripped, the support plate can be embedded in the contour of one of the two gripping bars.

[0054] In a simple implementation variant, the clamping bar referred to and regarded as a functional element here may also be designed simply as a flat paddle or the like, especially if it is not absolutely necessary to lift the single item after it is clamped between the clamping bars, but the manipulation steps are basically achieved by displacement and / or rotational movements, in which case the bottom surface of the single item that needs to be rotated and / or moved can be dragged or slid on the bearing plane or the conveying plane.

[0055] As described above, the gripping head of this invention can in particular be a movable component of a rotary and dispensing system for manipulating single items, the rotary and dispensing system being used for single items moving along a conveyor section or for single items located on a bearing plane. In this regard, the rotary and dispensing system described herein for single items moving along a conveyor section or located on a supply surface, as well as the gripping head described in one of the above-described embodiments, constitutes part of this invention, because the rotary and dispensing system includes the gripping head as a handling tool for manipulating single items.

[0056] The gripper head, together with a gripper base held on the gripper head in an adjustable or rotatable manner, two gripping bars arranged thereon, and a movable support bar located between the two gripping bars, is arranged above the conveyor section. The gripper base or carrier element for the gripping bars is rotatably or otherwise movable on a support or tool head, often referred to as the TCP (Tool Center Point). In this way, individual items can be gripped in different orientations or at different rotational positions, and the gripped individual item can be rotated to the desired target orientation to place it in the intended target location. This can be achieved by rotating together the gripper base and the gripping bars arranged thereon, as well as the individual item clamped therein.

[0057] In the rotation and distribution system of this utility model, the gripping head is preferably movably suspended above the conveying section or supply position for single goods and can be positioned within a defined movement space. Such an arrangement can form a grouping station for single goods.

[0058] Previously known grippers for forming pallet layers typically use grippers with two movable jaws, thus only able to grip a single item or bundle, or only a single row of single items or bundles on a single path. The gripper of this invention, however, can be used for both single-path and multi-path operations. Therefore, in situations requiring higher machine power, it may be necessary to use a rotation and distribution system or a gripper for this purpose to grasp and transfer two or more rows of bundles or single items on adjacent paths.

[0059] A separator plate is typically used in grippers. This separator plate is generally used to prevent adjacent rows of bundles or individual items from nesting, shifting, or sliding during gripping, moving, or rotation. Nesting or shifting of individual items or bundles is disadvantageous because it reduces the width of the bundles, and during rotation or movement during handling, the bundles can no longer be clamped by the gripper, thus failing to reach the calculated position or even slipping off the gripper. In practice, the separator plate should be relatively thin to avoid interfering with the layering process.

[0060] In contrast, this invention allows for the variable use of the gripping heads to manipulate individual items without requiring format conversion within the handling or packaging machine. The separating plate can move between the clamping bars that can come close together, thus enabling the movable clamping bars to be used in different ways to function as a dual gripper or a single gripper.

[0061] When manipulating individual items or bundles using a dual-grip method, the items or bundles are clamped in a known manner using a separator plate or a central support bar. This support bar, used between two rows of bundles or individual items, effectively prevents slippage or nesting between the left and right rows. Force locking is achieved by applying clamping force laterally from the left row of bundles or individual items to the separator plate or from the support bar to the right row of bundles or individual items, and vice versa.

[0062] When manipulating a single item or bundle in a single-grip manner, the required clamping force is applied in the same way, wherein the support bar moves toward one of the gripping bars or one of the gripping paddles and engages thereas if necessary, so that the support bar or separator plate no longer functions.

[0063] The clamping bars can be selectively suspended and anchored to the clamp base in a known manner, allowing them to yield or detach under excessive load. The separation plate or intermediate support bar can also be removed without tools. These components can detach from the suspension in the event of an accidental collision with a single item, preventing damage to the clamping head and the item.

[0064] In summary, this invention provides a very compact clamping head that does not lose extra workspace due to the addition of a clamping bar.

[0065] The single-item cargo rotation and distribution system of this utility model includes at least one gripping head according to at least one of the above embodiments. This rotation and distribution system may include at least one industrial robot with at least one gripping head disposed thereon, wherein the at least one industrial robot may be a gantry robot and / or a triangular kinematic robot. The industrial robot may also optionally be an articulated arm robot or a robot that operates in other ways.

[0066] The rotation and distribution system may also include at least one horizontal conveying device through which a single item can be moved into the working area of ​​at least one gripping head. The rotation and distribution system may be configured to operate at least one gripping head in a manner such that at least one single item remains in contact with the surface of at least one horizontal conveying device during reception and manipulation by at least one gripping head in a clamping manner.

[0067] Furthermore, the following implementation has proven advantageous: the rotation and distribution system includes a control device and at least one horizontal conveying device, by which individual items can be moved to the working area of ​​at least one gripping head. The at least one gripping head can be controlled by the control device to...

[0068] - At least one gripping head can form an arrangement of multiple individual items, which matches a stackable layer to be formed from the multiple individual items. This is achieved by the at least one gripping head repeatedly receiving and manipulating at least one individual item moved into its working area in a clamping manner to form the corresponding arrangement. Furthermore, the control device can be designed as follows:

[0069] - In order to clamp and receive at least one single item, the control device selects a specific height level from a plurality of different height levels and controls the gripper head to receive at least one single item at the specific and selected height level.

[0070] The arrangement can be formed by pushing multiple individual items together to create a complete stackable layer.

[0071] Furthermore, an implementation could be conceived whereby the rotation and distribution system includes a control device and at least one horizontal conveying device, which can move individual items to the working area of ​​at least one gripping head. The control device may be configured as follows:

[0072] - When multiple single items, jointly received by the gripper head, are adjacent to each other perpendicular to the conveying direction of at least one horizontal conveying device, the gripper head is moved to a first height level upon triggering by the control device. Furthermore, the control device may also be configured to:

[0073] - When exactly one single item is received by the gripper head, or when only a plurality of single items arranged sequentially aligned along the conveying direction of at least one horizontal conveyor are received by the gripper head together, the gripper head is moved to a second height level under the trigger of the control device, wherein the distance between the gripper head and at least one horizontal conveyor at the second height level is greater than the distance between the gripper head and at least one horizontal conveyor at the first height level.

[0074] For example, it is conceivable to provide different horizontal conveying devices, wherein the gripping head receives single items from a first horizontal conveying device only at a first height level, and receives single items from a second horizontal conveying device only at a second height level. The gripping head may also form a first arrangement of single items matching the stackable layer, and receive single items from at least one horizontal conveying device in a clamping manner only at the first height level. Subsequently, the gripping head may form a second arrangement of single items matching the stackable layer, and receive single items from at least one horizontal conveying device in a clamping manner only at the second height level. This implementation is particularly suitable if a mixed pallet is to be formed from both the first and second arrangements.

[0075] In particular, the distance between the clamping head and at least one horizontal conveying device at the second height level can be designed such that at least one support bar will not touch at least one single item to be received, while the distance between the clamping head and at least one horizontal conveying device at the first height level is designed such that when the single item is received by the clamping head in a clamping manner, the single item is in surface contact with at least one support bar.

[0076] Furthermore, in addition to the gripping head described above in various embodiments and the rotation and dispensing system also described above in some respects, a method for gripping and manipulating a single item is also described, which can be implemented in particular using the gripping head described above, which has been described above in various embodiments and in some alternative embodiments.

[0077] This method uses a gripping head to manipulate individual goods. Specifically, the gripping head uses two cooperating and close-to-each-other gripping bars to temporarily grasp at least one individual goods or multiple groups of individual goods, so as to move them from a transfer location or a pickup location to a target location. This manipulation step can not only change the position of individual goods, but also change their orientation in space.

[0078] The first clamping bar can be fixedly fastened to the clamping base of the clamping head, or it can be movably suspended there. At least one other clamping bar is movably suspended from the clamping base. Thus, at least one other clamping bar can move toward the opposite fixed clamping bar to clamp and receive at least one single item, or alternatively, at least two movable clamping bars can move toward each other to clamp and receive at least one single item.

[0079] The support bar is located between at least two movable clamping bars that can approach each other, or between one of the clamping bars that can be fixed to the clamping base. Its function is to separate and bring together at least two gripped individual items, i.e., those individual items currently gripped by the clamping bars that are currently approaching each other. In this method, the support bar can be fixed to the clamping base or movably suspended from the clamping base, so its current position can adapt to the gripping situation of at least one individual item gripped by a clamping bar, or to the gripping situation or position of multiple individual items. If the support bar is movable, and if the center position of the support bar would collide with an individual item, or if, for other reasons, the position of the support bar must give way to at least one individual item gripped by a clamping bar, then the method may also include the avoidance of the support bar.

[0080] According to a variant of the method, a first clamping bar may be fixedly fastened to the clamping base, while at least one other clamping bar is movably suspended from the clamping base and moves toward the opposite clamping bar to clamp and receive at least one single item.

[0081] In this method, other clamping bars movably suspended on the clamping base can be formed, in particular, by a second clamping bar that moves toward the first clamping bar, which is fixedly fastened to the clamping base, to clamp and receive at least one single item.

[0082] In addition, a variant of the method may specify that, in addition to the first clamping bar which is fixedly fastened to the clamping base, two other clamping bars are movably suspended on the clamping base, which are formed by the second and third clamping bars.

[0083] In this way, the second and third movable clamping bars can be brought close together, wherein at least two individual items or groups of two individual items are gripped and clamped between the second and third clamping bars.

[0084] In another variation, a support bar, fixedly positioned on the gripper base, can be provided between the two movable gripping bars. This support bar separates individual items held between the movable gripping bars and brings them together. Thus, in dual-track operations, the two gripping elements can move from either side toward the separating plate or the support bar, allowing for the securing and separation of two individual items or groups of two individual items via the separating plate or the support bar.

[0085] In some variations of the method described herein, a support bar is provided between the two movable gripping bars, arranged movably and / or adjustable in a converging motion parallel to the gripping bars on the gripper base. This support bar can separate and bring together individual items gripped between the movable gripping bars. Thus, in dual-track operations, the two gripping elements can move from both sides toward the separating plate or support bar, so that two individual items or groups of two individual items can be secured and separated by the separating plate or support bar.

[0086] Therefore, this method can selectively specify that when gripping a single item or a group of items that are in contact with each other and / or cannot be separated, the support bar movably suspended on the gripper base rests against one of the two movable gripping bars. To achieve this, the support bar is displaceably suspended on the gripper base. It is also advantageous if the two gripping bars and the support bar, which can approach each other, can each move in an aligned or antiparallel direction.

[0087] The method can be further specified such that the support bar, movably suspended on the gripper base, can spatially correspond to one of the gripping bars during the closing movement of the gripping bars. Therefore, coupling the adjustment movement of the support bar with its selectable abutment gripping bar is also very useful.

[0088] According to another variation of the method, in an unloaded state, the support bar can return to the center position of the gripper base or gripper head under spring support. However, the adjustment movement of the support bar can also be coupled with the opening or returning movement of one of the gripper bars, thereby allowing the support bar to return to the center position of the gripper base or gripper head.

[0089] In one embodiment of the method for gripping and manipulating a single item using at least one gripping head according to the above embodiments, the single item enters the working area of ​​at least one gripping head via at least one horizontal conveying device. Subsequently, the at least one gripping head receives the at least one single item in a clamping manner by the converging movement of its first and second gripping bars, and then manipulates the at least one single item received in a clamping manner. Further specified, the at least one gripping head adjusts its height level according to the need for clamping and receiving the at least one single item, so that after clamping and receiving the at least one single item, at least one support bar of the gripping head selectively makes surface contact with the clamped and received single item, or does not contact the at least one clamped and received single item.

[0090] In this method, a single item can be a bundle of beverage containers.

[0091] Another scenario is that, during the manipulation, at least one single item received in a clamping manner rotates and / or tilts relative to the conveying direction of at least one horizontal conveying device, wherein during the manipulation, at least one single item received in a clamping manner maintains continuous surface contact with at least one horizontal conveying device, or during the manipulation, at least one single item received in a clamping manner does not lose surface contact with at least one horizontal conveying device.

[0092] Furthermore, the gripping head can form an arrangement consisting of multiple individual items, which matches a stackable layer to be formed from multiple individual items. The gripping head can repeatedly receive and manipulate at least one individual item moved into its working area in a clamping manner to form the corresponding arrangement. In order to clamp and receive at least one individual item, the control device can select a specific height level from multiple different height levels and control the gripping head to clamp and receive at least one individual item at the selected specific height level.

[0093] Similarly, in this method, the gripping bars can also be formed by or equipped with gripping claws that can approach the individual item to be gripped. The support bars can optionally have a contoured working surface corresponding to the surface profile of one of the gripping bars. Thus, once the support bar rests against the gripping bar, the contoured working surface of the support bar can at least partially embed into the working surface of the gripping bar.

[0094] If it is reasonable to combine them in a manner that is perceptible to a person skilled in the art, some or all of the previously mentioned variations or implementations of the method and / or the apparatus of the present invention may be selectively combined with each other in order to at least partially achieve one or more of the objectives set forth above, and / or to obtain the desired effects of the present invention.

[0095] This invention offers high flexibility in layer formation because existing grippers can be used for single-path and dual-path operations in any alternating manner.

[0096] The single item mentioned in this invention can be a cubic package. However, a single item can also be a bundle or other packaging unit that combines multiple individual items together. For this purpose, it is very useful to use a separator to separate the single items or packaging units that are being grabbed at the same time, especially in two-way operations. For example, otherwise, bundles with rough outer surfaces may squeeze against each other, resulting in undesirable positional changes.

[0097] In this regard, it should be explicitly stated that all aspects and embodiments relating to the gripping head or the rotation and distribution system of this invention also relate to or may constitute parts of the single-item cargo handling method. Therefore, if any point in the definition of the specification or claims relating to the gripping head or the rotation and distribution system of this invention relates to certain aspects and / or connections and / or effects, this also applies to the method.

[0098] Conversely, all aspects and variations of the embodiments explained in connection with the described method also relate to or may relate to certain aspects of the gripping head or the rotation and dispensing system of the present invention. Therefore, if any aspect and / or interrelationship and / or effect is mentioned at any point in the description of the single-item handling method, this also applies to the rotation and dispensing system or the gripping head of the present invention. Attached Figure Description

[0099] 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.

[0100] Figure 1A A perspective view of a first implementation variant of the gripper head for simultaneously gripping two individual items or groups of two individual items.

[0101] Figure 1B A perspective view of another variant of the gripper head used to simultaneously grasp two individual items or groups of two individual items.

[0102] Figure 2A This is a front view of a third variant of the gripping head of this invention for simultaneously grasping and manipulating two individual items or groups of two individual items.

[0103] Figure 2B for Figure 2AThe diagram shows a front view of the gripper head, in which the gripper head grips a single item or a group of single items.

[0104] Figure 3A for Figure 2A The diagram shows a front view of a fourth variant of the gripper head, in which the gripper head is used to grasp two single items.

[0105] Figure 3B for Figure 3A A perspective view of the clamping head in the diagram.

[0106] Figure 4 This is a front view of the fifth variant of the gripping head of this utility model for grasping and manipulating single items.

[0107] Figure 5A This is a front view of the sixth variant of the gripper head, in which the gripper head grasps two single items.

[0108] Figure 5B for Figure 5A The diagram shows a front view of the sixth variant of the gripper head, in which the gripper head grasps only a single item.

[0109] Figure 6A and Figure 6B These are front views of the seventh embodiment of the clamping head and the first embodiment of the rotation and dispensing system of the present invention, respectively.

[0110] Figure 7A and Figure 7B This is a front view of the eighth embodiment of the clamping head of the present invention and the second embodiment of the rotation and dispensing system of the present invention.

[0111] Figure 8 This is a ninth embodiment of the clamping head of the present invention, which can be configured as a component in various embodiments of the rotation and dispensing system of the present invention.

[0112] Figure 9 The flowchart illustrates the steps that can be set up individually or in combination as shown in the diagram in various embodiments of the method. Detailed Implementation

[0113] For elements of the same or identical function in this invention, the same reference numerals are generally used in the following figures. Furthermore, for clarity, only reference numerals necessary for the description of the relevant figures are shown in each figure. The illustrated embodiments are merely examples of how the gripping head or single-item cargo handling method of this invention can be configured, and do not represent conclusive limitations.

[0114] Figure 1Aand Figure 1B The perspective view illustrates the basic structure of the various clamping heads 10. Figure 2A The front view diagram explains the dual-path operation function of these grippers. Figure 1A and Figure 1B Each clamping head 10 shown in the example has two clamping bars 12 and 14 that can be brought close together and a support bar 16 in the form of a separation plate 18 centrally located between the two clamping bars. Figure 1A and Figure 1B The clamping bar 12 on the left side is also referred to as the first clamping bar 12 in the following text, and Figure 1A and Figure 1B The clamping bar 14 on the right is also called the second clamping bar 14.

[0115] Figure 1A The variant herein is referred to as the first implementation variant of the clamping head 10, while Figure 1B This describes a second implementation variant of the clamping head 10.

[0116] Two clamping bars 12 and 14 that can be brought together, along with a support bar 16 or a separation plate 18, are suspended from a horizontal bracket, which can be rotatably mounted on the linkage of a tripod (i.e., a parallel kinematic robot) (not shown here), a gantry suspension, an articulated arm robot, or a similar suspension system. In this document, the horizontal bracket is also referred to as the gripper base 20, as the main functional elements of the gripper head 10 are suspended and mounted there. Therefore, the gripper base 20 constitutes part of the overall structure of the gripper head 10.

[0117] Figure 1A and Figure 1B The two gripping heads 10 shown are not fundamentally different in operation, but they differ in some design details, such as the design and shape of the gripping bars 12 and 14 and their respective contact surfaces with individual items (not shown here; but can be found in [reference]). Figure 2A Clamping strips 12 and 14 can be equipped with pairs of horizontal strips with elastic flexibility. Figure 1A ) or vertical stripes ( Figure 1B ( ), so as to grasp individual items, and in particular to prevent the grasped individual items from slipping out of the clamping bars 12 and 14 that are close to each other when moved or repositioned.

[0118] The separating plate 18 forming the support bar 16 is relatively thin and therefore has a certain degree of flexibility. It is centrally suspended on the bracket of the clamp base 20. In use, when the clamping bars 12 and 14 approach each other from the outside (see... Figure 2AThe separator plate brings two gripped individual items together. The horizontal approaching movement of the two gripping bars 12 and 14 is indicated by horizontal double-headed arrows below the gripping bars 12 and 14, respectively. The bearing plane, conveying plane, or supply position of the individual item located thereon and / or provided or conveyed there may be within the area of ​​these double-headed arrows so that the gripping head 10 can grip and receive the individual item there in a clamping manner, reposition it, and rotate it if necessary to insert the individual item, for example, into a preset layer pattern for subsequent stacking or palletizing processes.

[0119] An optional electrically driven element 22 for the closing movement of clamping bars 12 and 14 is shown only in the clamping head 10. Figure 1A In the implementation variant shown. Figure 1B In the embodiment of the clamping head 10 shown, the approaching movement can be triggered by means of a mechanical transmission element not shown in detail here, or it can be triggered by a motor-driven device, which is also not shown here.

[0120] It should also be noted here that Figure 1A and Figure 1B The identifiable design details, including the arrangement and movement possibilities of the clamping bars 12 and 14, and in some cases the higher stability and / or bending stiffness of the support bar 16, can also be present in the clamping head 10 of this invention as described below (see Figure 2A , Figure 2B , Figure 3A , Figure 3B , Figure 5A , Figure 5B , Figure 6A , Figure 6B , Figure 7A , Figure 7B and Figure 8 ), without needing to Figure 2A , Figure 2B , Figure 3A , Figure 3B , Figure 5A , Figure 5B , Figure 6A , Figure 6B , Figure 7A , Figure 7B and Figure 8 It is shown in detail in the middle.

[0121] Figure 2A The front view exemplifies the use of the gripping head 10 of this invention; specifically, the gripping head can be used to grasp and manipulate a cubic single item 24. Therefore, Figure 2A The third implementation variant of the clamping head 10 is shown.

[0122] In order for the gripping head 10 to grip a single item 24 by the converging movement of the gripping bars 12 and 14 movably arranged on the gripper base 20, at least the side surface 26 of the single item is generally oriented vertically, thereby parallel to the surface orientation of the gripping bars 12 and 14 that grip the single item 24.

[0123] Figure 2A The figure shows two identical single items 24 gripped by clamping bars 12 and 14 that can be brought close together. However, the size of the clamping head 10 also allows it to grip groups of single items or combinations of three or more single items 24 aligned in a row, but this is not illustrated in detail in this figure.

[0124] According to this utility model, Figure 2A and Figure 2B The third embodiment of the gripper head 10 shown in the front view diagram can be selectively used for dual-path operation. Figure 2A ) or single-path operation ( Figure 2B To achieve this, clamping bars 12 and 14 are movably suspended on the clamping base 20 and can be brought close together to clamp two individual items 24 and receive them in a clamping manner, or, if necessary, clamp two individual items that are not visible here for illustration purposes and receive them in a clamping manner.

[0125] Between two movable clamping bars 12 and 14 that can come close together, there is a vertical support bar 16, selectively arranged in a movable or fixed manner on the clamping base 20. This support bar separates the individual items 24 clamped between the movable clamping bars 12 and 14 and brings them together. This vertically extending support bar 16 can be designed in particular as a relatively thin-walled separating plate 18, but it can also be selectively called a separating plate or similar name according to its preset function, because when the clamping head 10 descends, it extends between the adjacent individual items 24 and separates the individual items from each other when the clamping bars 12 and 14 come together.

[0126] exist Figures 1A to 2B In a first embodiment of the clamping head 10 shown, the depth of the separating plate 18 or the support bar 16 may correspond approximately to the vertical length of the clamping bars 12 and 14, but may also be as follows: Figure 2A and Figure 2B The insertion depth is reasonably slightly shorter because inserting the single item 24 between two side-by-side single items 24, or a pair of single items, or a row of single items is sufficient to reliably clamp the single item 24.

[0127] However, the support bar 16 preferably extends at least a short length below the center of gravity 28 of the single item 24 to be grasped, so that during the closing movement of the gripping bars 12 and 14, the single item will not tilt slightly towards each other due to the support bar 16 being short, and will not come into contact with each other in the lower region of the side surfaces 26 facing each other. Such contact is undesirable for the precise handling of the single item 24, at least if the separating plate or separating plate 18 has a certain material thickness and inherent bending stability.

[0128] The horizontal extension of the support bar 16 or the separation plate 18, which cannot be shown in the form of a front view for the purpose of graphic representation, is adapted to the corresponding length of a single item. Therefore, the length of the support bar 16 in the horizontal direction (i.e., the direction inside and outside the drawing plane) can be slightly less than the corresponding length of the single item that needs to be supported by the support bar 16. Figure 1A and Figure 1B The perspective view shows the dimensions of the support strip 16 formed by the separation plate 18.

[0129] The gripper base 20, which is schematically represented here as a horizontal beam, may be a carrier component, a base, a beam, or a similar component. In particular, the gripper base 20 may be rotatably suspended on a spatially movable suspension device of the operating device, so that a single item 24 to be gripped can be received from a transfer plane or supply position 30 containing a bearing plane 32 and delivered to a target position, i.e., the gripping bars 12 and 14 grip the single item 24 in a clamping manner by a closing movement and release it again at a preset target position (not shown here).

[0130] In dual-path operation, when clamping bars 12 and 14 are in the following positions... Figure 2A When the two clamping bars 12 and 14 are in the close-up position shown, they clamp the single item 24 located between them, thereby... Figure 2A and Figure 2B The clamping or holding forces 34, indicated by horizontal arrows, act on the opposing vertical side surfaces 26 of the clamped individual goods 24 that are in contact with the clamping bars 12 and 14. Similarly, these clamping or holding forces 34 act as reaction forces from the support bars 16 in the opposite direction on the respective opposing side surfaces 26 of the individual goods 24 that are separated and supported by the support bars 16.

[0131] Figure 2A It is clearly shown that in dual-path operation, the support bar 16 located in the center performs its preset separation task when receiving two side-by-side individual goods 24 or groups of individual goods, and for this purpose comes into contact with the opposing side surfaces 26 of the individual goods 24 that are side-by-side located on the supply position 30 or moving on the surface 32 of the horizontal conveyor.

[0132] However, in Figure 2B In single-lane operation as shown in the front schematic diagram, the situation changes. At this time, the gripper head 10 grasps only a single item 24 or an aligned row of two or more single items 24, because... Figure 2B The front view in the image only shows one single item 24. In this case, the support bar 16 changes its function and no longer acts as a separator 18, but moves to the right and rests flat against the clamping bar 14.

[0133] The single item 24 (or a pair or group of items) to be gripped is located approximately at the center of the supply position 30 and is gripped by two gripping bars 12 and 14 and a support bar 16 resting against the second gripping bar 14 of the two gripping bars 12 or 14 in a clamping manner. This slightly alters the direction of action of the right (second) gripping bar 14, which does not grip the single item 24 with its front working surface (which is now partially obscured by the support bar 16), but instead grips the single item 24 indirectly through the support bar 16. Therefore, the clamping force or holding force 34 is transmitted from the right (second) gripping bar 14 to the support bar 16, and then from the support bar to the single item 24 to be clamped.

[0134] Therefore, in single-path operation, the support bar 16 is essentially ineffective because it moves along the longitudinal extension of the gripper base 20 to the right (second) gripper bar 14 and rests there.

[0135] The clamping head 10 of this utility model Figure 1A , Figure 1B , Figure 2A and Figure 2B In the first to third embodiments shown, the gripping bars 12 and 14 may be formed or equipped with gripping claws that can approach the single item 24 to be gripped. Optionally, contours, anti-slip coatings, or similar structures may be provided on the contact surfaces of the gripping bars 12 and 14 that can approach the side surface 26 of the single item 24 to be gripped. Alternatively, attachments made of an elastic material capable of improving adhesion to the contacting sidewall 26 of the single item may be provided; such attachments may be formed, for example, of a plastic or rubber element with elastic flexibility.

[0136] For example, Figure 1A and Figure 1B The schematic perspective view illustrates this outline, which is, for example, composed of horizontal elastic attachments ( Figure 1A ) or a large number of flexible attachments arranged side by side with a vertical longitudinal profile ( Figure 1B This creates a flexible, non-slip profile that always provides the clamping strips 12 and 14. Figure 1A and Figure 1B The elastic attachment shown can preferably also be provided in the clamping head 10 of this utility model, such as... Figure 2A and Figure 2B The clamping bars 12 and 14 of the variant shown.

[0137] Figure 3A Front view and Figure 3B The perspective view illustrates a fourth embodiment of the clamping head 10, in which a rotatable suspension device 36 for the entire clamping head 10 can be seen located on top of the clamping base 20, so that the clamping head or its clamping base 20 can be rotatably anchored, for example, to a gantry suspension device of a rotation and distribution system not shown here.

[0138] exist Figure 3A and Figure 3B In the view, the support bar 16, which is arranged approximately in the center, is preferably coupled to the clamping bar 12 or 14, which can be abutted as needed, during its adjustment movement (see...). Figure 2B For example, it can be configured such that, in an unloaded state, the support bar 16 can return to its center position on the gripper base 20 or gripper head 10 under spring support. Alternatively, the adjustment movement of the support bar 16 can be coupled with the opening or returning movement of one of the gripper bars 12 or 14, thereby allowing it to return to its center position on the gripper base 20 or gripper head 10.

[0139] Especially from Figure 3B As can be seen in the perspective view, the working surfaces of the clamping bars 12 and 14 can have a rake-like profile as shown in the figure. The six vertically oriented and regularly spaced rake teeth 38 of each clamping bar 12 and 14 can be equipped with elastic anti-slip sleeves to better clamp and grip individual items 24 (not shown here, but can be seen in [reference]). Figure 3A Alternatively, the support bar 16 may have a corresponding design, so that when it is... Figure 2B When resting against one of the clamping bars 12 or 14 (here against the right clamping bar 14), it can extend into the gap between the spaced-apart rake teeth 38. However, this optional design of the separator plate 18 forming the support bar 16 is not shown here.

[0140] The gripping head 10 of this invention can be, in particular, a movable component of a rotation and distribution system (not shown in detail here) for manipulating a single item 24, which is used for a single item 24 moving along a conveyor section or for a single item located on a bearing plane 32 at a supply position 30. The gripping head 10, together with a gripper base 20 held, particularly in an adjustable or rotatable manner, and two gripping bars 12 and 14 arranged thereon and capable of approaching each other, is positioned above the conveyor section or the supply position 30. The gripper base 20 or the carrier element for the gripping bars 12 and 14 is preferably rotatably or otherwise movably mounted on a support or tool head, often referred to as a TCP (Tool Center Point). Figure 1A and Figure 1B The view also shows this rotatable suspension device.

[0141] In this way, individual items 24 can be grasped in different orientations or at different rotational positions, and the grasped individual items 24 can be rotated to the desired target orientation so as to place them in the expected target position. This can be achieved by rotating together the gripper base 20 and the gripping bars 12, 14 arranged thereon, as well as the individual items 24 clamped therein. Since the gripping head 10 is preferably movably suspended above the conveying section or supply position 30 of the individual items 24 in the rotation and distribution system of this invention, and can be positioned within a defined movement space, this arrangement can form a grouping station for individual items 24.

[0142] Figure 4 The schematic front view illustrates a fifth variant of the gripper head 10 of this invention, which is used to grip and manipulate a single item 24. Figure 4 The figure shows a single, individually grasped item 24. However, the size of the gripper head 10 also allows it to simultaneously grasp groups of individual items or combinations of three or more individual items 24 aligned in a row, but this is not illustrated in detail here.

[0143] Figure 4A fifth embodiment of the gripper head 10 shown is a particularly simplified design in which only two gripping bars 12 and 14 are suspended from the upper gripper base 20. The gripper base 20, which is schematically represented here as a horizontal beam, can still be a carrier component, a base, a beam, or a similar component, wherein the gripper base 20 can be rotatably suspended from a spatially movable suspension device of the actuating device (not shown here), so that a single item 24 to be gripped can be received from a transfer plane or supply position 30 containing a bearing plane 32 and delivered to a target position, i.e., the gripping bars 12 and 14 grip the single item 24 in a clamping manner by a converging movement and release it again at a preset target position (not shown here).

[0144] exist Figure 4 In the fifth embodiment of the simplified gripper head 10 shown, the second gripping bar 14 is fixedly fastened to the gripper base 20, while the first gripping bar 12 is movably suspended horizontally from the gripper base 20 and can approach the fixed second gripping bar 14 to clamp at least one single item 24. The first gripping bar 12, movably suspended on the bottom surface of the gripper base 20 and linearly guided, can approach the fixed second gripping bar 14 along the horizontal longitudinal extension direction of the gripper base 20 to clamp the single item 24 to be gripped as illustrated, thereby... Figure 4 The clamping or holding forces 34, indicated by horizontal arrows, act on the opposing vertical side surfaces 26 of the clamped single item 24 that are in contact with the clamping bars 12 and 14.

[0145] The clamping or holding force 34 acts reasonably below the center of gravity 28 of the individual item 24, so that the clamping bars 12 and 14 can reliably hold the individual item after it is gripped and prevent it from slipping down.

[0146] use Figure 4 The gripper head 10 shown is particularly capable of gripping, receiving, rotating, and transferring individual single-item goods 24 to a predetermined target location at a designated destination. This simplest (fifth) embodiment of the gripper head 10 is particularly suitable for so-called single-path operations, in which individual single-item goods 24, or pairs of single-item goods arranged in a row, or regular combinations of multiple single-item goods 24 can be sequentially gripped by a converging movement of a first gripping bar 12 movably suspended on the gripper base 20 toward a second gripping bar 14 fixed at a relative position on the gripper base 20, in order to perform a preset manipulation movement, thereby transferring individual single-item goods 24, gripped pairs of single-item goods, or combinations of multiple single-item goods 24 to a predetermined target location in a predetermined target orientation.

[0147] Figure 4The fifth embodiment of the clamping head 10 shown is not suitable for multi-channel operations, while Figure 5A and Figure 5B The sixth embodiment of the clamping head 10 of this utility model, shown in the schematic front view, can be selectively used for single-path operation. Figure 5B or dual-path operation ( Figure 5A To achieve this, in addition to the second clamping bar 14 which is fixedly fastened to the clamping base 20, two other clamping bars 12 and 40 are movably suspended from the clamping base 20. A fifth embodiment variant has been implemented (see...). Figure 4 As described in the previous section, the movable first clamping bar 12 is close to the fixed second clamping bar 14, while the movable third clamping bar 40 is located at a more distant position.

[0148] exist Figure 5A and Figure 5B In the sixth variant of the clamping head 10 shown, the first clamping bar 12, which is movably suspended on the upper clamping base 20, and the third clamping bar 40, which is also movably suspended there, can be brought close together to clamp two separate single items 24 and receive them in a clamping manner, or, if necessary, clamp two separate single items that are not visible here for illustration purposes and receive them in a clamping manner.

[0149] Between the two movable clamping bars 12 and 40 that can come close together, there is a vertical support bar 16 fixedly arranged on the clamping base 20. When a single item 24 is clamped between the movable clamping bars 12 and 40, the support bar separates the single items from each other and brings them together. This vertically extending support bar 16 can be designed as a separating plate 18, but it can also be selectively called a separating plate or similar name according to its preset function, because when the clamping head 10 descends, it extends between the adjacent single items 24 and separates the single items from each other when the clamping bars 12 and 40 come together.

[0150] In the sixth implementation variant shown here, with Figure 4 Similar to the fifth embodiment shown, the depth of the separating plate 18 or the support bar 16 can roughly correspond to the vertical length of the clamping bars 12, 14, and 40, but according to Figure 5A and Figure 5B (as well as Figure 4 It can also be slightly shorter, because even with a slightly smaller insertion depth between two side-by-side single goods 24 or a pair of single goods or a row of single goods, it is already possible to reliably clamp the single goods 24.

[0151] However, the support bar 16 preferably extends at least a short distance below the center of gravity 28 of the single item 24 to be grasped, so that during the closing movement of the gripping bars 12 and 40, the single item will not tilt slightly towards each other due to the support bar 16 being short, and will not come into contact with each other in the lower region of the side surfaces 26 facing each other. Such contact of the single item 24 is generally undesirable for the precise handling of the single item 24 and should be avoided.

[0152] The horizontal extension of the support bar 16 cannot be shown in the form of a front view here due to the graphic representation. It is adapted to the corresponding length of a single item. Therefore, the length of the support bar 16 in the horizontal direction (i.e., the direction inside and outside the drawing plane) can be slightly smaller than the corresponding length of the single item that needs to be supported by the support bar 16.

[0153] In dual-path operation ( Figure 5A The goods are supplied in parallel, or the goods are positioned in two rows at the supply position 30 or transfer position. Two movable clamping bars 12 and 40 move from both sides toward the support bar 16 or the separating plate 18, thereby fixing and separating the goods 24 or the groups of goods from each other when the movable clamping bars 12 and 40 move toward the two goods 24 or the groups of goods from the outside. The clamping force or holding force 34 acting on the side surface 26 of the two goods 24 gripped in this way is still indicated by a horizontal arrow.

[0154] Figure 5A Clearly shown, in dual-path operation, the fixed second clamping bar 14 (see also) Figure 4 It does not function when receiving two side-by-side single items 24 or groups of single items, and maintains a small distance from the first clamping bar 12 that approaches the outer surface 26 of the single item 24 on the right side without contacting one of the single items 24.

[0155] However, in Figure 5B In the schematic front view shown in the single-lane operation, this situation changes. In this case, the gripper head 10 only grasps a single item 24 or an aligned row of two or more single items, because... Figure 5B The view shown only displays one single item 24. At this time, the third clamping bar 40, located to the left of the support bar 16, which is designed as a separation plate 18, has no function, for example, it can be adjacent to the support bar 16 at the rest position shown in the figure, since there is no single item 24 to be gripped there.

[0156] The single item 24 to be grasped (or the single item pair or the single item group to be grasped) is located to the right of the supply position 30 and is gripped by the fixed second gripping bar 14 and the first gripping bar 12 moving toward the separation plate 18. This changes the direction of action of the first gripping bar 12; instead of gripping the single item 24 with its front working surface toward the separation plate 18, it grips the single item 24 with its rear working surface toward the fixed second gripping bar 14 in this case.

[0157] Conversely, the fixed second clamping bar 14 has only one working surface, which always faces the first clamping bar 12, but it is ineffective in dual-path operation (see...). Figure 5A Similarly, the third clamping bar 40 also has only a single working surface, which faces the separating plate 18 or the support bar 16, but it is ineffective in single-path operation (see...). Figure 5B Therefore, the third clamping bar 40 can be reasonably moved to the resting position in the direction of the support bar 16.

[0158] exist Figure 4 , Figure 5A and Figure 5B In the variant of the present invention's gripping head 10 shown, the gripping bars 12, 14, and 40 may be formed or equipped with gripping claws that can approach the single item 24 to be gripped. Optionally, contours, anti-slip coatings, or similar structures may be provided on the contact surfaces of the gripping bars 12, 14, and 40 that approach the side surface 26 of the single item 24 to be gripped. Alternatively, attachments made of an elastic material capable of improving adhesion to the sidewalls of the contacting single item may be provided; such attachments may be formed, for example, from plastic or rubber elements with elastic flexibility.

[0159] For example, Figure 1A and Figure 1B The schematic perspective view illustrates this outline, which is, for example, composed of horizontal elastic attachments ( Figure 1A ) or a large number of flexible attachments arranged side by side ( Figure 1B This creates a flexible, non-slip profile for the clamping strip. Figure 1A and Figure 1B The elastic attachment shown can also be selectively provided in the clamping head 10 of this utility model, such as... Figure 4 , Figure 5A and Figure 5B The clamping bars 12, 14 and 40 of the variant shown.

[0160] Figure 4 , Figure 5A and Figure 5BThe fifth and sixth embodiments of the present invention's gripping head 10 shown are, in particular, movable components of a rotation and distribution system (not shown in detail here) for manipulating single items 24, for single items 24 moving along a conveyor section or for single items located on a bearing plane 32 at a supply position 30. The gripping head 10, together with a gripper base 20 held, particularly in an adjustable or rotatable manner, and two or three gripping bars 12, 14, and 40 arranged thereon, is positioned above the conveyor section or above the supply position 30. The gripper base 20 or the carrier element for gripping bars 12, 14, and 40 is preferably rotatably or otherwise movably mounted on a support or tool head, often referred to as a TCP (Tool Center Point). Figure 1A and Figure 1B The view also shows this rotatable suspension device.

[0161] In this way, individual items 24 can be grasped in different orientations or at different rotational positions, and the grasped individual items 24 can be rotated to the desired target orientation so as to place them in the expected target position. This can be achieved by rotating together the gripper base 20 and the gripping bars 12, 14 and 40 arranged thereon, as well as the individual items 24 clamped therein. Since the gripping head 10 is preferably movably suspended above the conveying section or supply position 30 of the individual items 24 in the rotation and distribution system of this invention, and can be positioned within a defined movement space, this arrangement can form a grouping station for individual items 24.

[0162] Figure 6A and Figure 6B A schematic front view of a seventh embodiment of the clamping head 10 of the present invention is shown, and a first embodiment of the rotation and dispensing system 42 of the present invention is also described.

[0163] exist Figure 6A and Figure 6B In the illustrated embodiment, the rotation and dispensing system 42 includes a seventh embodiment of the gripper head 10 and a supply position 30 or a horizontal conveyor 44. The supply position 30 allows the illustrated single item 24, which may be formed, for example, a beverage container bundle 25, to be supplied to the working area of ​​the gripper head 10. The single item 24 or the beverage container bundle 25 can selectively enter the working area of ​​the gripper head 10 via the horizontal conveyor 44. Such a beverage container bundle 25 may include multiple beverage bottles or multiple beverage cans held together by packaging material. The packaging material may be, for example, strapping.

[0164] The packaging material can also be a flat packaging blank formed from a cellulose-containing material, into which beverage containers, bottles, or cans are inserted. Furthermore, the beverage container bundle 25 may include multiple beverage containers connected to each other by adhesive bonding. Other packaging materials and / or connections are also conceivable for assembling beverage containers into the beverage container bundle 25 in this manner.

[0165] exist Figure 6A and Figure 6B In this configuration, the horizontal conveyor 44 moves in the direction of the image plane. However, if a single item 24 is located at the supply position 30, the conveying direction is generally not preset or defined. Typically, other single items 24 can be conveyed in the direction of the image plane, which, along with... Figure 6A The two individual items 24 visible in the image are aligned. Because these other individual items 24 are obscured by the two individual items 24, therefore... Figure 6A They cannot be seen in the text. Figure 6A The two individual items 24 shown are arranged side by side perpendicular to the conveying direction of the horizontal conveyor 44.

[0166] The clamping head 10 includes a first clamping bar 12 and a second clamping bar 14, which are only used in... Figure 6A The diagram is schematically shown. In practice, the clamping bars 12 and 14 can be formed, for example, by clamping claws, pincer-like clamping arms, or plates. On the respective wide side surfaces facing the individual item 24 to be received, the clamping bars 12 and 14 may each have a contour and / or defined shape corresponding to the respective individual item 24 to be received, such that the individual item 24 to be received extends into the clamping bars 12 and 14 in a form-fitting manner and / or such that the static friction between the clamping bars 12 and 14 and the individual item 24 is increased due to the contour. In this way, the risk of the individual item 24 being clamped by the clamping head 10 during manipulation with the clamping head 10 can be reduced.

[0167] In order to grip a single item 24 or a bundle of beverage containers 25 in a clamping manner by means of the gripping bars 12 and 14, the gripping bars 12 and 14 perform a closing movement, wherein the gripping bars 12 and 14 reduce the relative distance between them, while moving along the gripper base 20 (on which the gripping bars 12 and 14 are each fixed) in a linear direction and perpendicular to the conveying direction of the horizontal conveyor 30 or parallel to the bearing plane 32 of the supply position 30.

[0168] Therefore, during the closing movement of the clamping bars 12 and 14, the individual goods 24 or the beverage container bundle 25 are pushed together by the clamping bars 12 and 14 until the individual goods 24 or the beverage container bundle 25 is blocked by the support bar 16 of the clamping head 10, which is centrally located between the clamping bars 12 and 14. The support bar 16 is a separating plate that rests flat against the individual goods 24 or the beverage container bundle 25 when the corresponding individual goods 24 or the corresponding beverage container bundle 25 is held in a clamping manner between the clamping bars 12 and 14.

[0169] When a single item 24 held in a clamping manner on the clamping head 10 is manipulated by the clamping head 10, such a support bar 16 is necessary or useful in practice to prevent the single item 24 from accidentally detaching from the clamping head 10. Therefore, the separation plate 18 or support bar 16 not only ensures that the single item 24 is adequately secured to the clamping head 10, but also prevents the single item 24 from shifting towards each other when it is manipulated by the clamping head 10.

[0170] In cases where a single item 24 is designed as a beverage container bundle 25, practice has shown that if adjacent single items 24 are held in a clamping manner by clamping bars 12 and 14, and no support bars 16 are provided to separate the single items 24, then the beverage containers of the first beverage container bundle 25 can at least partially extend between the multiple beverage containers of the adjacent beverage container bundle 25.

[0171] This nested arrangement of beverage container bundles 25 is undesirable and typically affects further processing of the beverage container bundles 25 that have already been manipulated by the gripper head 10. Furthermore, in this configuration, once the beverage container bundles 25 have been gripped by the gripper head 10 and formed into a nested arrangement, they can easily detach from the gripper head 10. Therefore, when several adjacent individual items 24 in the conveying direction perpendicular to the horizontal conveyor 44 are to be gripped together by the gripper head 10, a support bar 16 is always required to receive the individual items 24 in a clamping manner.

[0172] The gripper head 10 is connected to the control device S. After the gripper head 10 receives a single item 24 in a clamping manner, the single item 24 is manipulated by the gripper head 10 and, in this case, tilted and / or rotated about a vertically extending axis relative to the conveying direction of the horizontal conveyor 44. The movement of the gripper head 10, triggered by the control device S, occurs in such a way that, after manipulation via the gripper head 10, multiple single items 24 are positioned in an arrangement that matches a stackable layer to be formed by the respective multiple single items 24.

[0173] For this purpose, it may be necessary to rotate the individual goods 24 by means of the gripping head 10, without tilting or shifting them relative to the conveying direction of the horizontal conveyor 44 during operation. To achieve this arrangement, it may also be necessary to tilt and shift the individual goods 24 relative to the conveying direction of the horizontal conveyor 44 by means of the gripping head 10, but without rotating them about the vertical axis.

[0174] For some individual items 24, in order to form such an arrangement, during manipulation, they may also need to be tilted and shifted relative to the conveying direction of the horizontal conveyor 44, and also need to be rotated about the vertical axis. As long as the individual items 24 provided for the corresponding arrangement are already in a position and orientation suitable for the corresponding arrangement, these individual items 24 can also pass through the working area of ​​the gripper head 10 without being gripped and manipulated by the gripper head 10.

[0175] like Figure 6A As shown, the clamping force required to hold a single item 24 on the gripping head 10 is applied via the gripping bars 12 and 14. Therefore, the clamping force required to hold the single item 24 is applied jointly by the gripping bars 12 and 14, and the clamping force is transferred from one of the two single items 24 to the corresponding other single item 3 via the support bar 16 to achieve force locking. Figure 6A In the figure, the clamping force is indicated by the arrow and reference numeral 34.

[0176] In practice, the support bar 16 must have a small thickness so that a single piece of goods 24 received by the gripper head 10 cannot be gripped by either of the two gripper bars 12 or 14 and the support bar 16 without causing damage or accidental deformation to the support bar 16. In the case of gripper heads known in the prior art, the clamping force of the gripper bars is too large for the support bar to withstand. Therefore, in practice, when it is necessary to manipulate multiple pieces of goods 24 adjacent to each other in the conveying direction perpendicular to the horizontal conveyor 44, or when only a single piece of goods 24 or multiple pieces of goods 24 arranged one after another in the conveying direction of the horizontal conveyor 44, multiple gripper heads are used to create a corresponding arrangement from the multiple pieces of goods 24 that matches the stackable layer.

[0177] On the other hand, according to Figure 6A and Figure 6B The gripper head 10 of the seventh embodiment shown can perform multiple different manipulation tasks, and in this case, it can either receive multiple individual items 25 adjacent to each other in the conveying direction perpendicular to the horizontal conveyor 44, or grasp a single individual item 24 as needed. For this reason, the rotary and dispensing system 42 can have a very compact structure, since no other gripper head 10 is needed to perform the described manipulation tasks. Furthermore, the rotary and dispensing system 42 can operate at high throughput.

[0178] from Figure 6A It can also be seen that the clamping bars 12 and 14 have a first effective distance R1 starting from the clamping base 20. The support bar 16 has a second effective distance R2 starting from the clamping base 20, which is significantly reduced compared to the first effective distance R1 of the first clamping bar 12 and the first effective distance R1 of the second clamping bar 14. Because the effective distance R2 of the support bar 16 is reduced, it is possible to place the support bar 16 above the single item 24 to be received in a clamping manner when it is necessary to receive a single item 24 in a clamping manner with the clamping head 10 or when it is necessary to receive multiple single items 24 arranged aligned with each other in the conveying direction of the horizontal conveyor 44 in a clamping manner with the clamping head 10.

[0179] Combination Figure 6A and Figure 6B It can be seen that the gripping head 10 is moved to the second height level H2 in order to receive only one single item 24 or only multiple single items 24 arranged aligned in the conveying direction, with Figure 6A Compared to the first height level H1, the distance between the gripper head 10 and the horizontal conveying device 44 is greater at the second height level. Preferably, this adjustment of the height level H1 or H2 of the gripper head 10 is performed automatically upon triggering by the control device S during normal use of the rotation and distribution system 42.

[0180] At height level H2 (see Figure 6B On the clamping bars 12 and 14, the effective distance R1 from the clamping base 20 is (see) Figure 6A It is still sufficient to make it surface contact with at least one single item 24 to be received, and sufficient to grip at least one single item 24 to be received in a clamping manner by the clamping bars 12 and 14.

[0181] Conversely, the effective distance R2 of the support bar 16 is reduced, so that the support bar 16 does not come into contact with, or clamp onto, at least one single item 24 to be received at the height level H2. Specifically, the support bar 16 is positioned above at least one single item 24 that is gripped by the clamping bars 12 and 14 in a clamping manner. Figure 6B This situation is illustrated with a frontal diagram.

[0182] According to the arrangement of the multiple individual items 24 to be formed, matching the stackable layer to be formed, the gripper head 10 moves and is controlled under the trigger of the control device S so as to switch back and forth between different height levels H1 and H2 when forming the corresponding arrangement. When the gripper head 10 grips and manipulates the individual items 24 in a clamping manner, the individual items 24 generally maintain continuous surface contact with the horizontal conveyor 44, and are therefore not lifted by the horizontal conveyor 44 or are only lifted to a minimum.

[0183] exist Figure 6A and Figure 6B In the illustrated embodiment, the support bar 16 (i.e., the separation plate 18) is fixedly fastened to the gripper base 20 and therefore cannot move along the gripper base 20. The rotation and distribution system 42 preferably also includes an industrial robot, which may be designed as a gantry system or a triangular kinematic robot, which, triggered by the control device S, moves the gripper head 10 along the horizontal conveyor 44 (or along the supply position 30) to receive and manipulate individual items 24 in a clamping manner.

[0184] Figure 7A and Figure 7B A front view showing an eighth embodiment of the clamping head 10 of the present invention and a second embodiment of the rotation and dispensing system 42 of the present invention. Figure 7A and Figure 7B The embodiment of the clamping head 10 shown is the same as Figure 6A and Figure 6B The difference in the embodiment of the clamping head 10 shown is that, in Figure 7A and Figure 7B In the illustrated embodiment, two such support bars 16 are arranged between clamping bars 12 and 14, instead of exactly one support bar 16. According to Figure 7A As shown, this embodiment allows for the reception of three individual goods 24 arranged or provided adjacent to each other in a direction perpendicular to the horizontal conveyor 44. For this purpose, the gripping head 10 is located at a first height level H1, at which the support bar 16 extends between adjacent individual goods 24.

[0185] In order to clamp and receive a total of three adjacent single items 24 perpendicular to the conveying direction of the horizontal conveyor 44, the clamping bars 12 and 14 perform a closing movement. During this process, the three single items 24 are pushed together by the clamping bars 12 and 14 and come into surface contact with the support bar 16. When the clamping head 10 receives the single items 24 in a clamping manner, Figure 7A The single item 24 shown in the middle rests flat against the two support bars 16. When the single item 24 is held in a clamping manner by the clamping head 10, the two single items 24 on the outer sides each rest flat against a support bar 16 and a clamping bar 12 or 14.

[0186] exist Figure 7A and Figure 7B In the illustrated embodiment, the support bar 16 is fixed to the clamp base 20 in a manner that allows adjustment or movement along a linear direction, such as... Figure 7A As indicated by the middle arrow. Therefore, when the clamping bars 12 and 14 perform the closing movement, the support bar 16 is pushed together with the single item 24. It can be imagined that the support bar 16, in conjunction with its respective spring, pushes the relevant support bar 16 back to its initial position when the single item 24 is released by the clamping head 10.

[0187] exist Figure 7B In this position, the gripping head 10 is located at a height of horizontal H2, at which point the distance between the gripping head 10 and the horizontal conveying device 44 is greater than when it is at a height of horizontal H1 (see...). Figure 7A When the gripper head 10 receives only a single item 24, or when the gripper head 10 receives only multiple items 24 arranged aligned along the conveying direction of the horizontal conveyor 44, the gripper head 10 is at a height level H2.

[0188] In this configuration, when at least one piece of cargo 24 has been gripped by the gripping bars 12 and 14 of the gripping head 10, the support bar 16 is in a waiting position and has no surface contact with the at least one piece of cargo 24 being received in a clamping manner. Since the support bar 16 is arranged on the gripper base 20 in a manner that allows adjustment or movement in a linear direction, it can move together with the gripping bars 12 and 14 when they perform a closing motion.

[0189] If the gripper head 10 is to be used again to grab three adjacent single items 24 in a direction perpendicular to the horizontal conveyor 44, the gripper head 10 will descend from the horizontal height H2 to... Figure 7A The height level H1 shown is such that when the support bars 12 and 14 perform the approaching movement, the support bar 16 will again provide a contact surface for surface contact with the single item 24.

[0190] Figure 8 This illustrates a ninth embodiment of the clamping head 10 of the present invention, which can serve as the rotation and dispensing system 42 of the present invention (see...). Figures 6A to 7B ) is a component in various implementations. In particular, from Figure 8 The schematic perspective view shows more details of the clamping head 10, based on the above. Figure 6A and Figure 7B or Figure 7A and Figure 7B These details can also be set in the implementation method.

[0191] Figure 8As shown, clamping bars 12 and 14 each have multiple flexible contact elements 46 and 48 that come into contact with the individual item 24 during clamping and receiving, and are capable of reversible elastic deformation. These flexible contact elements 46 and 48 can be made of, for example, rubber or plastic, and in this example are cylindrical.

[0192] Practice has shown that using Figure 8 The flexible contact elements 46 and 48 shown can firmly hold the single item 24 or beverage container bundle 25 to be grasped, and if the single item 24 or beverage container bundle 25 is held in a clamping manner when in contact with the flexible contact elements 46 and 48, the risk of damage to the single item 24 or beverage container bundle 25 can be greatly reduced.

[0193] Figure 8 It is also shown that, compared to clamping bars 12 and 14, the effective vertical distance of support bar 16 (which may be a plate structure or a separating plate 18) from the clamping base 20 is still shorter. This can be achieved by changing the height level H1 or H2 of the clamping head 10 relative to the horizontal conveying device 44 as needed (see [reference]). Figure 6A and Figure 6B or Figure 7A and Figure 7B The gripping head 10 can selectively receive a single piece of goods 24 or multiple pieces of goods 24 aligned along the conveying direction of the horizontal conveyor 44 or multiple pieces of goods 24 adjacent to each other perpendicular to the conveying direction of the horizontal conveyor 44.

[0194] Figure 8 Only a single item 3 is shown schematically, where single item 24 may be a beverage container bundle 25. The gripper head 10 is rotatably fixed to the industrial robot (not shown) via a flange 50 located on the gripper base 20.

[0195] Figure 9 The flowchart illustrates the various embodiments of method 100 that can be performed individually or in combination. Figure 9 The combination shown provides the steps.

[0196] In the first step 110, the control device S (see...) Figures 6A to 8 The system provides information about the arrangement of multiple individual items 24 formed by a rotation and distribution system 42. This arrangement corresponds to a pre-grouping of multiple individual items 24, which is transferred to a stackable layer by pushing the individual items 24 together at a workstation downstream of the rotation and distribution system 42. The rotation and distribution system 42 includes a gripping head 10 with a first gripping bar 12 and a second gripping bar 14, the first and second gripping bars being capable of converging movement to grip and receive at least one individual item 24.

[0197] In the illustrated method 100, the gripping head 10 further includes a support bar 16 for a single item 24, located between the first gripping bar 12 and the second gripping bar 14. The support bar 16, the first gripping bar 12, and the second gripping bar 14 are arranged on the gripper base 20. Compared to the first gripping bar 12 and the second gripping bar 14, the effective distance R2 of the support bar 16 from the gripper base 20 is smaller. For example, in... Figure 9 The clamping head 10 used in the embodiment of method 100 shown can be adjusted according to... Figure 6A and Figure 6B The illustrated embodiment or Figure 7A and Figure 7B The embodiment shown is designed accordingly.

[0198] In the subsequent step 120, multiple individual items 24 are guided by a horizontal conveyor 44, which is part of a rotation and distribution system 42, to the working area of ​​a gripper 10, which is mounted on an industrial robot.

[0199] Based on the corresponding manipulation task that the gripping head 10 must perform to form the arrangement specified in step 110 (as part of the information), the control device S determines whether the support bar 16 is needed to receive a single item 24, or whether at least one single item 24 to be received needs to be gripped only by the gripping bars 12 and 14. In step 130, triggered by the control device S, the height level H1 or H2 of the gripping head 10 is adjusted as needed so that, when at least one single item 24 is held in a clamping manner by the gripping bars 12 and 14, the support bar 16 is in surface contact with at least one single item 24, or, when at least one single item 24 is held in a clamping manner by the gripping bars 12 and 14, the support bar 16 is in a position where the support bar 16 does not contact at least one single item 24.

[0200] In step 140, clamping bars 12 and 14 perform a closing motion to grip at least one single item 24 in a clamping manner. The clamping head 10 is positioned at the height level H1 or H2, which was adjusted as needed in step 130. The at least one single item 24 gripped in a clamping manner is also manipulated by the clamping head 10 and tilted and / or rotated relative to the conveying direction of the horizontal conveyor 44 and about a vertically extending axis to form a corresponding arrangement of multiple single items 24, which was provided to the control device S via information in step 110. During manipulation, the clamping head 10 maintains the height level H1 or H2 that it reached when gripping at least one single item 24 in a clamping manner.

[0201] according to Figures 6A to 8In the above-described embodiments shown, the gripper head 10 is connected to a control device, which is always indicated by reference numeral S in these figures. Upon triggering by the control device S, the movement of the gripper head 10 generally occurs in such a manner that, after manipulation via the gripper head 10, multiple individual items 24 are placed in a desired or anticipated arrangement that matches a stackable layer to be formed from the respective multiple individual items 24.

[0202] Even in Figures 1A to 5B The control device S is not separately identified, and its operation is not explained in detail in the relevant explanatory paragraphs, but this does not mean that... Figures 1A to 5B In the embodiments of the clamping head 10 shown, such a control device S is absent or unnecessary. Instead, for the clamping head 10 (according to...) Figures 1A to 5B The corresponding control is carried out in a corresponding manner, usually by means of Figures 6A to 8 The control device S shown is used in this way, and its operation is explained in the relevant explanatory paragraphs.

[0203] The following is a supplementary description of the above-described embodiments. Although the embodiments shown in conjunction with the accompanying drawings and their foregoing description are often or generally “schematic” illustrations and views, this in no way implies that the illustrations and their descriptions are secondary to the disclosure of this invention. Those skilled in the art are fully capable of obtaining sufficient information from the schematic and abstractly drawn illustrations to aid their understanding of this invention without being affected, for example, by the size relationships of the components of the device, its individual components, or other drawn elements, which may not be exactly to scale. Rather, these drawings enable those skilled in the art, as readers, to better understand the ideas of this invention presented in a more general and / or more abstract manner in the claims and the at least some general parts of the description, by means of the specific interpretation of the implementation of method 100 and the specific interpretation of the structure of the clamping head 10 according to this invention.

[0204] List of reference numerals

[0205] 10 clamping heads

[0206] 12 clamping bars, first clamping bar, movable clamping bar, adjustable clamping bar, adjustable first clamping bar

[0207] 14 clamping bars, second clamping bar, movable clamping bar, adjustable clamping bar, adjustable second clamping bar

[0208] 16 support bars

[0209] 18 separation plates, separation discs

[0210] 20 clamp base

[0211] 22 Electrical drive elements

[0212] 24 single shipments

[0213] 25 bundles, beverage container bundles

[0214] 26 (side surfaces of a single item)

[0215] 28 (Center of gravity of a single item)

[0216] 30 supply locations

[0217] 32 bearing plane

[0218] 34 Clamping force, holding force

[0219] 36. Rotatable suspension device (clamping head)

[0220] 38 rake teeth (clamping strips)

[0221] 40 clamping bars, third clamping bar, movable third clamping bar

[0222] 42 Rotation and Distribution System

[0223] 44 Horizontal Conveying Device

[0224] 46 Flexible Contact Elements

[0225] 48 Flexible Contact Elements

[0226] 50 flange

[0227] 100 methods

[0228] 110 Method Steps, First Method Steps, First Step

[0229] Method 120 steps, second method steps, second step

[0230] Method 130, Step 3, Step 3

[0231] 140 Method Steps, Fourth Method Step, Fourth Step

[0232] H1 altitude level, first altitude level

[0233] H2 altitude level, second altitude level

[0234] R1 effective distance, first effective distance (clamping bar)

[0235] R2 effective distance, second effective distance (support bar)

[0236] S control device.

Claims

1. A gripping head (10) for gripping a single item (24), said gripping head comprising at least: - Two clamping bars (12, 14, 40) cooperate with each other to temporarily receive at least one single item (24) in a clamping manner, the clamping bars being arranged on the clamping base (20) of the clamping head (10). - At least one support bar (16) suspended on the clamp base (20), the support bar being arranged between the at least two clamping bars (12, 14, 40). -The first clamping bar (12) of the clamping bars can be fixedly fastened to the clamping base (20) or movably suspended there. -At least one of the other clamping bars (14, 40) is movably suspended on the clamping base (20), -The at least one other clamping bar (14, 40) may approach the opposite fixed clamping bar (12) to clamp and receive at least one single item (24), or the at least two movable clamping bars (14, 40) may approach each other to clamp and receive at least one single item (24). - Furthermore, the at least one support bar (16) can be fixed to the clamp base (20), or its position among the clamp bars (12, 14, 40) can be changed. Its features are, - wherein at least one support bar (16) is movably suspended on the gripper base (20), and its position is adapted to the position of at least one single item (24) gripped by the gripping bar (12, 14, 40), or to the position of multiple single items (24), and / or its position is offset from the position of the at least one single item (24) gripped by the gripping bar (12, 14, 40), and -When gripping a single item (24) or multiple items (24) in contact with each other, at least one support bar (16) movably suspended on the gripper base (20) rests against or can rest against one of the two movable gripping bars (12, 14, 40).

2. The clamping head (10) according to claim 1, wherein the at least two clamping bars (12, 14, 40) are movably arranged on the clamping base (20).

3. The clamping head (10) according to claim 1, wherein the other clamping bars (14, 40) movably suspended on the clamping base (20) are first clamping bars (12) which are retractable toward the second clamping bar (14) fixedly fastened to the clamping base (20) in the position to clamp and receive at least one single item (24).

4. The clamping head (10) according to claim 2, wherein the other clamping bars (14, 40) movably suspended on the clamping base (20) are first clamping bars (12) which are retractable toward the second clamping bar (14) fixedly fastened to the clamping base (20) at the said position to clamp and receive at least one single item (24).

5. The clamping head (10) according to any one of claims 1 to 4, wherein, in addition to the second clamping bar (14) which is fixedly fastened to the clamping base (20) in position, there are two other clamping bars (12, 40) movably suspended on the clamping base (20), the other clamping bars being formed by the first clamping bar (12) and the third clamping bar (40).

6. The clamping head (10) according to claim 5, wherein the first movable clamping bar (12) and the third movable clamping bar (40) can be brought close together to clamp and receive at least two individual single items (24) or two individual groups of single items in a clamping manner.

7. The clamping head (10) according to claim 1, wherein the support bar (16) suspended on the clamping base (20) and located between the at least two movable clamping bars (12, 14, 40) separates and brings together at least two single items (24) gripped by the clamping bars (12, 14, 40) in a clamping manner.

8. The clamping head (10) according to claim 1 or 7, wherein the clamping head is provided with exactly one support bar (16) which is fixed non-adjustably at a predetermined position on the clamping base (20).

9. The clamping head (10) according to claim 1 or 7, wherein the at least one support bar (16) has an effective distance (R2) that is reduced relative to the first clamping bar (12) and the second clamping bar (14) starting from the clamping base (20).

10. The clamping head (10) according to claim 1, wherein the at least one support bar (16) is displaceably suspended on the clamping base (20).

11. The clamping head (10) according to any one of claims 1, wherein the two clamping bars (12, 14, 40) that can be brought close together and the at least one support bar (16) are provided with aligned and / or antiparallel movement directions.

12. The clamping head (10) according to any one of claims 1, wherein the at least one support bar (16) movably suspended on the clamping base (20) may variably correspond to one of the clamping bars (12, 14, 40).

13. The clamping head (10) according to claim 12, wherein the adjustment movement of the support bar (16) can be coupled with the clamping bar (12, 14, 40) that the support bar can abut or abut.

14. The clamping head (10) according to any one of claims 1, wherein in an unloaded state, the at least one support bar (16) can return to a central position on the clamping base (20) or the clamping head (10) under spring support, and / or remain in the central position under spring support.

15. The clamping head (10) according to any one of claims 1, wherein the adjustment movement of the at least one support bar (16) is coupled to the opening or returning movement of one of the clamping bars (12, 14, 40) so as to return to its central position on the clamping base (20) or the clamping head (10).

16. The clamping head (10) according to any one of claims 1 or 7, wherein the clamping head comprises at least two support bars (16) located between the first clamping bar (12) and the second clamping bar (14), and each having an effective distance (R2) decreasing relative to the first clamping bar (12) and the second clamping bar (14) starting from the clamping base (20), wherein the at least two support bars (16) are respectively adjustable in a linear direction along the clamping base (20).

17. The clamping head (10) according to any one of claims 1 or 7, wherein the at least one support bar (16) has a contoured working surface corresponding to the surface profile of one of the clamping bars (12, 14, 40), wherein once the support bar rests against the clamping bar, the contoured working surface of the support bar (16) can at least partially embed into the working surface of the clamping bar (12, 14, 40).

18. The gripping head (10) according to any one of claims 1 to 4, wherein the gripping bars (12, 14, 40) are formed by or equipped with gripping claws that can approach the single item (24) to be gripped.

19. The gripper (10) according to any one of claims 1 to 4, wherein the gripper is used to grip a single item (24) as a beverage container bundle (25).

20. A rotation and distribution system (42), characterized in that, The rotation and distribution system is used for single items (24) moving along the conveyor section or located at the supply position (30), the rotation and distribution system comprising at least one gripper head (10) according to any one of claims 1 to 19, the gripper head together with a gripper base (20) held on the gripper head (10) in an adjustable or rotatable manner and the at least two gripper bars (12, 14, 40) arranged thereon, arranged above the conveyor section or the supply position (30).

21. The rotation and distribution system (42) according to claim 20, wherein the gripping head (10) is movably suspended above the conveying section or supply position (30) for the single item (24) and can be positioned within a defined movement space.

22. The rotation and distribution system (42) according to claim 20 or 21, wherein the rotation and distribution system includes at least one industrial robot having the at least one gripping head (10) disposed thereon.

23. The rotation and distribution system (42) according to claim 22, wherein the at least one industrial robot is a gantry robot, a triangular kinematic robot, or an articulated arm robot.

24. The rotation and distribution system (42) according to any one of claims 20 or 21, wherein the rotation and distribution system comprises a control device (S) and at least one horizontal conveying device (44) by which a single item (24) can be moved into the working area of ​​the at least one gripping head (10), wherein the at least one gripping head (10) can be controlled by the control device (S) so as to - The at least one gripping head (10) can form an arrangement consisting of a plurality of individual goods (24), the arrangement being matched with a stackable layer to be formed from the plurality of individual goods (24), which is achieved by the at least one gripping head (10) repeatedly receiving and manipulating at least one individual goods (24) moved into its working area in a clamping manner to form the corresponding arrangement, wherein the control device (S) is designed as follows: - In order to clamp and receive at least one single item (24), the control device (S) selects a specific height level (H1, H2) from a plurality of different height levels (H1, H2) and controls the clamping head (10) to receive the at least one single item (24) at the specific and selected height level (H1, H2).

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