GRIPPING DEVICE FOR A MANIPULATOR AND METHOD FOR EQUIPPING A GRIPPING DEVICE INTENDED FOR A MANIPULATOR

Description

[0001] The present invention relates to a clamping and gripping device for a manipulator and a method for equipping a clamping and gripping device provided for a manipulator.

[0002] Known packaging or palletizing systems for stacking, palletizing, rotating, and / or distributing objects such as packages or containers containing multiple items, such as beverage containers, typically feature horizontal conveyor systems with conveyor belts on which the unit loads or containers are transported in continuous or irregular sequence and spaced apart from a handling device. There, individual unit loads or containers are shifted, aligned, and / or rotated to bring them into a suitable spatial arrangement, which forms the basis for pushing the unit loads or containers together in downstream grouping stations to form stackable unit load or container layers.

[0003] Known handling devices that effect such displacement, alignment, and / or rotation of individual piece goods or containers can also be provided with grippers that are, for example, suspended from a gantry system and can be displaced, rotated, and also moved vertically within a defined range of motion in order to lift individual piece goods or containers for rotation and / or displacement. The rotation and / or displacement can also occur without the respective piece goods or containers being moved vertically. In other known embodiments, the grippers can also be arranged on multi-axis robot arms that are positioned laterally on the horizontal conveyor devices. Such gripping devices are known, for example, from EP 2 388 216 A1. The gripping device disclosed in the EP patent application has two opposing gripping means that can be advanced to receive piece goods.If the gripping device accidentally touches a floor surface, the two opposing gripping elements can detach from a support, which is intended to prevent damage to the gripping device.

[0004] Another such gripping device is known, for example, from DE 102 04 513 A1. The gripping device disclosed in the DE application comprises two gripping arms for gripping objects. One of the two gripping arms can be connected to a vehicle. The other gripping arm serves to open and close the gripping device via an actuator.

[0005] Practice has shown that in consecutive processes, articles with different relative distances or pitches from each other can enter the working area of the gripping device. With previously known handling devices, the entire gripping device had to be replaced in order to be able to grasp articles in a targeted manner, taking the new relative distance into account. Even in consecutive processes in which articles have different geometries or dimensions or are to be handled in different quantities, adapting the respective handling device requires a complete replacement of the gripping device.

[0006] Since complete gripping devices are very heavy, such a replacement is cumbersome and occasionally problematic. Therefore, options that allow a gripping device to be easily converted or adapted to the specific items to be manipulated are desirable.

[0007] DE 87 06 525 U discloses a handling device with gripping fingers, each detachably mounted and attached to a drive-driven adjustment slide. Each gripping finger has a plug-in base that can be inserted into a corresponding receiving guide in the adjustment slide and pre-locked there. To convert from one type of component to another, the individual gripping fingers can be exchanged as needed, but always only in the same receiving guides and at a single locking position.

[0008] FR 2 856 327 A1 discloses a connecting element between a manipulator and two gripping elements. The connecting element is T-shaped and comprises two arms. The connecting element is attached to a manipulator at its proximal end. The gripping elements each comprise a bar, which bars are at least partially received by the arms of the connecting element. The bars are secured to the arms of the connecting element or released from the arms of the connecting element by means of a locking mechanism.

[0009] US 2014 / 356049 A1 discloses a robot having a main boom connected to a leg along a longitudinal axis via a T-piece. Further branches extend orthogonally to the longitudinal axis. The various branches, in turn, are connected to a leg via a corresponding tandem branch arrangement. Each of the branches carries a tool module, each tool module having an end tool configured as a pneumatic suction cup.

[0010] DE 10 2014 223389 A1 discloses a system for handling articles according to the preamble of claim 1. In view of the known prior art, a primary object of the invention can be seen in providing a possibility by means of which clamping and / or gripping devices can be easily adapted to different articles that are to be received or manipulated by the clamping and / or gripping device. This should also be achieved in an economically viable manner using the technical means provided.

[0011] DE 10 2014 223389 A1 discloses a device and method for handling articles. The device includes a manipulator with a shaft. When the shaft is rotated, the manipulator's clamping jaws are moved relative to each other, allowing articles to be gripped or an existing clamped connection to articles to be released.

[0012] In view of the known state of the art, a primary object of the invention can be seen as providing a method by which clamping and gripping devices can be easily adapted to different articles that are to be received or manipulated by the clamping and gripping device. This should also be achieved in an economically viable manner using the technical means provided.

[0013] The above object is achieved by the subject matter of the independent claims. Further advantageous embodiments are described by the subclaims.

[0014] The invention relates to a system for handling articles according to claim 1 and to a method according to claim 11 for equipping a clamping and gripping device provided for a manipulator with at least two clamping and gripping elements provided for the joint receipt of articles. Thus, it can expediently be provided that the at least two clamping and gripping elements provided for the joint receipt of articles are each designed for the force-loaded and / or form-fitting receipt of one article or several articles. The clamping and gripping elements can comprise reversibly elastically deformable contact areas that are provided for respective contact with a respective article to be received or several articles to be received. In particular, the at least two clamping and gripping elements can each be designed as paddles.It may be useful for the at least two clamping and gripping elements or the at least two paddles to be designed as a hanging component of the clamping and gripping device or to be carried in a hanging manner via a base designed as a component of the clamping and gripping device.

[0015] The at least two clamping and gripping elements can be provided for the joint acceptance of articles, which articles are formed, for example, by beverage containers and in particular by PET bottles.

[0016] As part of a first step of the method, at least two fastening positions provided by the clamping and gripping device are selected for the at least two clamping and gripping elements designed for the joint receipt of articles. The number of fastening positions provided by the clamping and gripping device can thus be increased compared to the number of the at least two clamping and gripping elements provided for the joint receipt of articles. If the at least two clamping and gripping elements designed for the joint receipt of articles are fixed in selected fastening positions, as described in more detail below, further fastening positions can remain unoccupied.

[0017] Thus, a further step is provided in which the at least two clamping and gripping elements designed for jointly receiving articles are secured at the at least two selected fastening positions. Therefore, the at least two clamping and gripping elements may not have any mechanical connection to one another or may be completely mechanically separated from one another prior to being secured at the at least two selected fastening positions.

[0018] It is provided that the at least two fastening positions are each selected from a plurality of possible fastening positions, taking into account the number and / or configuration of articles to be jointly received by the at least two clamping and gripping elements, and that the at least two clamping and gripping elements are subsequently removably secured in the at least two selected fastening positions. For example, the clamping and gripping device can be designed such that the at least two selected clamping and gripping elements can be removably secured in the at least two selected fastening positions manually or by an operator.

[0019] In this way, the clamping and gripping device can be easily equipped or converted for a respective packaging operation. It is conceivable that during a first packaging operation, beverage containers are to be received which have a first geometry or a first volume. For a further packaging operation, which follows the first packaging operation, it can be provided that beverage containers which have a second geometry or a second volume, which differs from the first geometry or the first volume of the beverage containers to be received during the first packaging operation, are received via the clamping and gripping device. By the described selection of at least two fastening positions from several orBy offering a variety of fastening positions and securing the clamping and gripping elements at the selected fastening positions, the clamping and gripping device can be easily equipped for a specific packaging operation.

[0020] According to the invention, it has proven effective that the at least two clamping and gripping elements designed to receive articles are secured in the at least two selected fastening positions without the use of tools. In particular, it can be provided that the at least two clamping and gripping elements designed to receive articles are secured in the at least two selected fastening positions without the use of tools and manually by means of handling by an operator.

[0021] Alternatively or additionally, it can be provided that, before the at least two clamping and gripping elements designed for the joint acceptance of articles are secured, one or more clamping and gripping elements already located in a respective fastening position are removed from their respective fastening positions without the use of tools. It is also conceivable for clamping and gripping elements already located in a respective fastening position to be removed from their respective fastening positions manually and without the use of tools by an operator.

[0022] According to the invention, the at least two clamping and gripping elements designed to receive articles are suspended at the at least two selected fastening positions and are thereby secured in the at least two fastening positions without the need for tools. Alternatively or additionally, before the at least two clamping and gripping elements designed to jointly receive articles are secured, one or more clamping and gripping elements already located in a respective fastening position can be unhooked and thus removed from their respective fastening positions without the need for tools.

[0023] Embodiments have also proven successful in which the at least two clamping and gripping elements designed to receive articles are suspended at the at least two selected fastening positions via a respective separate intermediate piece that can be completely mechanically separated from the respective clamping and gripping element, and are thereby secured in the at least two fastening positions without the need for tools. For example, it may be that a respective clamping and gripping element is first fastened to a respective intermediate piece. It is conceivable in this case that a respective clamping and gripping element is first fastened to a respective intermediate piece via at least one screw connection.Following the fastening of the respective clamping and gripping element to the respective intermediate piece, the respective clamping and gripping element can be fixed together with the respective intermediate piece at the respective fastening position and, in particular, can be suspended via the respective intermediate piece at the respective fastening position.

[0024] Alternatively, it is conceivable that the intermediate piece is first hooked into the respective fastening position and then the respective clamping and gripping element is attached to the respective intermediate piece.

[0025] It is also possible that, before the at least two clamping and gripping elements designed for the joint receipt of articles are fixed, one clamping and gripping element already located in a fastening position or several clamping and gripping elements already located in a respective fastening position and a respective separate intermediate piece that can be completely separated from the respective clamping and gripping element and carries the respective clamping and gripping element are unhooked, wherein the respective clamping and gripping element and the respective intermediate piece are removed from their respective fastening position without the need for tools.

[0026] It is also conceivable that the at least two clamping and gripping elements designed to receive articles and / or the respective separate intermediate piece that can be completely mechanically separated from the respective clamping and gripping element each have a manually releasable securing mechanism.

[0027] In this case, a bolt or pin may be arranged in the region of a respective selected fastening position, into which the respective clamping and gripping element is hooked itself, directly or by means of the respective intermediate piece via a groove formed as a component of the respective clamping and gripping element or the intermediate piece. The manually releasable securing mechanism can then hold the bolt or pin in the groove with a positive fit and thereby fix the respective clamping and gripping element in the respective selected fastening position with a positive fit. The respective groove can, for example, be L-shaped. In particular, the respective groove can comprise at least one bend and / or deflection or a region with a curved course.Alternatively or additionally, it is conceivable that, before the at least two clamping and gripping elements designed for the joint acceptance of articles are fixed, one clamping and gripping element already located in a fastening position or several clamping and gripping elements already located in a fastening position are unhooked themselves or via a respective intermediate piece, for which purpose the securing mechanism which holds the respective clamping and gripping element in a form-fitting manner in the respective fastening position is released and, subsequently thereafter, a bolt or pin located in the respective fastening position is moved out of a groove designed as a component of the respective clamping and gripping element or the respective intermediate piece.

[0028] Furthermore, the securing mechanisms of the at least two clamping and gripping elements designed to receive articles can each have at least one spring-loaded securing lever. The at least one spring-loaded securing lever can be L-shaped. In this case, the at least one spring-loaded securing lever can hold the respective bolt or pin in the groove with a positive fit, thereby securing the respective clamping and gripping element in the respective selected fastening position.

[0029] It is also possible that, before the at least two clamping and gripping elements designed for the joint acceptance of articles are fixed, a clamping and gripping element already located in a fastening position or several clamping and gripping elements already located in a respective fastening position are unhooked, for which purpose the respective at least one spring-loaded safety lever of the clamping and gripping element already located in a fastening position or of the respective intermediate piece or of the several clamping and gripping elements already located in a respective fastening position or of the several intermediate pieces already located in a respective fastening position is pivoted in advance, overcoming a respective spring force.As a result, the groove of the respective clamping and gripping element or the respective intermediate piece can be released for the movement of the respective bolt or pin from the respective groove.

[0030] It is also possible for the clamping and gripping device to be moved into a service area to secure the at least two clamping and gripping elements designed for the joint receipt of articles at the at least two selected fastening positions. This makes the clamping and gripping device accessible to a user for manually securing the at least two clamping and gripping elements designed for the joint receipt of articles in the selected fastening positions. In alternative or supplementary embodiments, the clamping and gripping device can also be made accessible for the preferably tool-free removal of one clamping and gripping element already located at a fastening position or of several clamping and gripping elements already located at a respective fastening position.It is particularly conceivable for the clamping and gripping device to be arranged above an article to be received for transport via the clamping and gripping device. In this case, the clamping and gripping elements may extend laterally beyond the horizontal conveyor at least in sections when the clamping and gripping device is located in the service area. This allows an operator to easily access the clamping and gripping elements of the clamping and gripping device located in the service area as needed.

[0031] Furthermore, embodiments have proven successful in which a fastening position selected for a first clamping and gripping element is provided by a first carriage. A fastening position selected for a second clamping and gripping element can also be provided by a second carriage. The first clamping and gripping element and the second clamping and gripping element can be fixed in the first and second fastening positions provided via the first carriage and the second carriage, whereupon the first carriage together with the clamping and gripping element fixed to the first carriage and the second carriage with the second clamping and gripping element fixed to the second carriage are moved relative to one another, preferably in a horizontal direction. In this case, the first clamping and gripping element and the second clamping and gripping element can jointly receive one or more articles in a clamping manner.The clamping and gripping device may have a base that supports the first carriage and the second carriage. The base may provide a linear guide for the first carriage and the second carriage.

[0032] It may be that a sensory check is carried out to determine whether the at least two clamping and gripping elements have been properly and removably fastened to their respective fastening positions. If, during the check, at least one of the at least two clamping and gripping elements is found to be improperly fastened to its respective fastening position, a message can be issued to an operator and / or any manipulation of articles intended for the clamping and gripping device can be prevented. It is conceivable that a visual and / or acoustic message is issued to an operator. For example, a display can be provided on which a message is issued to an operator if, during the check, at least one of the at least two clamping and gripping elements is found to be improperly fastened to its respective fastening position.

[0033] Embodiments are conceivable in which the clamping and gripping elements are each designed as paddles. In order to manipulate articles using the clamping and gripping device, it may be necessary for the clamping and gripping elements to have a defined longitudinal extension tailored to the respective manipulation in order to be able to receive one or more articles in a clamping and / or form-fitting manner within the scope of the respective manipulation. Accordingly, it can be provided that, as part of the inspection, it is detected or determined whether certain clamping and gripping elements have been removably secured in their respective fastening position with a defined longitudinal extension tailored to the manipulation.This can prevent the clamping and gripping device from being inadvertently equipped with clamping and gripping elements that are not suitable for the respective manipulation task intended for the clamping and gripping device.

[0034] It is possible for the at least two clamping and gripping elements to be secured manually or by an operator in their respective fastening positions and / or for clamping and gripping elements already arranged in a respective fastening position to be removed manually or by an operator from their respective fastening positions. Furthermore, embodiments are conceivable in which a handling device secures the at least two clamping and gripping elements in their respective fastening positions or removes clamping and gripping elements already arranged in a respective fastening position from their respective fastening positions. The handling device can be designed as an industrial robot or a multi-axis robot. The handling device can also be designed as a parallel kinematics robot or a tripod.A working area of the handling device can extend, at least in part, over the previously mentioned service area. In particular, the handling device can be arranged or positioned laterally next to at least one horizontal conveyor device (described below), along which at least one horizontal conveyor device the articles to be handled can be moved. The handling device can be connected to a control unit. If a clamping and gripping device intended for a manipulator is to be equipped with at least two clamping and gripping elements intended for the joint receipt of articles, this equipping can be effected or implemented fully automatically via the control unit and at the instigation of an operator.

[0035] Embodiments have also proven successful in which the clamping and gripping device is moved or displaced from the service position or from the service area into a detection area of a sensor system, preferably formed by a camera and / or a line sensor, for sensor testing. It is also possible for a sensor system formed by a camera and / or a line sensor to be moved towards the clamping and gripping device, which is still in the service position or in the service area, whereupon a check is carried out to determine whether the at least two clamping and gripping elements have been properly and removably secured in their respective fastening positions. The movement of the sensor system formed by a camera and / or a line sensor in the direction of the clamping and gripping device can also take place at the instigation of a control unit.In particular, the sensor system formed by a camera and / or a line sensor may be moved in the direction of the clamping and gripping device via a handling device.

[0036] The invention further relates to a clamping and gripping device for a manipulator intended for receiving articles, as part of the system according to claim 1. Features that have already been described previously for various embodiments of the method can also be provided in the clamping and gripping device described below and are therefore not mentioned redundantly. Features described below, which relate to various embodiments of the clamping and gripping device, can also be provided in the method already described above.

[0037] The clamping and gripping device intended for receiving articles comprises at least two suspended clamping and gripping elements, which interact to temporarily receive one or more articles. The broad side surfaces of the at least two suspended clamping and gripping elements can face each other in pairs. The broad side surfaces can have a contact area for articles that is reversibly elastically deformable. This can prevent accidental damage to articles that occurs during the reception of articles.

[0038] To temporarily receive one or more articles, clamping and gripping elements, whose broad sides face each other in pairs, can optionally perform a feed movement, during which a respective article or several respective articles are clamped. The feed movement can be designed such that the clamping and gripping elements, whose broad sides face each other in pairs, are pivoted about a preferably horizontally oriented axis. However, embodiments in which clamping and gripping elements, whose broad sides face each other in pairs, are moved horizontally during the feed movement, thereby reducing their relative distance from each other, have proven successful.

[0039] In further embodiments, it is possible for clamping and gripping elements, the broad side surfaces of which face one another in pairs, to maintain their relative position. In this case, a respective article or several respective articles can be moved, if appropriate, between the clamping and gripping elements, the broad side surfaces of which face one another in pairs, such that the respective article or the respective plurality of articles is or was received in a form-fitting manner via the respective clamping and gripping elements, the broad side surfaces of which face one another in pairs. Using a manipulator described below, the clamping and gripping elements, the broad side surfaces of which face one another in pairs, can be rotated, if appropriate, together with the respective article arranged between these clamping and gripping elements and received in a form-fitting manner by these clamping and gripping elements.

[0040] According to the invention, the clamping and gripping device provides a plurality of different fastening positions for the at least two clamping and gripping elements, at which a plurality of different fastening positions the at least two clamping and gripping elements can be selectively and removably secured, tailored to a respective number and / or configuration of articles to be received. The number of fastening positions can therefore be increased compared to the number of clamping and gripping elements, so that each clamping and gripping element of the at least two suspended clamping and gripping elements can be arranged or removably secured at different fastening positions.

[0041] According to the invention, the at least two clamping and gripping elements can be fixed to the several different fastening positions without tools and / or removed from their respective fastening positions without tools.

[0042] In particular, it may be that the at least two clamping and gripping elements can be hooked into their respective fastening position without tools and / or that the at least two clamping and gripping elements can be unhooked from their respective fastening position without tools.

[0043] The clamping and gripping device can comprise a separate intermediate piece for each of the at least two clamping and gripping elements, which can be completely mechanically separated from the respective clamping and gripping element, via which respective intermediate piece the at least two clamping and gripping elements can be hooked into their respective fastening position without tools and / or with which respective intermediate piece the at least two clamping and gripping elements can be unhooked from their respective fastening position without tools.

[0044] Designs in which each of the fastening positions forms a bolt or pin have proven successful. The bolts or pins of the fastening positions can each be oriented horizontally. Thus, the longitudinal directions of the bolts or pins can run parallel to each other.

[0045] The at least two clamping and gripping elements or the intermediate pieces can each comprise a groove corresponding to the bolts or pins of the fastening positions, in which respective groove the bolt or pin of a respective fastening position can be received for fixing the respective clamping and gripping element.

[0046] It may be that the at least two clamping and gripping elements or the intermediate pieces each comprise a manually operable securing mechanism which is provided for the positive holding of the respective bolt or the respective pin in the groove formed by the respective clamping and gripping element or the respective intermediate piece.

[0047] Furthermore, the at least two clamping and gripping elements can each comprise a securing mechanism by means of which a bolt or pin received in a respective groove can be held in a form-fitting manner in the groove of the respective clamping and gripping element fixed in a fastening position.

[0048] In this case, the respective securing mechanism can be provided with a spring-loaded or restoring force-loaded securing lever, which, with the aid of its spring force or restoring force, positively holds the bolt or pin received in the groove in the groove. Alternatively or additionally, the respective securing mechanism can be provided with a spring-loaded or restoring force-loaded securing lever, which can be pivoted to remove its respective clamping and gripping element from the fastening position by overcoming the spring force or restoring force and releasing the groove.

[0049] The clamping and gripping device can have a first carriage with a plurality of fastening positions for at least one first clamping and gripping element. Furthermore, the clamping and gripping device can have a second carriage with a plurality of further fastening positions for at least one second clamping and gripping element. In this case, the first carriage and the second carriage can be movable relative to one another, preferably in a horizontal direction, for the joint temporary acceptance of one or more articles via the at least one first clamping and gripping element and at least one second clamping and gripping element fixed to the first carriage and the second carriage in a respective fastening position. The first carriage and / or the second carriage can be connected for their relative movement to a linear guide designed as a component of the clamping and gripping device.As previously mentioned, the linear guide can be provided via a base of the clamping and gripping device.

[0050] As already mentioned above, the invention relates to a system for handling articles according to claim 1. The system comprises at least one horizontal conveyor device along which the articles to be handled can be moved. The at least one horizontal conveyor device can, for example, be formed by at least one circulatingly driven conveyor belt.

[0051] The system further comprises at least one manipulator. The at least one manipulator can be embodied by at least one delta kinematic robot. The system also includes at least one clamping and gripping device according to an exemplary embodiment of the previous description. The at least one clamping and gripping device is carried by the at least one manipulator or is optionally embodied as at least one working tool of the at least one manipulator.

[0052] The at least one manipulator can be controlled in such a way that the at least one manipulator can, by means of the at least one clamping and gripping device, transfer a plurality of articles moved via the at least one horizontal conveyor device into a relative alignment with one another, which is in particular matched to a palletizable position to be formed from these multiple articles or a specific grouping to be formed from these multiple articles by rotating and / or shifting and / or a specific distribution to be formed by rotating and / or shifting.

[0053] In preferred embodiments, the system can comprise a control unit coupled to the at least one manipulator and at least one sensor system. The at least one sensor system can be connected to the control unit to check that the at least two clamping and gripping elements are properly secured in their respective fastening positions. Furthermore, if the check reveals that at least one clamping and gripping element is not properly secured, the control unit can prevent control of the at least one manipulator and / or issue an operator-recognizable indication that the at least one clamping and gripping element has not been properly secured.

[0054] The following explanations summarize some aspects of the invention, which has already been explained in various embodiments, and specify some aspects. However, they should not be seen as contradicting the explanations already made, but rather as a summary, and in case of doubt, possibly as more specific embodiments or modifications. Thus, as already mentioned several times above, the clamping and gripping device according to the invention can be part of a manipulator, which can be designed, for example, as a gantry robot, but which can in particular be designed as a delta kinematic robot. The clamping and gripping device can in particular be a working tool of the manipulator, which can be designed as a gantry robot or as a delta kinematic robot.

[0055] Using this manipulator or the gantry or delta kinematic robot, the clamping and gripping device can be moved in several different horizontal spatial directions and, in doing so, transfer articles formed by beverage containers or other objects to be handled into a relative orientation to one another, which can, for example, be aligned to a complete palletizable layer to be formed from the respective articles, whereby such use of the system is fundamentally to be understood only as an example. It can also be the case, for example, that the system is designed to group containers during their ongoing movement or to transfer them from a first grouping to a second grouping. In order to transfer the multiple articles into an orientation that is aligned to a respective complete palletizable layer to be formed from the multiple articles,In order to create a specific grouping from the multiple articles, the clamping and gripping device has several clamping and gripping elements. The clamping and gripping elements, which typically interact in pairs, can be moved by the manipulator or the gantry or delta kinematic robot towards the respective articles to be gripped and can hold the respective articles to be gripped between them. The clamping and gripping elements then perform a feed movement, clamp the respective article located between the clamping and gripping elements, and guide the respective article into a relative orientation with respect to other articles while the clamping system is still in place. This position brings this article into a position with respect to the other articles that is coordinated with a palletizable layer to be formed from this article and other articles.If necessary, the manipulator can cause a rotary movement for the clamping and gripping elements as well as the article(s) received via the clamping and gripping elements.

[0056] The feed movement, via which the clamping and gripping device grasps respective articles using the pair or multiple pairs of clamping and gripping elements, can optionally be omitted in various embodiments. For example, articles can be arranged between the respective pair of clamping and gripping elements so that these articles are only positively received by the clamping and gripping elements and then manipulated or, for example, rotated and / or offset relative to other articles by means of the clamping and gripping device. A relative movement of a pair of clamping and gripping elements that interact to receive articles is not provided for in such embodiments.

[0057] While the respective article is being received via the clamping and gripping device or the clamping and gripping elements, these articles and other articles or beverage containers intended for the respective palletizable layer can be placed on a horizontal conveyor system designed as part of the system and are preferably moved continuously by the horizontal conveyor system. Conveying operation of the horizontal conveyor system does not need to be interrupted at any time, allowing the horizontal conveyor system to transport articles continuously. The clamping and gripping device and the manipulator are located above the horizontal conveyor system.

[0058] A person acting as an operator or machine operator can also be located in the immediate vicinity of the system as well as in the area of the horizontal conveyor system designed as a component of the system. The clamping and gripping device can be moved into a service position or service area using the manipulator or the delta kinematic robot, in which the clamping and gripping device is within the reach of the person or operator. In the service position, the clamping and gripping device remains at least partially above the aforementioned horizontal conveyor system. Optionally, the clamping and gripping elements on the clamping and gripping device can protrude laterally beyond the horizontal conveyor system, at least in sections, when the service position is reached, which can make access to the clamping and gripping elements easier for the operator.

[0059] As described below, the operator can optionally remove the clamping and gripping elements from the clamping and gripping device moved into the service position by hand or manually and, taking into account the respective dimensions and / or number of articles to be subsequently received via the clamping and gripping device, can selectively attach or fix them to a respective fastening position from a plurality of fastening positions provided via the clamping and gripping device.

[0060] To move to the aforementioned service position, the manipulator or delta kinematic robot can be actuated or controlled in an appropriate manner via a control unit. The control unit can be equipped with an input device, for example, a touchscreen. The operator can use the input device or touchscreen to cause the clamping and gripping device to be moved into the service position via the manipulator or delta kinematic robot.

[0061] It may also be useful for the system to include a sensor, such as a camera, via which the aforementioned control unit can detect when an operator is in the area of the clamping and gripping device after the clamping and gripping device has been moved to its service position and, if necessary, removes clamping and gripping elements from the clamping and gripping device and / or attaches or secures clamping and gripping elements to the clamping and gripping device. If this is the case, the control unit can prevent or block any movement of the clamping and gripping device via the manipulator or delta kinematic robot, thus preventing any risk of unintentional injury to the operator.

[0062] It is also conceivable that the system, with the help of such a sensor or this camera or by means of another sensor or another camera via the control unit, can determine and / or recognize whether a respective operator has correctly secured clamping and gripping elements in the respective fastening position. If the control unit recognizes or determines that one or more clamping and gripping elements have not been correctly secured in their respective fastening position, the control unit can prevent or block movement of the clamping and gripping device via the manipulator or delta kinematics robot. The clamping and gripping device can still be in the service position it has already reached. It is particularly conceivable that the control unit has a display via which the control unit can provide the operator with information on the respective suitable or incorrect fastening position.can display the clamping and gripping elements that are not properly secured in their respective fastening positions. If an operator recognizes via the indicator or display that a clamping and gripping element is not properly secured in its respective fastening position, the respective operator can correctly install or arrange the respective clamping and gripping element that is not properly secured in its respective fastening position in its respective fastening position.

[0063] Furthermore, the manipulator described above, which can be designed as a delta kinematic robot or as a gantry robot, can have a lower suspension or a so-called tool center point for the suspended attachment of the clamping and gripping device via a base designed as a component of the clamping and gripping device. Via such a base, the clamping and gripping device is thus mechanically coupled to the lower suspension or the tool center point of the manipulator. In addition, the base provides a linear guide for a first carriage and a second carriage. The first carriage and second carriage can each be moved horizontally and relative to one another with the aid of the base providing a linear guide. Separate clamping and gripping elements are connected to each of the carriages.If the carriages are moved relative to one another, clamping and gripping elements arranged on the first carriage can therefore interact with clamping and gripping elements arranged on the second carriage in order to temporarily receive articles between them in a clamping manner. As a result of the relative movement of the first carriage with respect to the second carriage, all of the clamping and gripping elements carried by the first carriage carry out a feed movement relative to all of the clamping and gripping elements carried by the second carriage and in doing so grip articles in pairs. Opposite broad side surfaces of the clamping and gripping elements which interact in pairs to receive articles face one another. In order to bring about this relative movement for the first carriage and the second carriage, preferred embodiments provide a belt to which the first carriage and the second carriage are each connected.In a delta kinematics robot, the belt can be driven, resulting in the first carriage and the second carriage being moved relative to each other. Designs in which the manipulator or delta kinematics robot has a shaft that rotates to drive the belt (not shown) and the resulting relative movement of the first carriage relative to the second carriage have proven successful.

[0064] If necessary, the first carriage can comprise a plurality of bolts, which plurality of bolts form a plurality of different fastening positions for the clamping and gripping elements provided for the first carriage. The second carriage can also comprise a plurality of bolts, which plurality of bolts form a plurality of different fastening positions for the clamping and gripping elements provided for the second carriage. In this way, the clamping and gripping elements can be secured in different fastening positions on the respective carriage and, for this purpose, can be selectively hooked into the respective fastening position or into the bolt forming the respective fastening position.

[0065] Depending on the design variant, for example, three pairs, each with two clamping and gripping elements, can be provided, which are carried by the first carriage and the second carriage. Each pair of these can temporarily accept an article or a series of articles in a clamping manner. If a packaging operation is converted, it is possible that the articles subsequently received via the clamping and gripping device differ in their geometry from those previously received. The clamping and gripping device, with the initially selected arrangement of its clamping and gripping elements, may then no longer be suitable for accepting the articles intended for the subsequent packaging operation, as the position and / or number of clamping and gripping elements is not suitable for the articles to be received subsequently with their corresponding geometry.In practice, the entire clamping and gripping device on the manipulator has to be replaced for this purpose. However, due to the large mass of the entire clamping and gripping device, such a replacement is cumbersome. Using the clamping and gripping device, as described below, the clamping and gripping device can be easily and quickly equipped or adapted to a specific number and / or type of articles to be received. This allows for time-optimized and simple adaptation of the clamping and gripping device to different packaging companies or different articles to be handled.

[0066] With regard to the structural design of the first carriage, it can also be noted that the first carriage can have two support rails running parallel to one another. Bolts forming fastening positions can be arranged on each of the parallel support rails. In order to arrange a respective clamping and gripping element provided for the first carriage in a respective fastening position, an intermediate piece is hooked into the bolt of a first of the two support rails of the first carriage and also into the bolt of the other of the two support rails. The intermediate piece, together with the respective clamping and gripping element connected to the intermediate piece and provided for the first carriage, is thus held suspended over the two support rails oriented parallel to one another. A similar structural design applies to the second carriage.

[0067] In the following, exemplary embodiments will explain the invention and its advantages in more detail with reference to the accompanying figures. The relative sizes of the individual elements in the figures do not always correspond to the actual sizes, as some shapes are simplified and others are enlarged relative to other elements for better illustration. Fig. 1 shows a schematic view of an embodiment of a system according to the invention and an embodiment of a clamping and gripping device according to the invention. Fig. 2 shows further aspects of the system embodiment from Fig. 1 and the clamping and gripping device from the embodiment according to Fig. 1 . Fig. 3 shows a schematic perspective view of an embodiment of a clamping and gripping device according to the invention. Fig. 4 shows further aspects of the clamping and gripping device of the embodiment from Fig. 3 . Figures 5 to 7 each show an intermediate piece and individual steps of removing the intermediate piece from a mounting position. Fig. 8 shows further details of the clamping and gripping device from the embodiment shown in Fig. 3 . Figures 9 to 11 each show an intermediate piece and individual steps of fixing it to a previously selected mounting position.

[0068] Identical reference numerals are used for identical or equivalently functioning elements of the invention. Furthermore, for the sake of clarity, only those reference numerals are shown in the individual figures that are necessary for the description of the respective figure. The illustrated embodiments merely represent examples of how the invention can be configured and do not represent a final limitation. Furthermore, the features described below are not to be understood in close connection with other features of the respective embodiment, but can each be provided in a general context or used for this purpose.

[0069] The Fig. 1 shows a schematic view of an embodiment of a system 50 according to the invention and an embodiment of a clamping and gripping device 1 according to the invention. The clamping and gripping device 1 is shown in Fig. 1by a manipulator 10, which is designed as a delta kinematic robot 12, or is a working tool of the manipulator 10, which is designed as a delta kinematic robot.

[0070] Via the manipulator 10 or delta kinematic robot 12, the clamping and gripping device 1 can be displaced in several different horizontal spatial directions and, in doing so, transfer articles (not shown in more detail) formed by beverage containers into a relative orientation to one another, which is aligned with a complete palletizable layer to be formed from the respective articles. This use of a system 50 is to be understood as an example in the present case. It is also possible that the system 50 according to the embodiment according to Fig. 1For example, it is designed to group packages during their continuous movement or to transfer them from a first grouping to a second grouping. In order to transfer the plurality of articles (not shown in detail) into an orientation that is aligned with a complete palletizable layer to be formed from the plurality of articles or to create a specific grouping from the plurality of articles, the clamping and gripping device 1 has a plurality of clamping and gripping elements. Two or a pair of clamping and gripping elements are Fig. 1with numbers 5a and 5b. The clamping and gripping elements 5a and 5b, which interact in pairs, can be moved by the manipulator 10 or delta kinematic robot 12 in the direction of the respective articles to be grasped and can pick up the respective articles to be grasped between them. Following this, the clamping and gripping elements 5a and 5b perform a feed movement, clamp the respective article located between the clamping and gripping elements 5a and 5b, and guide the respective article into a relative orientation with respect to other articles while the clamping system is still in place. This position is thereby brought into a position with respect to the other articles, which is coordinated with a palletizable layer to be formed from this article and other articles.If necessary, the manipulator 10 can cause a rotational movement for the clamping and gripping elements 5a and 5b as well as the article(s) received via the clamping and gripping elements 5a and 5b.

[0071] The feed movement, via which the clamping and gripping device 1 grasps respective articles by means of the pair of clamping and gripping elements 5a and 5b, can also be omitted in various embodiments. For example, articles can be arranged between the respective pair of clamping and gripping elements 5a and 5b, so that these articles are only received in a form-fitting manner by the clamping and gripping elements 5a and 5b and are then manipulated by the clamping and gripping device 1, for example, rotated and / or offset relative to other articles. A relative movement of a pair of clamping and gripping elements 5a and 5b that cooperate to receive articles is not provided for in such embodiments.

[0072] While the respective article is being received via the clamping and gripping device 1 or the clamping and gripping elements 5a and 5b, these articles and other articles or beverage containers intended for the respective palletizable position rest on a horizontal conveyor 15 formed as part of the system 1 and are moved continuously by the horizontal conveyor 15. Conveying operation of the horizontal conveyor 15 is never interrupted, so that the horizontal conveyor 15 continuously transports articles. The clamping and gripping device 1 and the manipulator 10 are arranged above the horizontal conveyor 15.

[0073] An operator 9 is also located in the immediate vicinity of the system 50 and in the area of the horizontal conveyor 15 formed as a component of the system 50. The clamping and gripping device was moved into the Fig. 1 Service position shown or in the Fig. 1 shown service area, in which the clamping and gripping device 1 is within the reach of the operator 9. In the service position, the clamping and gripping device 1 is still located at least partially above the horizontal conveyor device 15. Fig. 1 also shows that the clamping and gripping elements 5a and 5b already located on the clamping and gripping device 1 are moved to the service position after Fig. 1 protrude laterally beyond the horizontal conveyor 15 in sections. This facilitates access to the clamping and gripping elements 5a and 5b for the operator 9.

[0074] As described below, the operator 9 can manually remove clamping and gripping elements 5a or 5b from the clamping and gripping device 1 moved into the service position and, taking into account a respective dimension and / or number of articles to be subsequently received via the clamping and gripping device 1, can selectively attach or fix them to a respective fastening position from a plurality of fastening positions provided via the clamping and gripping device 1.

[0075] To change the service position Fig. 1To move to the desired position, the manipulator 10 or delta kinematic robot 12 can be actuated via a control unit. The control unit can have an input instrument, for example, designed as a touchscreen, whereby the operator 9 can, via the input instrument or touchscreen, cause the clamping and gripping device 1 to be moved via the manipulator 10 or delta kinematic robot 12 into the Fig. 1 shown service position is moved.

[0076] It is possible for the system 50 to comprise a sensor, such as a camera, via which the aforementioned control unit can detect when an operator 9, after the clamping and gripping device 1 has been moved to its service position, is in the area of the clamping and gripping device 1 and, if necessary, removes clamping and gripping elements 5a or 5b from the clamping and gripping device 1 and / or attaches clamping and gripping elements 5a or 5b to the clamping and gripping device 1. If this is the case, the control unit can prevent or block any movement of the clamping and gripping device 1 via the manipulator 10 or delta kinematic robot 12, so that there is no risk of unintentional injury to the operator 9.

[0077] It is also conceivable that the system 50 can determine and / or recognize, by means of this sensor or this camera or by means of a further sensor or a further camera via the control unit, whether a respective operator 9 has correctly secured the clamping and gripping elements 5a or 5b in the respective fastening position. If the control unit recognizes or determines that a clamping and gripping element 5a or 5b or several clamping and gripping elements 5aq or 5b have not been properly secured in their respective fastening position, the control unit can prevent or block a movement of the clamping and gripping device 1 via the manipulator 10 or delta kinematics robot 12. The clamping and gripping device 1 can still be in the service position it has already reached. It is particularly conceivable that the control unit can display orhas a display via which the control unit can present information to the operator 9 regarding the clamping and gripping elements 5a or 5b that are correctly or incorrectly secured in their respective fastening positions. If an operator recognizes via the display that a clamping and gripping element 5a or 5b has not been correctly secured in its respective fastening position, the respective operator 9 can correctly install or arrange the respective clamping and gripping element 5a or 5b that is not correctly secured in its respective fastening position in its respective fastening position.

[0078] The Fig. 2 shows further aspects of the embodiment of the system 50 from Fig. 1 and the clamping and gripping device 1 from the embodiment according to Fig. 1 . The already in Fig. 1The manipulator 10 shown and described, which is designed as a delta kinematic robot 12, has a lower suspension 60 or a tool center point 62 for the suspended attachment of the clamping and gripping device 1 via a base 2 designed as a component of the clamping and gripping device 1.

[0079] Via the base 2, the clamping and gripping device 1 is thus mechanically coupled to the lower suspension 60 or the tool center point 62 of the manipulator 10. In addition, the base 2 provides a linear guide for a first carriage 22 and a second carriage 24, which are particularly suitable for Figures 3 and 4 are clearly visible. The following is still in the Figures 3 and 4The first carriage 22 and second carriage 24 shown and described in detail can each be moved horizontally and relative to one another with the aid of the base 2 providing a linear guide. The clamping and gripping elements, referred to by number 5a, are connected to the first carriage 22. The clamping and gripping elements, referred to by number 5b, are connected to the second carriage 24. If the carriages 22 and 24 are moved relative to one another, the clamping and gripping elements 5a arranged on the first carriage 22 can therefore interact with the clamping and gripping elements 5b arranged on the second carriage 24 in order to temporarily accept articles between them in a clamping manner.Due to the relative movement of the first carriage 22 with respect to the second carriage 24, all of the clamping and gripping elements 5a carried by the first carriage 22 perform a feed movement with respect to all of the clamping and gripping elements 5b carried by the second carriage 24, and in doing so grasp articles in pairs. Opposite broad side surfaces of the clamping and gripping elements 5a and 5b, which cooperate in pairs to receive articles, face one another. In order to effect this relative movement for the first carriage 22 and the second carriage 24, a belt is provided in preferred embodiments, by which the first carriage 22 and the second carriage 24 are connected. The belt can be driven via the manipulator 10 or delta kinematic robot 12, as a result of which the first carriage 22 and the second carriage 24 are moved relative to one another.Embodiments in which the manipulator 10 or delta kinematic robot 12 has a shaft which is rotated to drive the belt (not shown) and the resulting relative movement of the first carriage 22 relative to the second carriage 24 have proven successful.

[0080] The Fig. 3 shows a schematic perspective view of an embodiment of a clamping and gripping device 1 according to the invention. In Fig. 3 The first carriage 22 and the second carriage 24 can be seen again, which can be moved relative to each other together with their respective clamping and gripping elements 5a and 5b. As in Fig. 3As shown, the first carriage 22 comprises a plurality of bolts 32, which plurality of bolts 32 form a plurality of different fastening positions for the clamping and gripping elements 5a provided for the first carriage 22. The second carriage 24 also comprises a plurality of bolts 30, which plurality of bolts 30 form a plurality of different fastening positions for the clamping and gripping elements 5b provided for the second carriage 24. As described below, the clamping and gripping elements 5a and 5b can be fixed in different fastening positions on the respective carriage 22 or 24 and, for this purpose, can be selectively hooked into the respective fastening position or into the bolts 30 or 32 forming the respective fastening position.

[0081] In Fig. 3Three pairs, each with two clamping and gripping elements 5a and 5b, are provided, which are carried by the first carriage 22 and the second carriage 24, and each pair of which can temporarily receive an article or a series of articles in a clamping manner. If a packaging operation is converted, it may be that the articles subsequently received via the clamping and gripping device 1 differ in their geometry from those previously received. The clamping and gripping device 1 is then connected to the Fig. 3The arrangement of its clamping and gripping elements 5a and 5b shown in the drawing is no longer suitable for receiving these articles intended for subsequent packaging operations, since the position and / or number of the clamping and gripping elements 5a and 5b is not suitable for the articles to be received subsequently with their corresponding geometry. In practice, the entire clamping and gripping device 1 has been mounted on the manipulator 10 (see Fig. 1) replaced. Since the entire clamping and gripping device 1 is very large, such a replacement is cumbersome. Using the clamping and gripping device 1, as described below, the clamping and gripping device 1 can be easily and quickly equipped or adapted to a specific number and / or configuration of articles to be received. This allows for a time-optimized and simple adaptation of the clamping and gripping device 1 to different packaging companies or different articles to be handled.

[0082] The Fig. 4 shows further aspects of the clamping and gripping device 1 of the embodiment from Fig. 3 . In Fig. 4 The first carriage 22 can be seen again. From a summary of the Figures 3 and 4It becomes clear that the clamping and gripping elements 5a provided for the first carriage 22 are suspended via the respective intermediate piece 23 in a respective fastening position forming bolts 32 of the first carriage 22. Also, by looking at the Figures 3 and 4 It is clear that the clamping and gripping elements 5b provided for the second carriage 24 are suspended via the respective second intermediate piece 25 into bolts 30 of the second carriage 24 forming a respective fastening position. The intermediate pieces 23 and 27 are each designed as an independent molded part that can be completely separated from the respective carriage 22 or 24 and from the respective clamping and gripping elements 5a or 5b.

[0083] With regard to the structural design of the first carriage 22, it can also be noted that the first carriage 22 has two support rails 21 and 21' running parallel to one another. Bolts 32 forming fastening positions are arranged on each of the support rails 21 and 21' running parallel to one another. In order to clamp and grip the respective clamping and gripping element 5a provided for the first carriage 22 (see Fig. 3 ) in a respective fastening position, the intermediate piece 23 is suspended both in bolts 32 of a first of the two support rails 21 and 21' of the first carriage 22 and in bolts 32 of the other of the two support rails 21 and 21'. Thus, the intermediate piece 23, together with the respective clamping and gripping element 5a connected to the intermediate piece 23 and provided for the first carriage 22, is held suspended jointly over the two support rails 21 and 21' oriented parallel to one another.

[0084] A corresponding structural design applies to the second carriage 24, whereby reference is made to the two support rails of the second carriage 24 oriented parallel to one another with numbers 27 and 27'.

[0085] The Figures 5 to 7 each show an intermediate piece 23 as well as individual steps for removing the intermediate piece 23 from the first carriage 22. In the present case, the removal is illustrated using the intermediate piece referred to by number 23. Corresponding steps, not spelled out here, are provided for removing the intermediate piece 25, which can be hooked into bolts 30 of the second carriage 24 and carries clamping and gripping elements 5b provided for the second carriage 24.

[0086] In Fig. 5 the intermediate piece 23, on which a clamping and gripping element 5a provided for the first slide 22 can be arranged, is suspended in four bolts 32 provided by the first slide 22. In Fig. 5Two of these four bolts 32 can be seen, which are provided by the support rail shown with reference to number 21 and formed as a component of the first carriage 22. Another support rail 21', which in Fig. 4 already shown, provides two further bolts 32, into which the intermediate piece 23 is Fig. 5 is also mounted. The intermediate piece 23 has a symmetrical structure.

[0087] In the embodiment shown, the intermediate piece 23 comprises a safety mechanism 40 with a safety lever 42. The safety lever 42 is subjected to spring force or a restoring force and holds in the Fig. 5In the stable position assumed, the bolt 32 is positively engaged in the groove 26 shown on the left. In addition, the intermediate piece 23 comprises a further groove 26 shown on the right, in which a further bolt 32 is received. In the present exemplary embodiment, no securing mechanism 40 is provided to hold the bolt 32 positively in the groove 26 shown on the right. However, embodiments are also conceivable in which an intermediate piece 23 comprises a separate securing mechanism 40 for each groove 26 and, if appropriate, a securing lever 42 subjected to a restoring force or spring force.

[0088] In order to remove the intermediate piece 23 from the support rail 21 or from the first carriage 22, the safety lever 42 is moved against the restoring force or spring force from the position to Fig. 5 into the position after Fig. 6 Pivoting the safety lever 42 from the position to Fig. 5 into the position after Fig. 6 takes place around a horizontally oriented axis and after a clamping and gripping device 1 having the intermediate piece 25 has been moved into a service position according to Fig. 1 was moved. An operator 9 has access to the safety lever 42 when the clamping and gripping device 1 is in the service position and can release it by overcoming the restoring force or spring force or move it to the position according to Fig. 6 In the position Fig. 6 the groove 26 is open to the outside and the bolt 32 is no longer fixed in the groove 26 by means of the safety lever 42, so that the bolt 32 in the groove 26 shown on the left side in Fig. 5 bolts 32 still accommodated initially offset to Fig. 6 and then after Fig. 7 in the direction out of the groove 26. in Fig. 7the two bolts 32, which were formerly received in the two grooves 26 of the intermediate piece 23, have completely left their grooves 26, so that the intermediate piece 23 is removed from the first carriage 22 or the support rail 21'.

[0089] In Fig. 8 The intermediate piece 23 is shown again, which is intended for hanging in bolts 30 of the second carriage 24, and the intermediate piece 25, which is intended for hanging in bolts 30 of the first carriage 22. Fig. 8shows that the intermediate piece 23 is suspended in bolts 32 formed by the first support rail 21 as well as in bolts 32 formed by the second support rail 21' of the first carriage 22. Removal of the intermediate piece 23, during which removal the respective bolts 32 are guided out of the respective groove 26, is carried out analogously for the bolts 32 of the first support rail 21 and for the bolts 32 of the second support rail 21', if necessary at least approximately simultaneously and in each case according to the steps according to Figures 5 to 7 .

[0090] The Figures 9 to 11 each show an intermediate piece 23 and individual steps of securing it to a previously selected fastening position. A first step is shown in Fig. 9. Thus, a locking lever 42 of the intermediate piece 23, formed as a component of the locking mechanism 40, is brought into contact with a bolt 32, which bolt 32 is provided for attaching the intermediate piece 23 to a selected fastening position. A further support rail 21' (cf. Fig. 8 ), which in Fig. 9 cannot be seen and runs parallel to the support rail 21, forms a further bolt 32, which is aligned with the bolt 32 that is in contact with the safety lever 42. A safety lever 42, which is designed as a component of the intermediate piece 23, is also in contact with the further bolt 32 in the position according to Fig. 9 already in the system.

[0091] A summary of the Figures 9 and 10 It also shows that the safety lever 42 has been pivoted via the bolt 32, which is still in contact with the safety lever 42. The safety lever 42 is connected to a Fig. 10not connected to the spring shown. In this case, the safety lever 42 was pivoted against the force of this spring or against a restoring force generated by the spring. Fig. 10 The locking arm 42 has reached its end position. At this point, the groove 26 shown on the left is no longer blocked by the locking lever 42, so that the bolt 32 can be guided into the groove 26 shown on the left. Another bolt 32 also begins to penetrate into the groove 26 shown on the right of the intermediate piece 23.

[0092] A summary of the Figures 10 and 11 clarifies that the respective bolt 32 undergoes a reversal of direction after entering the respective groove. The safety lever 42 pivots into the position according to the restoring force caused by the spring of the safety mechanism 40. Fig. 9 The bolt 32 is then Fig. 11positively received in the groove 26. An unintentional exit of the bolt 32 from the groove 26 is prevented by the safety lever 42.

[0093] The following is provided as a supplementary note to the above statements: Although the figures and their descriptions generally refer to "schematic" representations and views, this in no way means that the figures and their descriptions are of secondary importance with regard to the disclosure of the invention. The skilled person is perfectly capable of deriving sufficient information from the schematic and abstractly drawn representations to facilitate their understanding of the invention, without their understanding being in any way impaired by the drawn and possibly not exactly scaled proportions of parts of the clamping and gripping device (1) and / or the manipulator or other drawn elements.Rather, the figures enable the skilled reader to derive a better understanding of the inventive concept formulated in a more general and / or abstract manner in the claims and in the general part of the description on the basis of the more specifically explained implementations of the method according to the invention and the more specifically explained structure of the clamping and gripping device (1) according to the invention for a manipulator.

[0094] The invention has been described with reference to a preferred embodiment. However, it is conceivable for a person skilled in the art that modifications or variations of the invention can be made without departing from the scope of the following claims. List of reference symbols

[0095] 1 Clamping and gripping device 2 Base 5a Clamping and gripping element 5b Clamping and gripping element 10 Manipulator 12 Delta kinematic robot 15 Horizontal conveyor device 21 Support rail (first carriage) 22 Carriage 23 Intermediate piece 24 Carriage 25 Intermediate piece 26 Groove 27 Support rail (second carriage) 30 Bolt 32 Bolt 40 Securing mechanism 42 Securing lever 60 Lower suspension 62 Tool Center Point

Claims

1. A system (50) for handling articles, comprising - at least one horizontal conveyor device (15) along which the articles to be manipulated are movable, - at least one manipulator (10), and - at least one clamping and gripping device (1) for receiving articles, which clamping and gripping device is carried by the at least one manipulator (10), wherein the at least one manipulator (10) is controllable in such a manner that the at least one manipulator (10) can, by means of the at least one clamping and gripping device (1), transfer a plurality of articles being moved via the at least one horizontal conveyor device (15) into a relative alignment relative to one another, which alignment is adapted, in particular, to a palletisable layer to be formed from this plurality of articles or to a specific grouping to be formed from this plurality of articles, by the articles being rotated and / or shifted, and / or to a specific distribution to be formed by the articles being rotated and / or shifted, and in which system (50) - the clamping and gripping device (1) comprises at least two clamping and gripping elements (5a, 5b), each arranged in a suspended manner, which interact to temporarily receive one or more articles, wherein the clamping and gripping device (1) provides a plurality of different fastening positions for the at least two clamping and gripping elements (5a, 5b), characterised in that the at least two clamping and gripping elements (5a, 5b) can be selectively and removably fixed at the plurality of different fastening positions in accordance with a particular number and / or formation of articles to be received, wherein the at least two clamping and gripping elements (5a, 5b) are fixable without tools at the plurality of different fastening positions and / or are removable without tools each from their particular fastening position.

2. The system (50) according to claim 1, comprising - a control unit coupled to the at least one manipulator and - at least one sensor system, wherein the at least one sensor system is connected to the control unit for verification of a proper fixation of the at least two clamping and gripping elements (5a, 5b) each at their particular fastening position, and wherein, in the case of an improper fixation of at least one clamping and gripping element (5a, 5b) being determined during the verification, the control unit can prevent actuation of the at least one manipulator (10) and / or can output information identifiable by an operator (9) that the fixation of the at least one clamping and gripping element (5a, 5b) has not been properly carried out.

3. The system (50) according to claim 1 or claim 2, in which the at least two clamping and gripping elements (5a, 5b) are designed to jointly receive articles, which articles are formed by beverage containers and, in particular, by PET bottles.

4. The system according to one of the claims 1 to 3, in which the at least two clamping and gripping elements (5a, 5b) can be hinged without tools each to their particular fastening position, and / or in which the at least two clamping and gripping elements (5a, 5b) can be unhinged without tools each from their particular fastening position.

5. The system (50) according to claim 4, comprising a separate intermediate piece (23, 25) for each of the at least two clamping and gripping elements (5a, 5b), which intermediate piece (23, 25) is mechanically completely separable from the particular clamping and gripping element (5a, 5b), and via which particular intermediate piece (23, 25) the at least two clamping and gripping elements (5a, 5b) can be hinged without tools each to their particular fastening position, and / or with which particular intermediate piece (23, 25) the at least two clamping and gripping elements (5a, 5b) can be unhinged without tools each from their particular fastening position.

6. The system according to one of the claims 1 to 5, in which - each of the fastening positions forms a bolt (30, 32) or pin, and in which - the at least two clamping and gripping elements (5a, 5b) or the intermediate pieces (23, 25) each comprise a groove (26) corresponding to the bolts (30, 32) or pins of the fastening positions, in which particular groove (26) the bolt (30, 32) or pin of a particular fastening position can be received in order to fix the particular clamping and gripping element (5a, 5b).

7. The system according to claim 6, in which the at least two clamping and-gripping elements (5a, 5b) or the intermediate pieces (23, 25) each comprise a securing mechanism (40), via which a bolt (30, 32) or pin received in a particular groove (26) can be held in a form-locking manner in the groove (26).

8. The system according to claim 7, in which a) the particular securing mechanism (40) has a spring-loaded securing lever (42) which holds the bolt (30, 32) or pin received in the particular groove (26) in a form-locking manner in the groove (26) with the help of its spring force, and / or in which b) the particular securing mechanism (40) has a spring-loaded securing lever (42) which, for the purpose of removal of its particular clamping and gripping element (5a, 5b), can be pivoted out of the fastening position, thereby overcoming the spring force and unblocking the groove (26).

9. The system according to one of the claims 1 to 8, in which the clamping and-gripping device (1) comprises a first carriage (22) with a plurality of fastening positions for at least one first clamping and gripping element (5a) and a second carriage (24) with a plurality of further fastening positions for at least one second clamping and gripping element (5b), wherein the first carriage (22) and the second carriage (24) are movable relative to each other, preferably in a horizontal direction, in order to temporarily jointly receive one article or a plurality of articles via the at least one first clamping and gripping element (5a) and the at least one second clamping and gripping element (5b) fixed at the first carriage (22) and at the second carriage (24) each in a particular fastening position.

10. The system according to one of the claims 1 to 9, in which the at least one manipulator (10) is formed by at least one delta kinematic robot (12).

11. A method for equipping a clamping and gripping device (1) provided for a manipulator (10), with at least two clamping and gripping elements (5a, 5b) provided to jointly receive articles in a system (50) according to one of the claims 1 to 9, the method comprising the following steps: - selecting at least two fastening positions, which are provided by the clamping and gripping device (1), for the at least two clamping and gripping elements (5a, 5b) designed to jointly receive articles, and - fixing the at least two clamping and gripping elements (5a, 5b), which are designed to jointly receive articles, at the at least two selected fastening positions, characterised in that - the at least two fastening positions are each selected from a plurality of possible fastening positions and taking into account a number and / or formation of articles to be received jointly via the at least two clamping and gripping elements (5a, 5b), and in that the at least two clamping and gripping elements (5a, 5b) are subsequently removably fixed at the at least two selected fastening positions, and wherein - the at least two clamping and gripping elements (5a, 5b) designed to receive articles are fixed without tools at the at least two selected fastening positions, and / or in which method - a clamping and gripping element (5a, 5b) already located at a fastening position or a plurality of clamping and gripping elements (5a, 5b) already located each at a particular fastening position is / are removed without tools from its / their particular fastening position temporally before the fixation of the at least two clamping and gripping elements (5a, 5b) designed to jointly receive articles.

12. The method according to claim 11, in which a) the at least two clamping and gripping elements (5a, 5b) designed to receive articles are hinged and hereby fixed without tools at the at least two selected fastening positions, and / or in which b) a clamping and gripping element (5a, 5b) already located at a fastening position or a plurality of clamping and gripping elements (5a, 5b) already located each at a particular fastening position is / are unhinged and hereby removed without tools each from its / their particular fastening position temporally before the fixation of the at least two clamping and gripping elements (5a, 5b) designed to jointly receive articles.

13. The method according to claim 12, in which a) the at least two clamping and gripping elements (5a, 5b) designed to receive articles are hinged to the at least two selected fastening positions each via a particular separate intermediate piece (23, 25), which is mechanically completely separable from the particular clamping and gripping element (5a, 5b), and are hereby fixed without tools at the at least two selected fastening positions, and / or in which b) a clamping and gripping element (5a, 5b) already located at a fastening position or a plurality of clamping and gripping elements (5a, 5b) already located each at a particular fastening position and a particular separate intermediate piece (23, 25), which is completely separable from the particular clamping and gripping element (5a, 5b) and which carries the particular clamping and gripping element (5a, 5b), are unhinged temporally before the fixation of the at least two clamping and gripping elements (5a, 5b) designed to jointly receive articles, wherein the particular clamping and gripping element (5a, 5b) and the particular intermediate piece (23, 25) are removed without tools each from their particular fastening position.

14. The method according to claim 13, in which the at least two clamping and gripping elements (5a, 5b) designed to receive articles and / or the particular separate intermediate piece (23, 25), which can be mechanically completely separable from the particular clamping and gripping element (5a, 5b), each have a manually releasable securing mechanism (40), and in which a) a bolt (30, 32) or pin is arranged in the area of a particular selected fastening position, to which bolt (30, 32) or pin the particular clamping and gripping element (5a, 5b) is either itself or by means of the particular intermediate piece (23, 25) hinged via a groove (26) formed as a component of the particular clamping and gripping element (5a, 5b) or of the intermediate piece (23, 25), whereupon the manually releasable securing mechanism (40) holds the particular bolt (30, 32) or pin in a form-locking manner in the groove (26) and hereby fixes the particular clamping and gripping element (5a, 5b) in a form-locking manner at the particular selected fastening position, and / or in which b) a clamping and gripping element (5a, 5b) already located at a fastening position or a plurality of clamping and gripping elements (5a, 5b) already located each at a particular fastening position is / are either itself / themselves or by means of a particular intermediate piece (23, 25) unhinged temporally before the fixation of the at least two clamping and gripping elements (5a, 5b) designed to jointly receive articles, for which purpose the securing mechanism (40) holding the particular clamping and gripping element (5a, 5b) in a form-locking manner at the particular fastening position is released and a bolt (30, 32) or pin located at the particular fastening position is temporally subsequently moved out of a groove (26) formed as a component of the particular clamping and gripping element (5a, 5b) or of the particular intermediate piece (23, 25).

15. The method according to claim 14, in which the securing mechanisms (40) each have at least one spring-loaded securing lever (42), wherein a) the particular at least one spring-loaded securing lever (42) holds the particular bolt (30, 32) or pin in a form-locking manner in the groove (26) and hereby fixes the particular clamping and gripping element (5a, 5b) in a form-locking manner at the particular selected fastening position, and / or in which b) a clamping and gripping element (5a, 5b) already located at a fastening position or a plurality of clamping and gripping elements (5a, 5b) already located each at a particular fastening position is / are unhinged temporally before the fixation of the at least two clamping and gripping elements (5a, 5b) designed to jointly receive articles, for which purpose and temporally preceding hereto, the particular at least one spring-loaded securing lever (42) of the plurality of clamping and gripping elements (5a, 5b) or of the particular intermediate piece (23, 25) already located each at a particular fastening position is pivoted, thereby overcoming a particular spring force, and, as a result, the groove (26) of the particular clamping and gripping element (5a, 5b) or the particular intermediate piece (23, 25) is unblocked for the particular bolt (30, 32) or pin to be moved out of the particular groove (26).

16. The method according to one of the claims 11 to 15, in which the clamping and gripping device (1) is moved into a service area for the purpose of the fixation of the at least two clamping and gripping elements (5a, 5b), which are designed to jointly receive articles, at the at least two selected fastening positions, in which service area the clamping and gripping device (1) is located within the access range of a person or of an operator, whereby a) the clamping and gripping device (1) is made accessible to a user (9) for the purpose of the manual fixation of the at least two clamping and gripping elements (5a, 5b), which are designed to jointly receive articles, at the selected fastening positions, and / or whereby b) the clamping and gripping device (1) is made accessible for the purpose of the removal, preferably without tools, of a clamping and gripping element (5a, 5b) already located at a fastening position or of a plurality of clamping and gripping elements (5a, 5b) already located each at a particular fastening position.

17. The method according to one of the claims 11 to 16, in which a fastening position selected for a first clamping and gripping element (5a) is provided by a first carriage (22), and in which a fastening position selected for a second clamping and gripping element (5b) is provided by a second carriage (24), and the first clamping and gripping element (5a) and the second clamping and gripping element (5b) are fixed in the first and second fastening positions provided by the first carriage and by the second carriage (22, 24), whereupon the first carriage (22) together with the clamping and gripping element (5a) fixed to the first carriage (22) and the second carriage (24) together with the second clamping and gripping element (5b) fixed to the second carriage (24) are moved preferably in a horizontal direction relative to each other, and wherein the first clamping and gripping element (5a) and the second clamping and gripping element (5b) in this context jointly receive one article or a plurality of articles in a clamping manner.

18. The method according to one of the claims 11 to 17, in which it is sensor-verified whether the at least two clamping and gripping elements (5a, 5b) have been properly and removably fixed each at their particular fastening position, and wherein, in the case of an improper fixation of at least one of the at least two clamping and gripping elements (5a, 5b) each at its particular fastening position being determined during the verification, information is output to an operator (9) and / or a manipulation of articles intended for the clamping and gripping device (1) is prevented.

19. The method according to one of the claims 16 to 18, in which the clamping and gripping device (1) is moved or passed on for sensory verification from the service area into a detection range of a sensor system formed by a camera and / or by a line sensor.