GRIPPER FOR BEVERAGE CANS, GRIPPER HEAD AND METHOD FOR RECEIVING AT LEAST ONE BEVERAGE CAN

Description

[0001] The present invention relates to a gripping head for beverage cans and a method for receiving at least one beverage can.

[0002] Beverage cans, along with bottles and beverage cartons, are one of the most important forms of retail packaging for beverages. They can also serve as drinking vessels. Beverage cans are primarily used for carbonated beverages such as canned beer and soft drinks such as colas, all types of lemonade, and energy drinks. Beverage cans are typically opened for consumption using pull tabs on the lid.

[0003] Currently used beverage cans usually consist of a one-piece, cylindrically shaped container made of aluminum or tinplate and a seamed aluminum lid with an oval scored line and a riveted metal tab, which acts as a "built-in can opener" by levering the scored oval into the interior of the can when lifted, thus forming a pouring or drinking opening. In a section of the can's body below the lid, the diameter of the cans is typically tapered, forming a seam at the upper edge. Thus, the lid also typically has a smaller outer diameter than the cylindrical body of the can.

[0004] There are different types of packaging for the processing, compilation, grouping, and packaging of items such as beverage containers in the form of cans. For example, the items or containers are combined into portable, relatively handy bundles, which can generally also be considered packaging units. Here, too, various options are known for combining individual cans into larger bundles. For example, beverage containers are usually combined and packaged using shrink film to form bundles of four, six, or more containers. The production of bundles is usually unavoidable, as they represent the most common variant of sales units or packaging units for beverage containers, especially metal or plastic cans or PET bottles. The bundles are sometimes combined again for transport and / or arranged in layers and palletized.

[0005] Furthermore, the use of so-called upper grip carton packaging is known, for example, to group several beverage containers, in particular bottles or cans, together via their neck regions. A packaging machine for applying such upper grip carton packaging is described in patent specification EP 1 075 419 B1. Here, the articles are arranged in a box, and the grip carton packaging is placed from above onto the at least one article arranged in the box. In particular, a plurality of articles are arranged in the box, and by placing a smaller number of upper grip carton packaging on top, subgroups are formed, each of which groups together a portion of the articles arranged in the box.

[0006] DE 10 2011 051 926 A1 also discloses a device for gripping articles and a gripping head according to the preamble of claim 1. The device comprises a retaining device that can be activated via an actuating device. The retaining device interacts with the actuating device in such a way that, upon actuation thereof, it can be transferred at least between a first mechanically stable state, in which the retaining device grips the articles, and a further or second mechanically stable state, in which the retaining device does not grip the articles.

[0007] Many different can sizes are now common and available. While cans were traditionally offered with a capacity of 0.33 or 0.5 liters, cans with 0.15, 0.25, 0.355 liters, and other volumes are now also common.

[0008] Furthermore, different can shapes are known. While the lid of standard cans has a significantly smaller diameter than the can cylinder itself, the cylinder diameter and the lid diameter of so-called slim or sleek cans are essentially the same or almost the same.

[0009] In order to apply outer packaging, the cans are arranged in groups, whereby the arrangement and number of cans arranged in groups is defined according to the packaging unit to be produced. The standard cans arranged as a group are arranged end to end and touch each other at contact surfaces. When the can assembly is transferred to a corresponding packaging module, the standard cans are each sucked onto the can edge and / or can lid using vacuum suction cups and lifted. For this purpose, the vacuum suction cup must have a larger diameter in the suction area than the can edge, whereby the diameter must also be smaller than the maximum outer diameter of the standard can so that the arrangement of the standard cans directly next to each other is not shifted.

[0010] Previously known gripping devices that can receive beverage cans and move them along a transport path for further handling or packaging have a complex design. The previously described gripping using vacuum suction cups also does not guarantee that beverage cans will unintentionally detach from the gripping device. This can occur, in particular, if the position of beverage cans during collection does not match an expected target position. This can happen, for example, if individual beverage cans unintentionally slip prior to collection or if their position is changed due to other mechanical causes. In practice, guide rails are therefore often necessary to ensure that the beverage cans are moved in a precise order into the detection range of a gripping device.In order to make the structure of a packaging device as simple and compact as possible, packaging devices would be desirable in which such guide rails can be dispensed with.

[0011] An object of the invention is therefore to provide a gripper for beverage cans that is characterized by a simple design and can receive and handle beverage cans with a high degree of safety. Another object is to provide a corresponding method that is easy to implement and with which beverage cans can be received and handled with a high degree of safety.

[0012] The above objects are achieved by the subject matter comprising the features in the independent claims. Embodiments are described by the dependent claims.

[0013] The invention relates to a gripper for beverage cans. In various embodiments, the gripper can be designed to receive a single beverage can. The gripper, which is thus generally suitable for receiving beverage cans, can also be used in practice to receive cans with other contents, such as food. The use of the gripper is therefore not limited to beverage cans.

[0014] The gripper comprises at least one gripping means for positively gripping underneath a respective beverage can in the region of an upper fold, which upper fold forms a respective beverage can. The at least one gripping means can be formed by at least one lever, which at least one lever can be rotated about a specific pivot point to receive and / or release a respective beverage can. Alternatively or additionally, the at least one lever can be designed to be reversibly elastically deformable. It is conceivable that the at least one gripping means or that the at least one lever is formed at least partially from plastic.

[0015] Furthermore, the gripper comprises at least one centering device, via which at least one centering device the respective beverage can can be brought into a defined orientation, in which defined orientation the at least one gripping means can positively engage underneath a respective beverage can in the region of its upper fold.

[0016] The gripper can optionally comprise at least one plunger, which at least one plunger interacts with the at least one gripping means in such a way that a respective positive under-grip of the at least one gripping means in the region of the upper fold can be canceled by means of a linear actuating movement of the at least one plunger. An end region of the at least one gripping means can optionally be held by the at least one plunger or mounted in the at least one plunger. In particular, it can be the case that an end region of the at least one gripping means is held in a positive-locking and / or clamping manner by the at least one plunger and / or is mounted in a positive-locking and / or clamping manner in the at least one plunger.

[0017] Alternatively or additionally, the at least one plunger may interact with the at least one gripping means in such a way that the at least one gripping means can apply a clamping force to the beverage can for holding a respective beverage can in the region of the respective upper fold by means of a linear actuating movement of the at least one plunger.

[0018] Furthermore, it is conceivable that the at least one plunger interacts with the at least one gripping means in such a way that the clamping force applied to hold a respective beverage can in the region of the respective upper fold can be canceled by means of a further actuating movement of the at least one plunger, which further actuating movement preferably runs in the opposite direction.

[0019] The gripper may also comprise multiple gripping means, each of which is assigned a common plunger. The common plunger interacts with the multiple gripping means in such a way that a respective positive downward grip of the multiple gripping means in the region of the upper fold can be canceled by a linear actuating movement of the common plunger. The multiple gripping means may point radially away from the common plunger or protrude radially from the common plunger.

[0020] Alternatively or additionally, the gripper may comprise a plurality of gripping means, to which a common plunger is assigned a plurality of gripping means, wherein the common plunger interacts with the plurality of gripping means in such a way that the plurality of gripping means can apply a respective clamping force to the respective beverage can for holding the respective beverage can in the region of the respective upper fold by means of a linear actuating movement of the common plunger.

[0021] It is also possible for the at least one plunger or the common plunger to form a thread that is connected to a corresponding mating thread of the gripper, so that the at least one plunger or the common plunger can execute a respective linear actuating movement by means of a rotational movement, preferably around its longitudinal axis. Alternatively or additionally, the at least one plunger or the common plunger can be pneumatically controlled to execute a respective linear actuating movement. The mating thread of the gripper can optionally be provided by a fastening plate of the gripper and / or by a ball joint of the gripper, which ball joint will be described below.

[0022] Furthermore, the gripper may comprise at least one return spring, which can apply spring force to the plunger or the common plunger after the linear actuation movement has been performed, returning it to an initial position. Alternatively or additionally, the at least one return spring may be able to apply force to the at least one gripping means in the area of ​​the upper seam against the respective beverage can.

[0023] It is conceivable that the at least one gripping means for positively gripping the beverage can in the region of the upper fold comprises at least one insert designed as a hook, which at least one insert designed as a hook is designed as an interchangeable component of the at least one gripping means. The at least one insert designed as a hook can optionally be made of steel, aluminum, and / or plastic.

[0024] Furthermore, the gripper can comprise at least one torsion bar spring, to which at least one torsion bar spring the at least one gripping means is connected, wherein the at least one gripping means is held in position by the at least one torsion bar spring when a respective beverage can is positively gripped underneath, and wherein the positively gripping action of the at least one gripping means can be canceled by a spring-elastic movement of the at least one gripping means against the spring force of the at least one torsion bar spring. In various embodiments, each gripping means of the plurality of gripping means can be assigned two torsion bar springs, which adjoin the respective gripping means on opposite sides or which are connected to the respective gripping means on opposite sides.

[0025] The gripper can optionally comprise a ball joint, via which the at least one gripping means and / or the at least one centering device and / or the at least one plunger or the common plunger are pivotally mounted. It is conceivable here for the gripper to have a mounting plate and a molded part. The molded part can form the at least one centering device. Furthermore, the molded part and the mounting plate can together form the ball joint. For various embodiments, it is also conceivable for the molded part to be displaceable relative to the mounting plate in the axial direction or Z direction.

[0026] The gripper can also comprise at least one spring, which is preferably formed by a plurality of leaf springs and via which at least one spring provides a restoring force for the at least one gripping means and / or for the at least one centering device and / or for the at least one plunger or the common plunger during a pivoting movement of the ball joint. The at least one spring, which is preferably formed by a plurality of leaf springs, can be connected to the previously described molded part and to the previously described fastening plate.

[0027] The invention relates to a gripping head for a plurality of beverage cans that are adjacent to one another. The gripping head comprises at least two grippers according to at least one exemplary embodiment of the preceding description, wherein a respective gripper is designed to grip a respective beverage can of the plurality of beverage cans. A respective gripper of the at least two grippers can form a respective fastening plate, wherein the fastening plates of the at least two grippers lie flush against one another. The number of grippers of the gripping head can correspond to the number of beverage cans to be received. In practice, a gripping head can, for example, have exactly six grippers or exactly eight grippers.

[0028] In the gripping head, it is provided according to the invention that the at least one centering of the respective gripper is positioned in such a way that the at least one centering comes into surface contact with an outer surface of the respective beverage can in at least one defined area when a respective beverage can is received, which at least one defined area is positioned offset along the circumferential profile of the respective beverage can compared to at least one contact area in which the beverage can rests against at least one other beverage can.

[0029] Thus, the gripping head can be designed to receive a plurality of beverage cans, each of which is formed by a plurality of slimline cans or sleek cans arranged next to one another.

[0030] The invention further relates to a method according to claim 11 for receiving at least one beverage can via at least one gripper. Features that have already been described previously for various embodiments of the gripper or gripping head can also be provided in the following embodiments of the method and will not be mentioned repeatedly.

[0031] Likewise, the features described for the embodiments of the method can be provided in the embodiments of the gripper or gripping head described above. The gripper or gripping head can optionally be designed to implement the embodiments of the method according to the invention described below.

[0032] The method provides that at least one gripping means formed as a component of the at least one gripper positively engages under the at least one beverage can for receiving in the region of a respective upper fold, which respective upper fold is formed by the respective beverage can.

[0033] It is provided that the at least one beverage can is brought into a defined orientation via at least one centering device formed as a component of the at least one gripper, in which defined orientation the at least one gripping means of the at least one gripper can positively engage underneath a respective beverage can in the region of the respective upper fold.

[0034] In this case, the gripper may be placed onto the respective at least one beverage can in the direction from above, wherein the at least one centering device formed as a component of the at least one gripper comes into surface contact with the at least one beverage can and in doing so brings the at least one beverage can into a defined orientation, in which defined orientation the at least one gripping means of the at least one gripper can positively engage underneath a respective beverage can in the region of the respective upper fold.

[0035] It may be that the at least one gripper has at least one plunger, wherein the at least one plunger executes a linear actuating movement, as a result of which the positive under-grip of the at least one gripping means is canceled.

[0036] Furthermore, the at least one gripper may have at least one plunger, wherein the at least one plunger executes a linear actuating movement, as a result of which a clamping force for holding the respective beverage can is applied to the respective beverage can via the at least one gripping means.

[0037] It may also be the case that the at least one gripper has at least one plunger, wherein the at least one plunger executes a linear actuating movement, as a result of which a clamping force applied to the respective beverage can via the at least one gripping means to hold the respective beverage can is canceled out.

[0038] It may also be the case that one gripper or several grippers each have several gripping means, to which several gripping means a common plunger of the respective gripper is assigned, wherein the common plunger executes a linear actuating movement, as a result of which the positive under-grips of the several gripping means are canceled simultaneously or at least approximately simultaneously.

[0039] It is conceivable that one gripper or several grippers each have several gripping means, to which several gripping means a common plunger of the respective gripper is assigned, wherein the common plunger executes a linear actuating movement, as a result of which the several gripping means for holding a respective beverage can apply a clamping force to the respective beverage can simultaneously or at least approximately simultaneously.

[0040] It is further conceivable that one gripper or several grippers each have several gripping means, to which several gripping means a common plunger of the respective gripper is assigned, wherein the common plunger carries out a linear actuating movement or a further linear actuating movement, as a result of which the clamping forces applied up to that point to hold the respective beverage can via the several gripping means on the respective beverage can are canceled simultaneously or at least approximately simultaneously.

[0041] It is conceivable that the at least one plunger or the common plunger forms a thread that is connected to a corresponding mating thread of the respective gripper, and wherein the at least one plunger or the common plunger is preferably rotated about its longitudinal axis and thereby executes a respective linear actuating movement. Alternatively or additionally, the at least one plunger may be pneumatically controlled to execute the linear actuating movement.

[0042] It may be that the at least one gripper has at least one torsion bar spring, with which at least one torsion bar spring the at least one gripping means is connected, wherein the at least one gripping means snaps under the upper fold of a respective beverage can when a respective beverage can is received and wherein the positive under-grip of the at least one gripping means is subsequently canceled by a spring-elastic movement of the at least one gripping means against a spring force of the at least one torsion bar spring.

[0043] Furthermore, the at least one gripper may have a ball joint, by means of which ball joint the respective at least one gripping means and / or the respective at least one centering and / or the respective at least one plunger or the respective common plunger pivots as required, provided that an actual position of a respective beverage can deviates from an expected target position of a respective beverage can when it is received via the respective at least one gripper.

[0044] It is also conceivable that the at least one gripper comprises at least one spring, which at least one spring is preferably formed by a plurality of leaf springs and which at least one spring pivots the respective at least one gripping means and / or the respective at least one centering and / or the respective at least one plunger or the respective common plunger back into an initial position with spring force during a pivoting movement after receiving the respective at least one beverage can.

[0045] 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. Figures 1A and 1Bshow a schematic perspective view and a schematic section through an embodiment of a gripper according to the invention. Fig. 2 shows individual details of the design of a gripper according to Figures 1A and 1B . Figures 3A and 3B illustrate the receipt of a beverage can by means of the embodiment of a gripper according to Figures 1 and 2 . Fig. 4 shows a sectional view through another embodiment of a gripper according to the invention. Fig. 5 shows a further sectional view through the embodiment of a gripper according to Fig. 4 . Fig. 6 shows in a total of five schematic representations ( Fig. 6A, Fig. 6B , Fig. 6C, Fig. 6D and Fig. 6E ) a further embodiment of a gripper according to the invention. Fig. 7 shows in a total of five schematic representations ( Fig. 7A, Fig. 7B , Fig. 7C, Fig. 7D and Fig. 7E ) a further embodiment of a gripper according to the invention. Fig. 8shows a schematic perspective view of an embodiment of a gripping head according to the invention. Fig. 9 shows in a total of four schematic perspective, side or sectional views ( Fig. 9A, Fig. 9B , Fig. 9C and Fig. 9D ) an embodiment of a gripping device comprising a plurality of grippers according to an embodiment of the present invention. Fig. 10 shows a schematic view of a beverage can as it is gripped by means of the embodiments of a gripper or a gripping head according to Figures 1 to 9 can be accepted in each case. Fig. 11 shows in the flowchart individual steps as they can be provided in various embodiments of the method according to the invention.

[0046] 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 constitute an exhaustive limitation.

[0047] It should be expressly mentioned at this point that all aspects and embodiments explained in connection with the gripper or gripping head according to the invention equally relate to or can be partial aspects of the method according to the invention. Therefore, if at any point in the description or in the claim definitions for the gripper or gripping head according to the invention certain aspects and / or relationships and / or effects are mentioned, this applies equally to the method according to the invention. The same applies in reverse, so that all aspects and embodiments explained in connection with the method according to the invention equally relate to or can be partial aspects of the gripper or gripping head according to the invention.Therefore, if at one point in the description or in the claim definitions for the method according to the invention certain aspects and / or relationships and / or effects are mentioned, this applies equally to the gripper or gripping head according to the invention.

[0048] The Fig. 1A shows a schematic perspective view and Fig. 1B shows a schematic section through an embodiment of a gripper 1 according to the invention. By means of the gripper 1 shown here, a respective beverage can 20 can be received, as can be seen by way of example in the Fig. 10 To achieve this, the gripper 1 comprises a plurality of gripping means 6, each of which is formed by a lever 7 and has a hook 8 at its downward-pointing end.

[0049] On a mounting plate 12 of the gripper 1, a ball joint 15 (cf. Fig. 1B) a centering device 30 is arranged, which centering device 30 in this case has four centering fingers 32. In order to be able to receive a beverage can 20, the gripper 1 is placed onto the respective beverage can 20 from above. In this case, the four centering fingers 32 initially come into contact with an outer surface 2 of the beverage can 20. If the beverage can 20 is not in an expected target position, the beverage can 20 is displaced by means of the centering fingers 32 and brought into a position which is suitable for receiving the beverage can 20 via the gripping means 6 or via the hooks 8.

[0050] The gripper 1 can therefore align the beverage can 20 by means of the centering 30. In the perspective view according to Fig. 1A the beverage can 20 has not yet been received by the gripper 1. Starting from the position Fig. 1Athe gripper 1 was moved further downwards or further in the direction of the beverage can 20, whereby the hooks 8, which are formed via the gripping means 6, grip the beverage can 20 in the area of ​​its upper fold 5 and then accordingly Fig. 1B hold in a form-fitting manner.

[0051] The gripping means 6 are located as follows Fig. 2 described below, each connected to a torsion bar spring 17, so that the hook 8 of the gripping means 6 can be rotated about the pivot point 50 when the gripper 1 is placed on the beverage can 20 and, due to the restoring force of the torsion bar spring 17, then snaps into the upper fold 5 and the beverage can 20 in the area of ​​the upper fold 5, as shown in Fig. 1B to recognize, engages form-fittingly.

[0052] The embodiment of the gripper 1 according to Figures 1A and 1Bhas exactly four gripping means 6, each of which has a hook 8 at its downward-pointing end. This number is to be understood merely as an example, so that various embodiments of a gripper 1 can also have more than exactly four gripping means 6 or fewer than exactly four gripping means 6.

[0053] The arrangement or offset by which the gripping means 6 are offset around the longitudinal axis of the respective beverage can to be received can also be different, if required, from the arrangement or offset according to the embodiment according to Figures 1A and 1B differentiate.

[0054] The gripping means 6 or the hooks 8 are arranged offset by 90° to each other, whereby the beverage can 20 can be held very stably. The Fig. 1Bin this case, that the centering fingers 32 remain in surface contact with the outer surface 2 of the beverage can 20 when the fold 5 of the beverage can 20 is gripped under by the gripping means 6 or the hook 8.

[0055] In addition to their function, according to which the centering fingers 32 align the beverage can 20 for receipt via the gripping means 6, the beverage can 20 is held in its position via the centering fingers 32 under surface contact of its outer surface 2, provided that the gripper 1 transports the respective received beverage can 20 or conveys it along a predetermined transport path.

[0056] Also, from the perspective view of the Fig. 1A It is clear that each centering finger 32 is followed by a hook 8 along the circumference of the beverage can 20. Between two centering fingers 32, a hook 8 or a gripping means 6 is therefore formed by the gripper 1.

[0057] If the beverage can 20 is to be released after handling by the gripper 1, it is necessary for the previously existing under-gripping of the beverage can 20 via the hooks 8 in the area of ​​the upper fold 5 to be canceled. The hooks 8 or the gripping means 6 must therefore each be moved out of the fold 5 so that the beverage can 20 is no longer positively gripped by the gripping means 6. For this purpose, the gripper 1 has a plunger 3, which can perform a linear actuating movement in order to release the under-gripping created by the hooks 8.

[0058] The longitudinal section of the Fig. 1BThis illustrates that the plunger 3 forms a thread 22 which engages with a corresponding counter-thread 24 of the gripper 1. If the plunger 3 is rotated, the plunger moves linearly due to the corresponding engagement between the thread 22 and the counter-thread 24 and, depending on the respective direction of rotation, either vertically upwards or vertically downwards.

[0059] All gripping means 6 are held by the plunger 3 or are received by the plunger 3, so that all hooks 8 can be moved out of the upper fold 5 of the beverage can 20 by a single linear actuating movement of the plunger 3. By a linear actuating movement of the plunger 3 in a downward direction, the gripping means 6 are rotated about the pivot point 50 in such a way that the hooks 8 leave the upper fold 5 of the beverage can 20, as a result of which the beverage can 20 is no longer held in a form-fitting manner by the gripping means 6. The gripping means 6 or levers 7 are thus reversibly elastically deformable, as a result of which the gripping means 6 or the hooks 7 can be rotated about the pivot point 50.

[0060] As previously mentioned, the gripping means 6 are connected to torsion bar springs 17, which in the enlarged perspective view of the Fig. 2can be seen in detail. If the plunger 3 is moved back linearly in an upward direction after a respective beverage can 20 has been released, the torsion bar springs 17 pivot the gripping means 6 or the hooks 8 back into a starting position, from which starting position the gripping means 6 or the hooks 8 can snap back under the upper fold 5 of the respective further beverage can 20 when the gripper 1 is placed on a further beverage can 20.

[0061] In practice, it may be necessary to grasp beverage cans 20 that have a relatively high mass. The positive gripping of such a beverage can 20 in the area of ​​its upper fold 5 and a clamping force between a respective hook 8 and the beverage can 20, which may be generated via the torsion bar springs 17 (cf. Fig. 2) applied to the hooks 8 may not be sufficient to securely hold such a beverage can 20 with a high mass. By means of the described functional principle of the gripper 1, it is advantageously also possible to further increase the clamping force applied via the hooks 8 to hold the beverage can 20.

[0062] Thus, the gripping means 6 or lever 7, as shown in Fig. 1B can be seen, positively received via the plunger 3 or mounted in the plunger 3. If the plunger 3 is moved upwards in a linear direction, the gripping means 6 is forced to rotate about the pivot point 50, whereby a clamping force with which the respective hook 8 presses against the beverage can 20 is further increased.

[0063] In many cases, however, a positive grip on the underside of a respective beverage can 20 in the area of ​​the upper fold 5 may be sufficient to safely transport the beverage can 20 by means of the gripper 1. The clamping force may then be increased if a beverage can 20 has a comparatively high mass.

[0064] In order to be able to safely receive the respective beverage can 20 via the gripping means 6, the respective beverage can 20 is aligned via the centering fingers 32, as already described, unless the beverage can 20 is located exactly in a position intended for receipt. To avoid damage to the beverage can 20, it has proven useful if the centering fingers 32 are aligned according to Figures 1A and 1Btaper downwards. Since the centering fingers 32 themselves are rigid or relatively rigid, it has also proven advantageous to provide a ball joint 15 and at least one spring 40 in addition to or as an alternative to the tapered shape of the centering fingers 32. The at least one spring 40 is formed in the present case by a plurality of leaf springs 42.

[0065] The longitudinal section of the Fig. 1B further shows that the ball joint 15 is formed by the mounting plate 12 and by a molded part 14. The molded part 14 also forms the centering 30 or the centering fingers 32 as well as the counter thread 24, with which the plunger 3 engages with its corresponding thread 22.

[0066] If a centering finger 32 comes into contact with a beverage can 20 that is not in a position suitable for receiving it, the centering fingers 32 can be pivoted by means of the ball joint 15 against the restoring force of the at least one spring 40 or the leaf springs 42. After receiving the beverage can 20 or during transport of the beverage can 20 by means of the gripper 1, the centering fingers 32 are pivoted back to an initial position by the restoring force of the at least one spring 40 or the leaf springs 42. The at least one spring 40 or the leaf springs 42 are mechanically connected to both the fastening plate 12 and the molded part 14 or are arranged between the molded part 14 and the fastening plate 12.

[0067] The perspective detail view of the Fig. 2 shows individual details of the embodiment of a gripper 1 according to Figures 1A and 1B . In the presentation of the Fig. 2The torsion bar springs 17 can now be seen, with which the gripping means 6 or the levers 7 are connected. It may be that Fig. 2 several torsion bar springs 17 are provided, wherein adjacent gripping means 6 are each connected to an intermediate torsion bar spring 17.

[0068] Alternatively, it is also conceivable that exactly one torsion bar spring 17 is provided, which runs in a circular and / or annular manner and to which exactly one torsion bar spring 17 all gripping means 6 are connected.

[0069] The two longitudinal sections of the Figures 3A and 3B illustrate the receipt of a beverage can 20 by means of the embodiment of a gripper 1 according to Figures 1 and 2 . In Fig. 3AThe gripper 1 is still arranged above the beverage can 20. Via the fastening plate 12, the gripper 1 can be coupled to a handling device (not shown), which handling device moves the gripper 1 into the position according to Fig. 3A The beverage can 20 may be located on a horizontal conveyor. The handling device may be configured as an industrial robot or a gantry system.

[0070] A summary of the Figures 3A and 3Bthen clarifies the further procedure for receiving the beverage can 20. The gripper 1 is placed onto the beverage can 20 from above, with the centering fingers 32 coming into surface contact with an outer surface 2 of the beverage can 20 and aligning the beverage can 20 as needed, provided their respective positions do not correspond to a desired position suitable for receiving. During a further movement of the gripper 1 in the direction of the beverage can 20, the hooks 8 snap into the upper fold 5, whereby the beverage can 20 is positively gripped underneath and secured to the gripper 1.

[0071] If necessary, the plunger 3 can then be moved upwards in a linear direction, whereby a clamping force with which the hooks 8 grip the beverage can 20 in the area of ​​the upper fold 5 is additionally increased.

[0072] The Fig. 4shows a sectional view through a further embodiment of a gripper 1 according to the invention. According to the previous Figures 1 to 3 The embodiment described also includes the embodiment of a gripper 1 according to Fig. 4 a plunger 3, a fastening plate 12, a molded part 14, at least one spring 40, which is a leaf spring 42, several gripping means 6 or levers 7 and a centering device 30 with several centering fingers 32, which can align a beverage can 20 as needed and stabilize it during handling.

[0073] In the embodiment according to Fig. 4The plunger 3 is pneumatically actuated and, upon each pneumatic actuation, can execute a linear actuating movement during which the hooks 8 can leave the upper fold 5 of the beverage can 20, thereby releasing the beverage can 20. Since, in practice, beverage cans 20 are gripped and transported at a high cycle frequency by means of a gripper 1, it has been shown that the gripping means 6 are frequently prone to wear in the area of ​​their hooks 8.

[0074] In the embodiment according to Fig. 4 The hooks 8 of the gripping means 6 are formed by a respective insert 9, which can be replaced as needed in the event of wear. It has proven effective if the inserts 9 are made of steel, aluminum, and / or plastic.

[0075] The interchangeability of the inserts 9 ensures that a beverage can 20 can continue to be positively gripped and safely transported in the area of ​​its upper fold 5, even if a hook 8 becomes worn. This eliminates the need to replace the gripper 1, so that the gripper 1 has a long service life.

[0076] The Fig. 5 shows a further sectional view through the embodiment of a gripper 1 according to Fig. 4 . In Fig. 5 the inserts 9 can be seen again, which form the hooks 8 of the gripping means 6 and each beverage can 20 in the area of ​​its upper fold 5 (cf. Fig. 10 ). The inserts 9 are positively received by a remaining part of the respective gripping means 6 and can be removed from the remaining part of the respective gripping means 6 by axial movement.

[0077] The embodiment of a gripper 1 according to Figures 4 and 5 also includes a plurality of return springs 55 connected to the plunger 3. After the plunger 3 has been moved downwards in the vertical direction to release the undercut of the hooks 8 in the region of the upper fold 5, the return springs 55 can move the plunger 3 back to an initial position in a linear direction using spring force.

[0078] Since the gripping means 6 are connected to the plunger 3 and since the return springs 55 push the plunger 3 upwards in a linear direction with spring force, the hooks 8 can also be pressed against the respective beverage can 20 by means of the return springs 55 when a beverage can 20 is received. By means of a respective spring force of the return springs 55, a respective beverage can 20 is thus held clamped by the hooks 8, whereby a respective beverage can 20 can be transported via the gripper 1 with no or only a low risk of unintentional release.

[0079] The return springs 55 according to the embodiment according to Figures 4 and 5 as well as the insert parts 9 designed as hooks 8 according to the embodiment according to Figures 4 and 5 can also be used in the embodiment according to Figures 1 to 3 be provided.

[0080] The Figures 6A to 6Eshow in several schematic representations a further embodiment of a gripper 1 according to the invention. According to the previous Figures 1 to 5 The embodiments described also include the embodiment of a gripper 1 according to Figures 6A to 6E a plunger 3, a fastening plate 12, a molded part 14, at least one spring 40, several gripping means 6 or levers 7 and a centering 30 with several centering fingers 32, which can align a beverage can 20 as needed and stabilize it during handling.

[0081] In the presentation of the Fig. 6AThe beverage can is designated by reference number 20. The spring 40 is external or accessible from the outside and applies a restoring force to the molded part 14 relative to the mounting plate 12 if the molded part 14 and the mounting plate 12 are pivoted relative to one another or moved relative to one another in the axial direction. Such pivoting can occur if the centering fingers 32 do not precisely hit the respective beverage can 20 when placed on the beverage can 20. The ball joint 15 allows the gripper 1 to perform a compensating movement.

[0082] The enlarged and detailed view after Fig. 6B clearly shows the individual details of the embodiment of the gripper 1. The plunger 3 accommodates the gripping means 6 in accordance with the previously illustrated embodiments and can pivot the hooks 8 by means of an axial movement about the pivot point 50.

[0083] Likewise, the embodiment of a gripper 1 according to Figures 6 a return spring 55, the function of which in the embodiment according to Fig. 6 However, it differs from the previously described embodiments. A summary of the Fig. 6B with Fig. 6C shows that the gripper 1 is placed on the respective beverage can 20 to receive the beverage can 20. The centering fingers 32 align the beverage can 20 in such a way that the gripping means 6, after the beverage can 20 has been completely aligned, are inserted under the fold 5 (cf. Fig. 6C ) of the beverage can 20.

[0084] The connection between the molded part 14 and the base plate 12 via the ball joint 15 is now such that the molded part 14 can be displaced in the axial direction relative to the base plate 12 against the force of the spring 40. This allows tolerances in the vertical direction to be compensated for when the beverage can 20 is received, provided the expected height of the beverage can 20 deviates slightly from an expected target height. The molded part 14 can yield vertically relative to the base plate 12. While the gripper 1 lifts the beverage can 20 after receiving it, the spring 40 returns the molded part 14 to its starting position.

[0085] In practice, the gripper 1 is generally placed on the beverage can 20 such that the molded part 14 is moved axially relative to the base plate 12 against the force of the spring 40. If the beverage can 20 is tilted or if the beverage can 20 is not exactly in an expected position or not exactly in an expected orientation, the beverage can 20 can be aligned by such overpressure using the centering fingers 32.

[0086] In the presentation of the Fig. 6B the gripper 1 is still arranged above the beverage can 20, whereas the gripper 1 in the illustration according to Fig. 6C is already placed on the beverage can 20. After the gripper 1 has been Fig. 6C has been placed on the beverage can 20, the hook 8 is already located in the fold 5 or is at least arranged in a close area of ​​the fold 5.

[0087] However, the beverage can 20 is Fig. 6Cnot yet securely held by the gripper 1, since the hooks 8 are not yet pressed against the beverage can 20 with the specified clamping force. The return spring 55 is in Fig. 6C not tensioned or only applies a very low spring force to the gripping means 6. The further procedure for receiving the beverage can 20 is given by taking into account the schematic representation according to Fig. 6D .

[0088] The plunger 3 is pulled upwards in the axial direction, whereby the hooks 8 in the fold 5 press against the beverage can 20 in a force-loaded or clamping manner and secure the beverage can 20 to the gripper 1. At the same time, the axial movement of the plunger 3 tensions the return spring 55 and holds it in a tensioned state. Starting from the illustration according to Fig. 6D or after receiving the beverage can 20, the gripper 1 can move the beverage can 20 to a predetermined destination.

[0089] If the beverage can 20 is to be released at the destination, the plunger 3 is moved axially back to its starting position by means of the restoring force of the return spring 55 and due to its mass, whereby the beverage can 20 is no longer firmly held on the gripper 1 via the hooks 8. The release of a beverage can 20 thus occurs without the aid of an actuator and solely by means of the restoring force of the return spring 55 and due to the dead weight or mass of the plunger 3.

[0090] The Fig. 6E shows a schematic sectional view from below of the gripper 1, now without the beverage can 20. The representation of the Fig. 6E illustrates once again the design of the return spring 55 for the Figures 6A to 6D described embodiment. The return spring 55 consists of several, or in this case four, V-shaped wings, which are firmly connected to the plunger 3 at each end.

[0091] The Figures 7A to 7E show schematic representations of a further embodiment of a gripper 1 according to the invention. According to the previous Figures 1 to 6 The embodiments described also include the embodiment of a gripper 1 according to Fig. 7 a plunger 3, a fastening plate 12, a molded part 14, at least one spring 40, several gripping means 6 or levers 7 and a centering 30 with several centering fingers 32, which can align a beverage can 20 as needed and stabilize it during handling.

[0092] In the presentation of the Fig. 7AThe beverage can is still designated by reference number 20. The spring 40 is external or accessible from the outside and applies a restoring force to the molded part 14 relative to the fastening plate 12 if the molded part 14 and the fastening plate 12 are pivoted relative to one another or moved relative to one another in the axial direction. Such pivoting can occur if the centering fingers 32 do not precisely hit the respective beverage can 20 when placed on the beverage can 20. The ball joint 15 allows the gripper 1 to perform a compensating movement.

[0093] From the embodiment of a gripper 1 according to Figures 6A to 6E The design of a gripper 1 differs according to Figures 7A to 7E by the design of the return spring 55. The return spring 55 of the embodiment according to Fig. 7A ff. is according to the embodiment according to Fig. 6Aff. intended to move the plunger 3 back to an initial position under spring force if a beverage can 20 is to be released from the gripper 1.

[0094] The embodiment of a return spring 55 according to Figures 7A to 7E is positioned in the area of ​​the ball joint 15. The plunger 3 extends through the return spring 55. Furthermore, the return spring 55 is firmly connected to the base plate 12 of the gripper 1. Such a configuration of a return spring 55, as in the embodiment according to Figures 7A to 7E shown, is characterized by high fatigue strength.

[0095] The detailed schematic representation according to Fig. 7B in addition to gripper 1 Fig. 7A a mechanism by which the plunger 3 can be actuated to receive a beverage can 20. The mechanism is a component of the entire gripping device 60, as shown in the schematic perspective view according to Fig. 9Acan be seen.

[0096] As the Fig. 7B As shown, the plunger 3 forms a mushroom-shaped head 4 at its upwardly facing end. An actuating means 62 engages beneath the head 4, so that the actuating means 62 can be moved upwards, thereby pulling the plunger 3 upwards. As a result, as previously described, the hooks 8 in the region of the fold 5 can be brought into contact with the beverage can 20 under the influence of force.

[0097] If a respective beverage can 20 is to be released, the actuating means 62 is moved back downward to the starting position according to Fig. 7B. The plunger 3 follows the movement of the actuating means 62 and is moved downward due to the restoring force of the return spring 55 and due to its mass or its own weight.

[0098] The longitudinal section of the Fig. 7Balso shows that the actuating means 62 is accommodated in a housing 64, which on the one hand guides the actuating means 62 in the axial direction and also prevents unintentional access by a user from the outside. Fig. 7B also illustrates that the actuating means 62 has a free space 63 in which the head 4 of the plunger 3 is received. Within this free space 63, the head 4 can be raised in the axial direction relative to the actuating means 62. If the gripper 1 does not hit a beverage can 20 precisely when placed on the respective beverage can 20, the plunger 3 can deflect slightly upwards, thus counteracting damage to the respective beverage can 20.

[0099] In practice, it is also further provided that the gripper 1 is placed on the beverage can 20 and is subsequently moved further in the direction of the beverage can 20 or is subsequently pressed further onto the beverage can 20 until the molded part 14 and the base plate 12 approach one another. Such a relative movement between the molded part 14 and the base plate 12 can possibly be 2 millimeters. If a beverage can 20 is not in a desired position or has an orientation that deviates from a desired orientation, the beverage can 20 can be aligned by such overpressing. Here, too, the plunger can deflect in the free space 63, so that damage to the beverage can 20 associated with overpressing does not occur in practice.

[0100] The Figures 7C and 7Dillustrate once again in a synopsis two successive steps as they occur when receiving a beverage can 20 by means of the embodiment of a gripper 1 according to Figures 7 be performed.

[0101] In Fig. 7C the gripper 1 is already placed on the beverage can 20. The hooks 8 are already located in the area of ​​the fold 5, but are not yet brought into contact with the beverage can 20 under force.

[0102] In Fig. 7D The plunger 3 is pulled upwards, whereby the hooks 8 are subjected to force and come into contact with the beverage can 20, and at the same time the return spring 55 is tensioned. If the beverage can 20 is to be released from the gripper 1, the plunger 3 is moved back to its initial position by means of the return force of the return spring 55.

[0103] The Fig. 7Eshows a schematic sectional view through the gripper 1 and in particular shows again the design of the embodiment of a return spring 55 formed as a component of the gripper 1. The return spring 55 is positioned in the area of ​​the ball joint 15. In addition, the return spring 55 is guided around the plunger 3 or receives the plunger 3. The plunger 3 forms a head 4 at its upper end, which has a mushroom-shaped design and is thus actuated by an actuating means 62 accordingly Fig. 7B can be undermined.

[0104] The Fig. 8 shows a schematic perspective view of an embodiment of a gripping head 10 according to the invention. The gripping head 10 comprises a plurality of grippers 1, which according to the embodiment according to Figures 1 to 3 and / or according to the embodiment according to Figures 4 and 5 can be trained.

[0105] The beverage cans 20, which in Fig. 8be received by means of the gripping head 10 and in Fig. 10 The beverage cans 20, which are shown again, are designed as so-called slimline cans and are characterized by the fact that the cross-sectional diameter of the beverage can 20 is almost identical across its entire height. Such a beverage can 20 has a constriction only in the area of ​​the seam 5. An upper edge area and the outer surface 2 of the beverage can 20 have an identical or almost identical cross-sectional diameter.

[0106] When a group of such beverage cans 20 is received, neighboring beverage cans 20 are in contact with one another via their outer surface 2. Gripping heads known from the prior art pneumatically receive such groups of beverage cans 20, for which purpose a vacuum is created between a lid of a respective beverage can and the gripping head. The beverage cans 20 are immersed in a respective suction head of such a gripping head.

[0107] Due to the geometry of a slimline can, as exemplified in Fig. 10As shown, such a gripping head cannot pneumatically accept several adjacent beverage cans 20, or can only do so with difficulty, because the beverage cans 20 are very close to one another due to their geometry from the base area to the lid. With gripping heads known from the prior art, it is not possible for adjacent slimline cans to be immersed in the respective suction head so that a gripper can thereby pneumatically grasp these beverage cans.

[0108] A further disadvantage exists in that a respective beverage can 20 can unintentionally detach from a suction head, since the lid does not have a flat surface due to the closure arranged therein. Mechanically receiving several such beverage cans 20 by clamping gripping elements against outer casing surfaces 2 is also not possible with gripping heads known from the prior art, since the beverage cans 20, due to their geometry, are in contact with one another almost over their entire longitudinal extent, and the outer casing surfaces 2 are therefore partially inaccessible over their entire longitudinal extent.

[0109] The gripping head 10 after Fig. 8 can accept several such beverage cans 20 and transport them safely after one receipt. The Fig. 8shows that the centering fingers 32 are each positioned such that the centering fingers 32 are in surface contact with an outer circumferential surface 2 of the respective beverage can 20 in a specific area, which specific area is offset along the circumference of the respective beverage can 20 compared to a contact area in which the respective beverage can 20 rests against an adjacent beverage can 20. By positioning the centering fingers 32 in this way, all beverage cans 20 of a respective group can be aligned by means of the centering fingers 32 when the gripper 1 is placed on the beverage cans 20.

[0110] During a further movement of the gripper 1 in the direction of the beverage cans 20, the beverage cans 20 are gripped by means of several gripping means 6, as previously described for the Figures 1 to 5As already described, they are positively gripped in the area of ​​their respective upper fold 5. The gripping head 10 is therefore particularly suitable for receiving several beverage cans 20 that are in contact with one another and are formed by slimline cans.

[0111] The different views of the Figures 9A to 9D show an exemplary embodiment of a gripping device 60, which can simultaneously receive several beverage cans 20. For each beverage can 20 to be received, the gripping device 60 has its own gripper 1. In the present case, the gripping device 60 can simultaneously grasp four beverage cans 20, for which purpose the gripping device 60 has four grippers 1. The grippers 1 in the gripping device 60 are Figures 9A to 9D each according to the previously described embodiment Figures 7A to 7E trained.

[0112] The Fig. 9Ashows again the spring 40 or the external spring 40, which ensures a corresponding tolerance compensation if a respective gripper 1 does not land precisely on the respective beverage can 20. Reference number 64 in Fig. 9A continue the already in Fig. 7B shown housing is shown, in which the actuating means 62 provided for an axial movement of a respective plunger 3 are arranged.

[0113] Each gripper 1 comprises four centering fingers 32, which are brought into contact with an outer surface 2 of the respective beverage can 20 in order to align it. A gripping device 60 according to the embodiment according to Figures 9 can, for example, be attached to a portal system which guides the gripping device 60 above the beverage containers.

[0114] The Fig. 9Bshows again the actuating means 62, which can pull the plunger 3 upwards and thereby presses the hooks 8 against the beverage can 20 in a force-loaded or clamping manner. Also shown again is the return spring 55, which can move the plunger 3 back to its initial position to release the beverage can 20.

[0115] The grippers 1 from the Figures 9C and 9D are with the grippers 1 from the Figures 9A and 9B identical or relate to an embodiment. From a summary of these Figures 9A and 9B With 9C and 9D it becomes clear that the grippers 1 are suitable for receiving so-called slim-line cans, as they are exemplified in Fig. 10 are shown.

[0116] Accordingly Figures 9C and 9D By means of these grippers 1, further beverage cans 20 can also be received which, in terms of their geometry, differ from such slim-line cans according to Fig. 10Such a gripper 1 is also suitable for receiving beverage cans 20, which are formed by conventional beverage cans or standard cans, by tin cans or by beverage cans 20 which have a polygonal cross-section.

[0117] The Fig. 10 shows a schematic view of a beverage can 20, as it is gripped by means of the embodiments of a gripper 1 or a gripping head 10 and a gripping device 60 according to Figures 1 to 9 can be received in each case. The beverage can 20 is designed as a slimline can, wherein a cross-sectional diameter of the beverage can 20 is constant almost over its entire height. Only in the area of ​​the lid or closure does the beverage can 20 form an upper fold 5, over which a gripper 1 or gripping head 10 or a gripping device 60 according to the previous embodiments according to Figures 1 to 9 the beverage can 20 can engage positively underneath.

[0118] The Fig. 11 shows the flowchart of individual steps as they can be provided in various embodiments of the method 100 according to the invention. In the first method step 110, a gripper 1 is lowered towards a beverage can 20, wherein the respective beverage can 20 is brought into a defined orientation via a centering device 30 formed as a component of the gripper 1, in which defined orientation several gripping means 6 formed as a component of the gripper 1 can positively engage below the beverage can 20 in the region of an upper fold 5. In order to bring the beverage can 20 into the defined orientation, several centering fingers 32 formed as a component of the centering device 30 come into contact with an outer circumferential surface 2 of the beverage can 20 and push the respective beverage can 20 into the defined orientation.

[0119] In the second step 120, the gripper 1 is lowered further toward the beverage can 20. As a result, the respective beverage can 20 is positively gripped in the area of ​​its upper fold 5, for which purpose a hook 8 of the gripper 1 snaps into the upper fold 5 of the beverage can 20.

[0120] In the subsequent third step 130, the beverage can 20 received via the gripper 1 is transported towards further handling.

[0121] Subsequently, the fourth step 140 is performed, in which the hooks 8 are moved out of the upper fold 5 of the beverage can 20, and the beverage can 20 is thus no longer gripped or released by the gripper 1. The gripper 1 can then be moved toward the other beverage can 20 to receive another beverage can 20.

[0122] Although the above description of the figures generally refers to "schematic" representations and views, this by no means implies that the figures and their descriptions are of secondary importance with regard to the disclosure of the invention. A person skilled in the art 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 proportions, which may not be precisely to scale, or by other drawn elements. List of reference symbols

[0123] 1 Gripper 2 Outer surface 3 Plunger 4 Head 5 Fold 6 Gripping means 7 Lever 8 Hook 9 Insert 10 Gripping head 12 Fastening plate 14 Moulded part 15 Ball joint 17 Torsion bar spring 20 Beverage can 22 Thread 24 Counter thread 30 Centering 32 Centering finger 40 Spring 42 Leaf spring 50 Pivot point 55 Return spring 60 Gripping device 62 Actuating means 64 Housing 100 Process 110 First process step 120 Second process step 130 Third process step 140 Fourth process step

Claims

1. A gripper head (10) for a plurality of beverage cans (20), which plurality of beverage cans (20) stand contiguous to each other, the gripper head (10) comprising - at least two grippers (1) for beverage cans, wherein a particular gripper (1) is designed to grip a particular beverage can (20) from the plurality of beverage cans (20), and wherein the at least two grippers (1) - comprise at least one gripping means (6) to grip a particular beverage can (20) from underneath in a form-fitting manner in the region of a top seam (5), which top seam (5) is formed by a particular beverage can (20), and - comprise at least one centring device (30), via which at least one centring device (30) the particular beverage can (20) is bringable into a defined alignment, in which defined alignment the at least one gripping means (6) is able to grip a particular beverage can (20) from underneath in a form-fitting manner in the region of its top seam (5), wherein - the at least one centring device (30) of the particular gripper (1) is positioned such that the at least one centring device (30) comes into surface contact with an outer body surface in at least one defined region of a particular beverage can (20) when receiving the particular beverage can (20), characterised in that the at least one defined region is positioned offset along the circumference of the particular beverage can (20) relative to at least one contact region in which the beverage can (20) is contiguous to at least one other beverage can (20).

2. The gripper head (10) according to claim 1, wherein the at least two grippers (1) comprise at least one tappet (3), which at least one tappet (3) interacts with the at least one gripping means (6) such that it is possible for a particular form-fitting grip from underneath in the region of the top seam (5) by the at least one gripping means (6) to be undone by a linear actuating movement of the at least one tappet (3), and / or which at least one tappet (3) interacts with the at least one gripping means (6) such that the at least one gripping means (6) is able to apply a clamping force to a particular beverage can (20) by a linear actuating movement of the at least one tappet (3) in order to hold the particular beverage can (20) in the region of the particular top seam (5).

3. The gripper head (10) according to claim 1 or claim 2, wherein the at least two grippers (1) comprise a plurality of gripping means (6), with a common tappet (3) being assigned to the plurality of gripping means (6), wherein the common tappet (3) interacts with the plurality of gripping means (6) such that it is possible for a particular form-fitting grip from underneath in the region of the top seam (5) by the plurality of gripping means (6) to be undone by a linear actuating movement of the common tappet (3), and / or such that the plurality of gripping means (6) are able to apply a particular clamping force to the particular beverage can (20) by a linear actuating movement of the common tappet (3) in order to hold the particular beverage can (20) in the region of the particular top seam (5).

4. The gripper head (10) according to claim 2 or claim 3, in which - the at least one tappet (3) or the common tappet (3) forms a thread (22), which engages with a corresponding mating thread (24) of the gripper (1) such that the at least one tappet (3) or the common tappet (3) is able to perform a particular linear actuating movement by a rotary movement extending preferably about its longitudinal axis, and / or in which - the at least one tappet (3) or the common tappet (3) is pneumatically controllable to perform a particular linear actuating movement.

5. The gripper head (10) according to one of the claims 1 to 4, wherein the at least two grippers (1) comprise at least one return spring (55), which at least one return spring (55) - is able to apply spring force to the tappet (3) or to the common tappet (3) in order to return it into a starting position after the performed linear actuating movement, and / or which at least one return spring (55) - is able to press the at least one gripping means (6) against the particular beverage can (20) in the region of the top seam (5) by force application.

6. The gripper head (10) according to one of the claims 1 to 5, in which the at least one gripping means (6) used to grip a particular beverage can (20) from underneath in a form-fitting manner in the region of a top seam (5) comprises at least one insert (9) designed as a hook (8), which insert (9) designed as a hook (8) is designed as a replaceable part of the at least one gripping means (6).

7. The gripper head (10) according to one of the claims 1 to 6, in which the at least two grippers (1) comprise at least one torsion bar spring (17), with which at least one torsion bar spring (17) the at least one gripping means (6) is in contact, wherein the at least one gripping means (6) is held in its position by means of the at least one torsion bar spring (17) while gripping a particular beverage can (20) from underneath in a form-fitting manner, and wherein the form-fitting grip from underneath by the at least one gripping means (6) is undoable by spring-elastic movement of the at least one gripping means (6) against the spring force of the at least one torsion bar spring (17).

8. The gripper head (10) according to one of the claims 1 to 7, in which the at least two grippers (1) comprise a ball joint (15), via which ball joint (15) the at least one gripping means (6) and / or the at least one centring device (30) and / or the at least one tappet (3) or the common tappet (3), as applicable, are swivel-mounted.

9. The gripper head (10) according to claim 8, wherein the at least two grippers (1) comprise at least one spring (40), which is preferably formed by a plurality of leaf springs (42), and via which at least one spring (40) a restoring force for the at least one gripping means (6) and / or for the at least one centring device (30) and / or for the at least one tappet (3) or for the common tappet (3), as applicable, is provided in a swivel movement of the ball joint (15).

10. The gripper head (10) according to one of the claims 1 to 9, wherein a particular gripper (1) of the at least two grippers (2) forms a particular mounting plate (12), wherein the mounting plates (12) of the at least two grippers (1) abut flush against each other.

11. A method (100) for receiving at least one beverage can (20) via at least one gripper (1) of a gripper head (10) according to one of the claims 1 to 10, in which method, - in order to receive the at least one beverage can (20), at least one gripping means (6), which is designed as a part of the at least one gripper (1), grips the particular beverage can (20) from underneath in a form-fitting manner in the region of a particular top seam (5), which particular top seam (5) is formed by the particular beverage can (20), the method being characterised in that the at least one beverage can (20) is brought into a defined alignment via at least one centring device (30), which is designed as a part of the at least one gripper (1), in which defined alignment the at least one gripping means (6) of the at least one gripper (1) is able to grip a particular beverage can (20) from underneath in a form-fitting manner in the region of the particular top seam (5).

12. The method according to claim 11, in which the at least one gripper (1) has at least one tappet (3), wherein the at least one tappet (3) performs a linear actuating movement, with the result that the form-fitting grip from underneath by the at least one gripping means (6) is undone, and / or with the result that a clamping force applied up to then onto the particular beverage can (20) by the at least one gripping means (6) in order to hold the particular beverage can (20) is undone.

13. The method according to claim 11 or claim 12, in which a gripper (1) or a plurality of grippers (1) each have a plurality of gripping means (6), with a common tappet (3) being assigned to the plurality of gripping means (6) of the particular gripper (1), wherein the common tappet (3) performs a linear actuating movement, with the result that the form-fitting grips from underneath by the plurality of gripping means (6) are undone simultaneously or at least approximately simultaneously, and / or with the result that the clamping forces applied up to then onto the particular beverage can (20) by the plurality of gripping means (6) in order to hold the particular beverage can (20) are undone simultaneously or at least approximately simultaneously.

14. The method of claim 12 or claim 13, in which - the at least one tappet (3) or the common tappet (3) forms a thread (22), which engages with a corresponding mating thread (24) of the particular gripper (1), and wherein the at least one tappet (3) or the common tappet (3) is preferably rotated about its longitudinal axis and hereby performs a particular linear actuating movement, and / or in which method - the at least one tappet (3) is pneumatically controlled to perform the linear actuating movement.

15. The method of one of the claims 11 to 14, in which the at least one gripper (1) has at least one torsion bar spring (17), with which at least one torsion bar spring (17) the at least one gripping means (6) is in contact, wherein the at least one gripping means (6) snaps under the top seam (5) of a particular beverage can (20) when receiving a particular beverage can (20), and wherein the form-fitting grip from underneath by the at least one gripping means (6) is subsequently undone by a spring-elastic movement of the at least one gripping means (6) against a spring force of the at least one torsion bar spring (17).

16. The method of one of the claims 11 to 15, in which the at least one gripper (1) has a ball joint (15), by means of which ball joint (15) the particular at least one gripping means (6) and / or the particular at least one centring device (30) and / or the particular at least one tappet (3) or the particular common tappet (3), as applicable, swivels, as required, if an actual position of a particular beverage can (20) deviates from an expected target position of a particular beverage can (20) when being received by the particular at least one gripper (1).

17. The method according to claim 16, in which the at least one gripper (1) comprises at least one spring (40), which at least one spring (40) is preferably formed by a plurality of leaf springs (42), and which at least one spring (40) swivels back the particular at least one gripping means (6) and / or the particular at least one centring device (30) and / or the particular at least one tappet (3) or, as applicable, the common tappet (3), with spring force into a starting position in a swivel movement performed after the particular at least one beverage can (20) has been received.