Container gripping device
The container gripping device addresses flexibility and precision issues by using a sliding link mechanism with flexible clamping flanges and elastic return, ensuring secure and adaptable grip for diverse bottle sizes and shapes.
Patent Information
- Authority / Receiving Office
- FR · FR
- Patent Type
- Patents
- Current Assignee / Owner
- Filing Date
- 2024-03-05
- Publication Date
- 2026-03-06
AI Technical Summary
Existing container gripping devices in industrial production lines lack flexibility, precision, and sufficient grip for handling bottles of different sizes and shapes, particularly during filling and capping operations.
A container gripping device with a first and second jaw connected by a sliding link along a translation axis, featuring flexible clamping flanges and elastic return means, allowing for adaptable grip without actuators, and a sliding connection between the jaws to maintain secure hold during movement.
The device provides flexible, precise, and robust gripping of containers, ensuring consistent hold and reducing the risk of bottles falling during transport, even on varying conveyor paths.
Smart Images
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Abstract
Description
Title of the invention: Container gripping device
[0001] The invention relates to the conveying of containers within an industrial production line, and more particularly to a container gripping device.
[0002] BACKGROUND OF THE INVENTION
[0003] It is known to use a conveyor in an industrial production line to transport empty bottles from a blow molding machine to a filling machine. A conveyor generally comprises a conveying track and a plurality of transport units arranged to move along said conveying track and equipped with a gripper capable of grasping a bottle.
[0004] Grippers comprising two jaws made of deformable materials and linked together by a sliding joint to form a flexible gripper are known. While such grippers can grasp bottles of different sizes and shapes, they do not offer precise positioning of said bottles nor sufficient grip for filling and capping operations.
[0005] Grippers comprising at least two rigid jaws that are movably mounted for rotation on a base and controlled by a pneumatic or electric actuator are also known. Grippers comprising two jaws that are articulated around a pantograph-type structure and are controlled by a pneumatic or electric actuator are also known. While such grippers allow for the rapid grasping of bottles, they are particularly expensive and do not offer sufficient flexibility for grasping bottles of different sizes and shapes.
[0006] However, filling and capping bottles requires a gripping device that is flexible, fast, precise and ensures a good hold on the bottle.
[0007] SUBJECT OF THE INVENTION
[0008] The invention aims to provide a gripping device that makes it possible to overcome, at least in part, the aforementioned disadvantages. Summary of the invention
[0009] For this purpose, a container gripping device is proposed, comprising a first jaw and a second jaw connected to each other by a sliding link along a translation axis to form the jaws of a clamp.
[0010] At least one of the first jaw and the second jaw includes at least one flexible clamping flange which extends in a plane parallel to the axis of translation and which has a base through which is passed a rod mounted movable in translation in the base along a longitudinal axis of the rod between an extended position and a retracted position.
[0011] One end of the rod is attached to the base by means of a first chain of links and a second chain of links extending on either side of the longitudinal axis of the rod, the first chain of links and the second chain of links comprising at least a first end link and a second end link attached respectively to the base and the end of the rod along axes of articulation perpendicular to the plane.
[0012] Such a clamping flange allows it to conform to different shapes and sizes of container, but also to quickly provide a good hold on the container without having to use an actuator to articulate the clamping flange.
[0013] According to a particular feature, the rod is returned to its extended position by elastic return means.
[0014] In particular, the elastic return means comprise a first spring attached to the first end link of the first chain of links and to the base, and a second spring attached to the first end link of the second chain of links and to the base.
[0015] According to another particular feature, one of the first jaws and the second jaws comprises two flexible clamping flanges arranged one above the other.
[0016] According to another particular feature, in which the first jaw and the second jaw are identical.
[0017] According to another particular feature, the other of the first jaw and the second jaw is arranged to form at least one centering V.
[0018] In particular, the centering V is rigid.
[0019] In a particular way, the other of the first jaw and the second jaw is arranged to form two centering Vs arranged one above the other.
[0020] The invention also relates to a conveyor transport unit comprising such a gripping device.
[0021] The invention also relates to a conveyor comprising at least one such transport unit. Brief description of the drawings
[0022] The invention will be better understood in the light of the following description, which is purely illustrative and not limiting, and should be read in conjunction with the accompanying figures, among which:
[0023] [Fig-1] [Fig. 1] is a perspective view illustrating a conveyor comprising a transport unit according to a particular embodiment of the invention;
[0024] [Fig.2A] [Fig.2A] is a first perspective view of the transport unit illustrated in [Fig.1];
[0025] [Fig.2B] [Fig.2B] is a second perspective view of the transport unit illustrated in [Fig.1];
[0026] [Fig.2C] [Fig.2C] is a view identical to [Fig.2A], in which the transport unit carries a container;
[0027] [Fig.3A] [Fig.3A] is a top view of the transport unit illustrated in [Fig.1], positioned on a straight section of the conveyor track;
[0028] [Fig.3B] [Fig.3B] is a view identical to [Fig.3A] in which the transport unit carries a container;
[0029] [Fig.3C] [Fig.3C] is a view identical to [Fig.3A], arranged on a curved portion of the conveyor track;
[0030] [Fig.4] [Fig.4] is a top view of a variant of the transport unit illustrated in the [Fig.l], DETAILED DESCRIPTION OF THE INVENTION
[0031] With reference to [Fig. 1], a container conveyor 1, according to a particular embodiment of the invention, comprises a conveyor track 2 and a plurality of transport units 10 capable of moving along said conveyor track 2 by means of electromagnetic currents. For the sake of clarity, only one transport unit 10 has been shown, the transport units 10 being all identical here.
[0032] The conveyor track 2 includes an outer perimeter 3 defining a height of the conveyor track 2. The outer perimeter 3 of the conveyor track 2 extends substantially vertically and comprises two parallel flat surfaces 3.1, connected to each other by two semi-cylindrical surfaces 3.2 so as to define a closed-loop movement path for the transport unit 10.
[0033] With reference to figures 2A-2C, the transport unit 10 comprises a first shuttle 100.1, a second shuttle 100.2 and a gripping device 200 carried by the first shuttle 100.1 and the second shuttle 100.2.
[0034] The first shuttle 100.1 and the second shuttle 100.2 are here identical and are arranged to move horizontally, independently of each other, along the outer perimeter 3 of the conveyor track 2.
[0035] Each of the first and second shuttles 100.1, 100.2 comprises a body 101 extending substantially vertically, opposite the outer perimeter 3 of the conveyor track 2. The body 101 has an upper part carrying two first wheels 102, and a lower part carrying two second wheels 103.
[0036] The first rollers 102 are mounted to rotate freely on the body 101 along first vertical axes Z102 and are shaped to roll in grooves 4.1, 4.2 formed in the upper part of the outer perimeter 3 of the conveyor track 2. The grooves 4.1, 4.2 each extend in a first horizontal plane and define a planar trajectory of movement for the first and second shuttles 100.1, 100.2.
[0037] The second rollers 103 are mounted for rotation on the body 101 along vertical second axes Z103 and are configured to roll on a flat running surface 4.3, formed in the lower part of the outer perimeter 3 of the conveyor track 2. The running surface 4.3 extends in a second horizontal plane, and the second axes Z103 of rotation of the second rollers 103 coincide here with the first axes Z102 of rotation of the first rollers 102.
[0038] It is understood that the first shuttle 100.1 and the second shuttle 100.2 are arranged to travel on the outer perimeter 3 of the conveyor track 2.
[0039] The first shuttle 100.1 and the second shuttle 100.2 are held and moved, independently of each other, along the outer perimeter 3 of the conveyor track 2 by means of an electromagnetic system known per se: the position, speed and acceleration of the first shuttle 100.1 are managed independently of the position, speed and acceleration of the second shuttle 100.2.
[0040] Each of the first and second shuttles 100.1, 100.2 also includes a substantially straight support 104, which extends generally horizontally from an upper end of the body 101. The support 104 has a proximal end rigidly fixed to the upper end of the body 101, and a distal end having a hole in which a pivot shaft 201 is mounted to rotate freely about a vertical axis Z2oi. It is understood that the support 104 is fixed relative to the body 101. The pivot shaft 201 has a lower end and an upper end extending on either side of the support 104.
[0041] The gripping device 200 forms a gripper and comprises: • the articulation shafts 201 carried by the first shuttle 100.1 and the second shuttle 100.2; • a first jaw 210 rigidly fixed to the lower end of the articulation shaft 201 carried by the first shuttle 100.1; • a second jaw 220 rigidly fixed to the lower end of the articulation shaft 201 carried by the second shuttle 100.2; • a first arm 202.1 having a proximal end rigidly fixed to the upper end of the joint shaft 201 carried by the first shuttle 100.1; • a second arm 202.2 having a proximal end rigidly fixed to the upper end of the articulation shaft 201 carried by the second shuttle 100.2; and • a retaining rod 203 opposite the first and second jaws 110, 120, the rod 103 having a first end rigidly fixed to a distal end of the second arm 202.2, and a second end, opposite the first end, mounted movably in translation in a hole made at a distal end of the first arm 202.1, along a longitudinal axis X203 of the rod 203.
[0042] It will be noted that the longitudinal axis X203 of the rod 203 is orthogonal to the rotation axes Z20i of the articulation shafts 201.
[0043] It is understood that the first jaw 210 and the first arm 202.1 are fixed with respect to the articulation shaft 201 carried by the first shuttle 100.1 (in other words, that the first jaw 210 is fixed with respect to the first arm 202.1), and that the second jaw 220, the second arm 202.2 and the rod 203 are fixed with respect to the articulation shaft 201 carried by the second shuttle 100.2 (in other words, that the second jaw 220 is fixed with respect to the second arm 202.2).
[0044] It is also understood that the first jaw 210 and the second jaw 220 form the jaws of the clamp and are movable in translation along the longitudinal axis X203 of the rod 203 which defines a sliding connection.
[0045] It is further understood that the first jaw 210 is fixed in rotation with respect to the second jaw 120.
[0046] The first jaw 210 extends horizontally outward from the articulation shaft 201 carried by the first shuttle 100.1, along a first clamping axis X2i0 which is perpendicular to the axis of rotation Z20i of said articulation shaft 201 and parallel to the longitudinal axis X203 of the rod 203 ([Fig.3A]).
[0047] The first jaw 210 includes a free end which extends opposite the second jaw 220 and which is arranged to form a first centering V-block 211.1 and a second centering V-block 211.2 arranged one above the other. The first centering V-block 211.1 and the second centering V-block 211.2 extend respectively in a first horizontal plane defining a first clamping height Hi of the container R and in a second horizontal plane defining a second clamping height H2 of the container R ([Fig.2C]). The first centering V-block 211.1 and the second centering V-block 211.2 are identical here and have the same vertical plane of symmetry defined here by the rotation axes Z20i of the articulation shafts 201. The shape and dimensions of the first and second centering V-blocks 211.1, 211.2 are adapted to the shape and dimensions of the container R to be transported.
[0048] The first centering V-block 211.1 and the second centering V-block 211.2 are said to be rigid in that they do not undergo deformation when tightening the container R detailed later.
[0049] The second jaw 220 extends horizontally from the articulation shaft 201 carried by the first shuttle 10.2, along a second clamping axis X22o which is perpendicular to the axis Z20i of rotation of said articulation shaft 201 and to the longitudinal axis X203 of the rod 203 ([Fig. 3A]). The second clamping axis Xi20 coincides here with the first clamping axis Xn0.
[0050] The second jaw 220 includes a free end that extends opposite the first jaw 210 and is arranged to form a first clamping flange 221.1 and a second clamping flange 221.2, one above the other. The first clamping flange 221.1 and the second clamping flange 221.2 extend respectively in the first horizontal plane defining the first clamping height Hi of the container R and in the second horizontal plane defining the second clamping height H2 of the container R. The first clamping flange 221.1 and the second clamping flange 221.2 are identical and have the same vertical plane of symmetry defined here, as for the first and second centering V-blocks 211.1, 211.2, by the rotation axes Z20i of the articulation shafts 201.
[0051] With reference to [Fig. 3A], each of the first and second clamping flanges 221.1, 221.2 comprises a fixed base 222, generally in the shape of an arc of a circle, through which passes a rod 223 for controlling the deformation of the first and second clamping flanges 221.1, 221.2. The rod 223 has a longitudinal axis X223 coinciding with the clamping axis X220 of the second jaw 220 and is mounted movably in translation within the base 222 along its longitudinal axis X223 between an extended position in which a distal end of the rod 223 is away from the base 222 and a retracted position in which the distal end of the rod 223 is brought closer to said base 222.
[0052] The distal end of the rod 223 is attached to a first end 222.1 and to a second end 222.2 of the base 222 by means respectively of a first chain of links 224.1 and a second chain of links 224.2. The first chain of links 224.1 and the second chain of links 224.2 are here identical and comprise three links articulated together, namely a first link 224a, a second link 224b and a third link 224c. The first link 224a is attached to the base 224 along a first vertical axis, the second link 224b is attached to the first link 224a along a second vertical axis, the third link 224c is attached to the second link 224b along a third vertical axis and to the distal end of the stem 223 along a fourth vertical axis. A free end of the first link 224a of the first and second chains of links 224.1, 224.2 is further coupled, by means of a helical tension spring 225, to a free end of a . fixing bracket 226.1, 226.2 extending outwards in radial projection from the base 222.
[0053] It is understood that the links 224a, 224b, 224c of the first chain of links 224.1 form, with the base 222 and the rod 223, a first horizontal loop, and that the links 224a, 224b, 224c of the second chain of links 224.2 form with the base 222 and the rod 223 a second horizontal loop identical to the first loop.
[0054] It is also understood that: • when the rod 223 is in the extended position, the links 224a, 224b, 224c of the first chain of links 224.1 are separated from the links 224a, 224b, 224c of the second chain of links 224.2; and • when the rod 223 is in the retracted position, the links 224a, 224b, 224c of the first chain of links 224.1 are separated from the links 224a, 224b, 224c of the second chain of links 224.2; and • the rod 223 is returned to the extended position by the springs 225.
[0055] The dimensions of the links 224a, 224b, 224c of the first and second chains of links 224.1, 224.2 are chosen here such that: • when the rod 223 is in the extended position, the second and third links 123b, 123c of the first and second chains of links 123.1, 123.2 are substantially aligned horizontally along an axis perpendicular to the longitudinal axis X223 of the rod 223 and therefore to the clamping axis X220; and • when the rod 223 is in the retracted position, the second and third links 224b, 224c of the first and second chains of links 224.1, 224.2 form a notch capable of conforming to the shape of the container R to be transported.
[0056] It should be noted that the movement of the rod 223 is not controlled by an actuator: the movement of the rod 223 results solely from a sufficient axial force exerted on the distal end of said rod 223.
[0057] The first clamping flange 221.1 and the second clamping flange 221.2 are said to be deformable or flexible in that the links 224a, 224b, 224c of the first and second chains of links 224.1, 224.2 are made to move during the clamping of the container R detailed later.
[0058] The operation of the transport unit 10 and its gripping device 200 will now be detailed.
[0059] The container R intended to be transported is here a bottle having, in a manner known per se, a lower part of substantially constant diameter, a part upper narrowing upwards and a neck forming the upper end of the bottle.
[0060] Initially, the first shuttle 100.1 and the second shuttle 100.2 of the transport unit 10 are immobilized along the conveyor track 2 so as to be sufficiently far apart to accommodate the bottle R in a vertical position between the first jaw 210 and the second jaw 220.
[0061] In a second step, the bottle R is brought and held in a vertical position, for example by means of a transfer robot, between the first jaw 210 and the second jaw 220 so that the longitudinal axis of the bottle R is substantially perpendicular to the first and second clamping axes X2i0, X22o of said first and second jaws 210, 220.
[0062] The first shuttle 100.1 and the second shuttle 100.2 are then brought closer together so that the distance separating the first jaw 110 and the second jaw decreases until said first jaw 210 and said second jaw 220 are respectively in contact with a first lateral surface and a second lateral surface of the bottle R, at the level of a first height Hi and a second height H2 of said bottle R. The bottle R is then housed in the centering ves 211.1, 211.2 of the first jaw 210.
[0063] As the second shuttle 100.2 moves closer to the first shuttle 100.1, the bottle R exerts a pushing force on the sliding rods 223 of the second jaw 220, tending to move said rods 223 from the extended position to the retracted position. The second and third links 224b, 224c of the first and second chain of links 224.1, 224.2 then substantially conform to the shape of the second lateral surface of the bottle R.
[0064] The approach of the second shuttle 100.2 towards the first shuttle 100.1 is continued until the clamping forces exerted by the first and second jaws 210, 220 on the lateral surfaces of the bottle R are sufficient to hold said bottle R in position between the first and second jaws 210, 220 without the aid of the transfer robot.
[0065] Bottle R is then released by the transfer robot, and the movements of the first shuttle 100.1 and that of the second shuttle 100.2 are controlled and synchronized so that their spacing and the clamping forces exerted on bottle R by the first and second jaws 210, 220 remain substantially constant throughout the movement of the first and second shuttles 100.1, 100.2 along the conveyor track 2. Bottle R is then moved along the conveyor track 2.
[0066] To release the bottle R from the clamping forces exerted by the first and second jaws 210, 220 in order to extract it from the conveyor 1, it is sufficient to control the movements of the first and second shuttle 100.1, 100.2 so as to move them away from each other.
[0067] It will be noted that the sliding connection formed by the rod 203 between the first jaw 210 and the second jaw 220 allows the said first jaw 210 and the said second jaw 220 to be held axially opposite each other, regardless of the angular position of the first and second shuttles 100.1, 100.2.
[0068] Thus, whether the first shuttle 100.1 and / or the second shuttle 100.2 roll on the flat surfaces 3.1 (Figures 3A-3B) or on the semi-cylindrical surfaces 3.2 ([Fig.3C]) of the conveyor track 2, the contact areas between the bottle R and the first and second jaws 210, 220 remain identical throughout the movement of the transport unit 10 along the conveyor track 2, so that the risk of the bottle R falling during its transport is particularly limited.
[0069] Figure 4 illustrates a transport unit 10' which is simply a variant of the unit Transport unit 10' differs from transport unit 10 in that the gripping device 200' of transport unit 10' comprises a first jaw 210' and a second jaw 220' identical to the first jaw 210'. The first jaw 110' and the second jaw 120' of transport unit 10' are identical to the deformable second jaw 220' of transport unit 10.
[0070] The operation of the transport unit 10' is identical to that of the transport unit 10, except that the clamping of the bottle R is achieved via the deformation of the first jaw 210' and the second jaw 220'. The sliding connection formed by the rod 203 between the first jaw 210' and the second jaw 220' allows, as in the transport unit 10, the first jaw 210' and the second jaw 220' to be held axially opposite each other, regardless of the angular position of the first and second shuttles 100.1, 100.2.
[0071] Another variant of the transport unit 10 (not illustrated) consists of replacing the second deformable jaw 220 with a jaw identical to the first rigid jaw 210.
[0072] The operation of this other variant of the transport unit 10 is identical to that of the transport unit 10, except that the clamping of the bottle R is carried out without deformation of the first and second jaws. The sliding connection formed by the rod 203 between the first and second jaws allows, as in the transport unit 10, the first and second jaws to be held axially opposite each other, regardless of the angular position of the first and second shuttles 100.1, 100.2.
[0073] Of course, the invention is not limited to the embodiment described but encompasses any variant falling within the scope of the invention.
[0074] Although the first jaw 210 and the second jaw 220 here include two centering V-blocks 211.1, 211.2 and two clamping flanges 221.1, 221.1 to form two levels of clamping, the first jaw 210 and / or the second jaw 220 may include one or more of two centering Vs and one or more of two clamping flanges so as to form one or more of two clamping levels.
[0075] The springs 225 can be replaced by any elastic return means suitable for returning the sliding rod 223 to the extended position. For example, a spring can be mounted around the rod between the distal end of the rod and the base.
[0076] The sliding rod 223 can be replaced by any means allowing a sliding connection between the first jaw 210, 210' and the second jaw 220, 220'.
[0077] The dimensions and shape of the various elements of the transport unit 10, 10' can be adapted to the dimensions and shape of the containers R to be transported, in particular those of the arms 202.1, 202.2, the centering Vs 211.1, 211.2, the links 224a, 224b, 224c...
[0078] Although the link chains 224.1, 224.2 here comprise three links 224a, 224b, 224c, they may comprise a number of links less than or greater than three.
[0079] The first jaw 210 and the second jaw 220 can be fixed on the first arm 202.1 and the second arm 202.2 respectively.
[0080] The first arm 202.1 and the second arm 202.2 can be fixed on respectively the first jaw 210 and the second jaw 220.
[0081] The first shuttle 100.1 may be different from the second shuttle 100.2.
[0082] The first arm 202.1 may be different from the second arm 202.2.
[0083] Although the clamping axis X2i0, X220 of the first and second jaws 210, 210', 220, 220' is here perpendicular to the rotation axes Z20i of the articulation shafts 201, it can, more generally, be orthogonal to the rotation axes Z20i.
[0084] Although the centering ves 211.1,211.2 of the first jaw 210 and the clamping flanges 221.1, 221.1 of the second jaw 220 extend here in a horizontal plane, they can extend in a plane forming a non-zero angle with the horizontal plane so as to pinch a bottle R whose longitudinal axis is not vertical.
[0085] Although the conveyor track 2 extends here in a horizontal plane, it can extend in an inclined plane forming a non-zero angle with the horizontal plane.
[0086] Such inclinations of the conveyor track 2 and of the first and second jaws 210, 210', 220, 220' can, in particular, allow for a different inclination of the longitudinal axis of the bottle R along the flat surface 3.1 and the flat surface 3.2 of the conveyor track 2. For example, when the conveyor track 2 is inclined at 45 degrees around its longitudinal axis and the first and second jaws 210, 210', 220, 220' are also inclined at 45 degrees with respect to the plane in which the conveyor track 2 extends, the longitudinal axis of the bottle R is horizontal on one of the flat surfaces 3.1, 3.2 of the conveyor track 2 and vertical on the other of the flat surfaces 3.1, 3.2.
[0087] The positioning of the sliding joint relative to the first and second jaws 210, 210', 220, 220' may differ from that illustrated. The sliding joint may, for example, be positioned above or above the first and second jaws 210, 210', 220, 220'.
[0088] In order to improve the holding of the bottle R via the first and second jaws 210, 220, the centering Vs 211.1, 211.2 and the clamping flanges 221.1, 221.1 can be covered, at least in part, with an elastomeric material so as to provide contact surfaces with a high coefficient of friction with the bottle R. For example, an elastomeric profile can be inserted on the inner circumference of the centering Vs 221.1, 221.1 and an elastomeric pad can be clipped onto an external surface of the second 224b links of the first and second link chains 224.1, 224.2.
[0089] The dimensions and shape of the different elements constituting the gripping device 200, 200' can be adapted to the dimensions and shape of different ranges of containers R to be transported.
Claims
Demands
1. A container (R) grasping device (200, 200') comprising a first jaw (210, 210') and a second jaw (220, 220') connected to each other by a sliding joint along a translation axis (X203) to form the jaws of a gripper, at least one of the first jaw and the second jaw comprising at least one flexible clamping flange (221.1, 221.2) extending in a plane parallel to the translation axis and comprising a base (222) through which passes a rod (223) mounted movably in translation within the base along a longitudinal axis (X223) of the rod between an extended position and a retracted position, one end of the rod being coupled to the base by means of a first link chain (224.1) and a second link chain (224.2) extending on either side of the longitudinal axis of the stem, the first chain of links and the second chain of links comprising at least a first end link (224a) and a second end link (224a) attached respectively to the base and the end of the stem along axes of articulation perpendicular to the plane.
2. Gripping device (200, 200') according to claim 1, wherein the rod (223) is returned to its extended position by elastic return means (225).
3. Gripping device (200, 200') according to claim 2, wherein the elastic return means comprise a first spring (225) attached to the first end link (224a) of the first chain of links (224.1) and to the base, and a second spring (225) attached to the first end link (224a) of the second chain of links (224.2) and to the base.
4. Gripping device (200, 200') according to any one of the preceding claims, wherein one of the first jaw and the second jaw (210, 210', 220, 220') comprises two flexible clamping flanges (221.1, 221.2) arranged one above the other.
5. Gripping device (200') according to any one of the preceding claims, wherein the first jaw (210') and the second jaw (220') are identical.
6. Gripping device (200) according to any one of claims 1 to 4, wherein the other of the first jaw (210) and the second jaw (220) is arranged to form at least one centering V (211.1, 211.2).
7. Gripping device (200) according to claim 6, wherein the centering V-block (211.1, 211.2) is rigid.
8. Gripping device (200) according to claim 6 or 7, wherein the other of the first jaw (210) and the second jaw (220) is arranged to form two centering V-blocks (211.1, 211.2) arranged one above the other.
9. Transport unit (10, 10') for conveyor (1, 1'), comprising a gripping device (200, 200') according to any one of the preceding claims.
10. Conveyor (1, 1') comprising at least one transport unit (10, 10') according to claim 9.