A device for gripping and transporting objects.
The device addresses the challenge of cumbersome adjustment in gripping and transporting systems by using a toothed rack and transmission shaft for precise axial adjustment, enhancing ease of use and maintenance.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2023-03-14
- Publication Date
- 2026-03-27
AI Technical Summary
Existing gripping and transporting devices are cumbersome and difficult to adjust accurately, with pneumatic or hydraulic mechanisms increasing cost and weight, and screw threads complicating access to grippers.
A device with a toothed rack on the shaft and a transmission shaft that interacts with it, allowing for precise axial adjustment of the gripper position without manual intervention, featuring a compact design and easy access for maintenance.
Enables accurate and simple height adjustment of grippers, reducing complexity and weight while facilitating easy access for cleaning and maintenance.
Smart Images
Figure 2026510051000001_ABST
Abstract
Description
[Technical Field]
[0001] The present invention relates to a device for gripping and transporting objects, such as containers, the device comprising: an arrangement comprising a shaft and at least one carrier, the arrangement being fixed on the shaft so as not to rotate; at least one gripper positioned on the carrier, each gripper comprising a pair of gripping arms for gripping one of the objects; and an adjustment mechanism for adjusting the axial position of the arrangement along the shaft.
[0002] European Patent Application Publication No. 3239078 discloses a height-adjustable conveying device having a positioning plate and twelve grippers, as well as an operating device and a locking mechanism. Each gripper has a pair of gripping arms composed of two gripping arms with gripping parts, two bearing pins for the gripping arms, a switching shaft with a switching claw, and a receiving base to which the bearing pins and the switching shaft are fixed. The positioning plate and the grippers fixed thereon are rotatable by the drive shaft of the conveying device and are arranged and / or configured axially symmetrically about the drive shaft to avoid imbalance. The operating device is rotatably attached to the drive shaft, and as a result, the operating device does not rotate even during the operation of the conveying device, and always operates the gripper, especially the switching claw, at at least one specific position. In order to completely prevent the rotation of the operating device by the drive shaft, a locking mechanism is additionally used. The locking mechanism is configured as a web extending from the operating device and is connected to an immovable object or an object that does not rotate with the drive shaft. Both the positioning plate and the operating device are connected to the drive shaft and can be displaced (vertically) along the drive shaft. Nevertheless, in order to make the positioning plate also rotate together with the drive shaft, the positioning plate can be displaced along a vertically running groove or a rail at the connection point between the positioning plate and the drive shaft, or fixed to the drive shaft with a fixing element. The fastening element can also serve to lock the height of the positioning plate on the drive shaft. Yet another height-adjustable conveying device has a pneumatic or hydraulic operating drive. Yet another conveying device has a height-adjustable positioning plate, a fixed carrier plate, a fixed plate, and a handwheel as a manually operated drive for adjusting the height of the positioning plate. The handwheel is arranged coaxially with the drive shaft and has a spindle with a helical thread. The spindle is rotatably attached to the fixed plate and extends through the spindle nut of the positioning plate to the carrier plate. The spindle nut is firmly incorporated into the positioning plate.
Background Art
[0003] To change the height of the positioning plate, and therefore the height of the gripper, the fastening elements must be loosened, the positioning plate manually displaced, and the fastening elements fixed in place at the new height. This is cumbersome, and precise height adjustment is difficult. Pneumatic or hydraulic actuation mechanisms increase the cost and weight of the device. The spindle, which interacts with the spindle nut, requires an additional fixing plate. This makes access to the gripper difficult. As a result, replacing or cleaning the gripper becomes cumbersome. Integrating the drive shaft with the spindle creates a problem where the carrier plate puts stress on the threads because the carrier plate must be precisely fitted onto the shaft.
[0004] The object of the present invention is to provide the type of device described at the beginning that can have a compact and lightweight design, while allowing the height of the carrier equipped with the gripper to be adjusted accurately and in a relatively simple manner. [Overview of the project] [Problems that the invention aims to solve]
[0005] This objective is achieved by the apparatus according to the present invention for gripping and transporting an object, such as a container, which comprises an adjustment mechanism for adjusting the axial position of a placement along a shaft, the adjustment mechanism comprising a toothed rack configured on the shaft and a transmission shaft rotatably mounted inside the placement and interacting with the toothed rack.
[0006] This device is particularly suitable for gripping, holding, and guiding containers, which are held by one pair of gripping arms of the gripper. The container can be one having an elongated portion that is gripped and held by the gripper. A bottle-shaped container with a bottleneck is the prototype. Depending on the design of the arms, the bottle may be a glass bottle or a plastic bottle. This device is also suitable for transporting other containers. These other containers include, for example, cans, glass, or containers that generally have a round cross-section.
[0007] The shaft is rotatably positioned around a fixed axis of rotation. In most applications, the axis of rotation is positioned vertically. The carrier is positioned on the shaft in a fixed manner so as to rotate with the shaft, i.e., so as not to rotate in the opposite direction from the shaft. The carrier can be designed, for example, as a carrier wheel. In one embodiment, it has a plate-like design. At least one, and collectively more, grippers are fixedly positioned on the carrier. In particular, they can be positioned along the periphery of the carrier, and the gripping arms extend mainly radially. The object is guided with the device at a rotational position between one arm of the gripper, gripped firmly, and released again at a further rotational position. For example, an object such as a bottle can be transported by this device from one conveying line to the next. The grippers may have actuators for rotating the gripping arms or they may be remotely operated.
[0008] The carrier and, consequently, the grippers mounted on the carrier, are as a whole part of an axially adjustable assembly. The presence of an adjustment mechanism means that the assembly does not need to be manually moved axially. The toothed rack can be formed on the shaft, but it does not need to extend along the entire circumference of the shaft; it only needs to extend axially. As a result, the shaft can be of a basically (circular) cylindrical design, with the cylindrical casing surface forming the main part of the shaft's circumference. This allows for precise mating between the carrier hub and the shaft. Even when the object is held by only one gripper, there is little oblique or non-circular movement of the carrier. The teeth can be substantially defined by notches lateral to the axial direction. These teeth are more robust than screw threads. The transmission shaft is rotatably mounted to the assembly and interacts directly with the toothed rack, so no further axially fixed plates are needed. Thus, one end of the shaft is free during operation. As a result, access to the grippers is facilitated, for example, for cleaning, maintenance, or arm replacement.
[0009] The transmission shaft can be rotated in various ways. Since the height of the assembly is not changed frequently in principle, this can be done, for example, with a device that is not part of the assembly. This makes the assembly lighter. However, it is also possible to provide an electric drive, electromagnetic drive, pneumatic drive, or hydraulic drive unit.
[0010] The transmission shaft does not need to be elongated. For example, it can be designed to be essentially wheel-shaped, with a gear having a rotation axis horizontal to the shaft.
[0011] However, in one embodiment, the transmission shaft is mounted rotatably around a pivot axis that is substantially parallel to the toothed rack.
[0012] As a result, the arrangement remains relatively compact in the radial direction (relative to the axis of rotation of the shaft).
[0013] In one embodiment, the transmission shaft is a worm shaft.
[0014] The worm shaft has helical windings. In combination with a toothed rack, the rotational motion of the transmission shaft is converted into linear motion of an assembly along the shaft. The axis of rotation of the worm shaft can be aligned substantially parallel to the longitudinal direction of the toothed rack. The gear ratio can be adjusted via the winding pitch.
[0015] In one embodiment, the assembly can be inserted into or removed from the shaft via a first axial end of the shaft, and the shaft can be coaxially connected to the drive shaft at a second end on the opposite side.
[0016] As a result, the shaft and the axially adjustable assembly form a single unit, which can be separated from the drive shaft for purposes such as maintenance or cleaning. To allow access to the second end, the axially adjustable assembly can be removed from the shaft via the first end without removing any further parts. For this purpose, depending on the position and shape of the transmission shaft, the toothed rack can extend to the first end.
[0017] In this embodiment, a connecting flange for connecting the shaft to the drive shaft is provided at the second end.
[0018] The flange can be integrated with the shaft, connected to it in a rigidly bonded manner, or mounted on it in a manner of active fitting and / or friction engagement. The flange connection is relatively stable and allows for extremely precise coaxial alignment of the drive shaft and the shaft.
[0019] In one embodiment of the device, the arrangement is insertable into or removable from the shaft via a first axial end of the shaft, and the transmission shaft is rotatably attached to a portion of the arrangement located at the end of the arrangement closest to the first end.
[0020] Between the free first end of the shaft and the end of the assembly closest to the first end in the axial direction, there are no parts of further devices positioned radially close to the shaft, at least in the region closest to the shaft when viewed radially. As a result, the axial end of the axially adjustable assembly is easily accessible. For example, another device can be used to rotate the transmission shaft.
[0021] In one embodiment of this device, the transmission shaft has a portion at one end for connecting at least one device or actuator.
[0022] Said part will be exposed and / or protrude. Since adjustment is only done occasionally, the arrangement need not have its own actuator.
[0023] The arrangement is insertable into or removable from the shaft via the first axial end of the shaft, and in one example of an embodiment where the transmission shaft is rotatably attached to a part of the arrangement disposed at the end of the arrangement closest to the first end, and the transmission shaft has at one end a part for coupling at least one instrument or actuator, this part is disposed at the end of the transmission shaft closest to the first end.
[0024] Thus, the actuator or instrument can be disposed from above to adjust the axial position of the arrangement.
[0025] In one embodiment of the present device, the carrier comprises a circular body and the gripping arm protrudes with respect to the circumferential edge of the circular body.
[0026] The body can have a basic form that is disc-shaped or wheel-shaped.
[0027] In one embodiment of the present device, the transmission shaft is rotatably attached on or within the carrier.
[0028] As a result, the number of parts is reduced. Further, the height adjustment mechanism and the gripper are disposed substantially on the same plane at a common axial position.
[0029] An embodiment of the present device further comprises a device for forming a reversible frictional connection between the arrangement and the shaft.
[0030] As a result, the adjusted axial position is ensured and the adjustment mechanism is relaxed. However, the shaft can still mainly have a (circular) cylindrical casing surface. The clamping device can act directly on said surface.
[0031] In one embodiment of the device, each gripper has at least one actuation mechanism adapted to cause pivoting of at least one arm of a pair of gripping arms about their respective pivot axis when in operation, and the arrangement is movable relative to the carrier in the rotational direction and comprises at least one component adapted to actuate each actuation mechanism of the gripper to pivot at least one of the arms when the shaft rotates.
[0032] Since the arrangement comprises one or more of these components, the axial position of the component(s) can be adjusted by an adjustment mechanism. The axial distance of the gripper from the component can be fixed and then remain unchanged even when the adjustment mechanism is operated. The component can define a control cam that, when the shaft rotates over at least one angular position range, acts on each of the gripper's actuators to pivot at least one arm.
[0033] One example of this embodiment further comprises at least one lock web rigidly connected to at least one component, the lock web being adapted to extend primarily radially and to bond to an object stationary with respect to the shaft.
[0034] As a result, it is ensured that the gripping arm pair of the gripper opens and closes when the shaft rotates. Also, the components may or may not rotate. This connection may or may not allow axial relative movement between the components relative to the lock web.
[0035] In one embodiment in which each gripper has at least one actuation mechanism adapted to cause pivoting of at least one arm of a pair of gripping arms about their respective pivot axis when in operation, and the arrangement is movable relative to the carrier in the rotational direction and comprises at least one component adapted to actuate each actuation mechanism of the gripper to pivot at least one arm when the shaft rotates, each gripper has at least one switching shaft arranged to be rotatable about a pivot axis by the actuation of one of the at least one actuation mechanism, the switching shaft being axially adjustable together with the arrangement.
[0036] This reduces the complexity of adjustment when adjusting the axial position of the carrier with the gripper. In addition, the gripper is integrally formed with the switching shaft and can be easily removed. There is no need to provide a separately mounted switching shaft along which to move the gripper.
[0037] In one example of this embodiment, the operating part is located on the switching shaft and includes a lever, for example, in the form of a roller lever, that extends from the switching shaft.
[0038] In this embodiment, at least one component can define the control cam, for example, by its radial distance from the axis of rotation of the shaft. The switching shaft remains at the same radial distance from the axis of rotation of the shaft. The end of the lever is repositioned as the carrier with the gripper rotates relative to the component. This effect can be achieved even if the actuation part engages with one or more components in a different way, rather than moving along the control cam.
[0039] In any one of the embodiments, each gripper has at least one actuation mechanism adapted to cause pivoting of at least one arm of a pair of gripping arms about their respective pivot axes when in operation, the arrangement is movable relative to the carrier in the rotational direction and comprises at least one component adapted to actuate each actuation mechanism of the gripper to pivot at least one arm when the shaft rotates, and each gripper comprises at least one switching shaft positioned to be rotatable about a pivot axis by the actuation of one of the at least one actuation mechanism, the switching shaft being axially adjustable together with the arrangement, in which case each gripper is configured such that the pivoting motion of the arms of a pair of gripping arms is coupled about their respective pivot axes.
[0040] As a result, one switching shaft is sufficient for each gripper. Furthermore, the arms of a pair of gripping arms move synchronously away from each other.
[0041] Each gripper has at least one actuation mechanism adapted to cause pivoting of at least one of the arms of a pair of gripping arms about their respective pivot axis when in operation, the arrangement is movable relative to the carrier in the rotational direction and comprises a control cam, at least one component adapted to actuate each actuation mechanism of the gripper in order to pivot at least one of the arms when the shaft rotates, each gripper comprises at least one switching shaft arranged to be rotatable about a pivot axis by the actuation of one of the at least one actuation mechanism, the switching shaft is axially adjustable together with the arrangement, in any further example of the embodiment, each gripper comprises a device for generating a reset force that leads to a torque acting on the switching shaft.
[0042] The reset force, in particular, can cause the arms of the gripping arm pair to pivot relative to each other, i.e., bias the gripping arm pair to the closed position. At the same time, the reset force ensures that the actuation mechanism does not detach from one component, or i.e., multiple components, such as the control cam defined by it / them. As a result, an active connection between the component, such as the control cam and the actuation mechanism, is not required. This simplifies the installation and maintenance of the device.
[0043] In one embodiment of the apparatus, each gripper comprises at least one base as a carrier for at least one arm, on which one or more arms are rotatably mounted, and the base is an integral part of the carrier of the apparatus.
[0044] This reduces installation costs, lowers weight, and simplifies the embodiment in which only the gripping arm is replaceable. [Brief explanation of the drawing]
[0045] The present invention will be described in more detail with reference to the accompanying drawings. [Figure 1] This is a perspective view of the first conveying device. [Figure 2] This is a plan view of the first conveying device. [Figure 3] This is a bottom view of the first conveying device. [Figure 4] This is a side view of the first conveying device, showing only one gripping device. [Figure 5] This is a perspective view of the components of the first conveying device. [Figure 6] This is a side view of the components of the first conveying device. [Figure 7] This is a perspective view of one of the gripping devices provided on the first conveying device. [Figure 8] This is a cross-sectional view of the first conveying device, passing through a portion that is adjustable in the axial direction. [Figure 9] This is a cross-sectional view of an improved variant of the first conveying device, passing through an axially adjustable portion. [Figure 10] This is a plan view of the second conveying device. [Figure 11] This is a perspective view of the second conveying device. [Figure 12] This is a perspective view of the components of the second conveying device. [Figure 13] This is a side view of the components of the second conveying device. [Figure 14] This is a second perspective view of the components of the second conveying device. [Figure 15] This is a plan view of the gripper of the second conveying device. [Figure 16] Figure 14 is a side view of the gripping device. [Modes for carrying out the invention]
[0046] The first transport device 1 (Figures 1-8) for the bottle-type container 2 (Figure 1) will be described in detail below, but in principle, it is also suitable for transporting other types of objects, or can be adapted for this purpose.
[0047] The first conveying device 1 includes a shaft 3. The shaft 3 has a basic cylindrical shape (circular). However, the shaft 3 has two grooves 5 and 6 that extend axially (relative to the rotation axis 4 of the shaft 3). The shaft 3 also has a toothed rack 7 formed by a notch running laterally with respect to the rotation axis 4, which similarly extends axially.
[0048] The first transport device 1 includes an assembly 8 positioned on a shaft 3 (Figure 8). The assembly 8 can be inserted onto the shaft 3 via a first end 9 of the shaft 3. It includes a base 13 of an adjustment mechanism comprising a hub 10, a carrier plate 11, a control cam carrier 12, and a cover plate 14. The carrier plate 11 is firmly connected to the hub 10. The base 13 of the adjustment mechanism is also firmly connected to the hub 10. The control cam carrier 12 is mounted on the hub 10 so as to be rotatable around the hub 10. The axis of rotation of the control cam carrier 12 is aligned coaxially with the axis of rotation 4. As a result, the control cam carrier 12 can move rotationally relative to the carrier plate 11. However, the components of the assembly 8 are not movable relative to each other in the axial direction, at least during operation. In the illustrated embodiment, the relative axial positions cannot be changed at all. In an alternative embodiment, means for adjusting the relative axial positions may be provided. However, this adjustment is maintained even during operation. The base 13 is positioned on the shaft 3 in a fixed state so as not to rotate. In the illustrated embodiment, two springs 15 and 16 are provided for this purpose, each interacting with one of the grooves 5 and 6. Since the base portion 13 is firmly connected to the carrier plate 11, the carrier plate 11 is also fixed on the shaft 3 so as not to rotate.
[0049] The first lock web 17 is firmly connected to the control cam carrier 12 and extends radially. At the end away from the rotation axis 4, the lock web 17 has a passage through which a cylinder 18 is guided. The position of the cylinder 18 is fixed relative to the rotation axis 4. As a result, the control cam carrier 12 cannot rotate together with the carrier plate 11 and shaft 3.
[0050] At the second end (not visible in the drawing) opposite the first end 9, the shaft 3 is firmly and coaxially connected to the drive shaft 19, at least indirectly. As a result, the assembly 8 and the shaft 3 become part of a single unit that is removable from the drive shaft 19. The connection to the drive shaft 19 can be configured, for example, as a flange connection.
[0051] The adjustment mechanism includes a worm shaft 20 rotatably mounted on the base 13 and interacting with the toothed rack 7. The worm shaft 20 can be rotated about a rotation axis 21 which is substantially parallel to the rotation axis 4. As a result, the base 13 can be designed to be relatively compact in the radial direction. The cover plate 14 surrounds the worm shaft 20 with the base 13 in the axial direction. The end 22 of the worm shaft 20 has a polygonal cross-section and protrudes from the cover plate 14. Since the base 13 forms the part of the assembly 8 closest to the free first end 9 of the shaft 3 in the axial direction, the end 22 is relatively easily accessible for arranging equipment or connecting actuators. No further parts of the conveying device 1 are provided between the free first end 9 of the shaft and the assembly 8.
[0052] The axial position of assembly 8 can be adjusted by rotating the worm shaft 20 around its axis of rotation 21.
[0053] In the depicted embodiment, a clamping device 23 (Figure 8) is further provided to form a reversible frictional connection between the assembly 8, in particular a portion of the assembly 8 that is fixed in a non-rotating manner, and the shaft 3. In this embodiment, the clamping device 23 acts directly on the outer surface of the shaft 3. The clamping device 23 can be operated by a lever 24, which also protrudes from the base portion 13, in particular the cover plate 14. Other types of clamping devices are also possible, for example, those comprising clamps or loops. The clamping device 23 fixes the axial position of the assembly 8, which has been adjusted by an adjustment mechanism.
[0054] In the illustrated embodiment, eight grippers 25a to h are arranged in a distributed manner along the circumference of the carrier plate 11 (Figures 1 to 3). Since they have the same design, their structure will be described based on the exemplary gripper 25a (Figures 4 to 7).
[0055] The gripper 25a has gripping arms 28, 29 that are rotatably arranged around their respective pivot axes 26, 27. Each gripping arm 28, 29 comprises a gripping arm body 30, 31 and interchangeably connected gripping portions 32, 33. Each gripping arm 28, 29, and in this embodiment, each gripping arm body 30, 31, is connected to the carrier plate 11 via bearing elements 34, 35. The gripping elements 34, 35 define the respective pivot axes 26, 27 of the gripping arms 28, 29. At least the gripping portions 32, 33 project mainly radially relative to the periphery 36 of the carrier plate 11.
[0056] The pivotal motion of the gripping arms 28 and 29 is synchronized by their interlocking teeth. Furthermore, interacting magnets 37 and 38 are positioned on the gripping arms 28 and 29 at radial distances from their respective pivot axes 26 and 27. A reset device in the form of a reset spring 39 connects the gripping arms 28 and 29. Both the magnets 37 and 38 and the reset spring 39 exert a force that moves the gripping arms 28 and 29 toward each other.
[0057] The gripper 25a is rotatably mounted on the carrier plate 11 and includes a switching shaft 40 that extends axially through the carrier plate. At one axial end of the switching shaft 40 is a control element 41 that, when the switching shaft 40 rotates around its axis of rotation, exerts a force on at least one of the gripping arms 28, 29, thereby generating a torque that separates the gripping arms 28, 29. This torque acts in opposition to the torque generated by the magnets 37, 38 and the reset spring 39. At the other end of the switching shaft 40 is an actuation part in the form of a roller lever 42. The roller 43 of the roller lever 42 is pressed against one or more points on the circumference of the control cam carrier 12 by the torque generated by the magnets 37, 38 and the reset spring 39. While the roller 43 moves along one or more control cams, the radial position of the roller 43 is changed (with respect to the axis of rotation 4).
[0058] The control element 41 and the roller lever 42 are fixed in place relative to the switching shaft 40 during operation. The switching shaft 40 is fixed in place axially on the carrier plate 11. Since the axial distance of the control cam carrier 12 from the carrier plate 11 does not change, the roller 43 remains in the correct axial position relative to the control cam or cam with which it interacts when the axial position of the assembly 8 is adjusted.
[0059] In the depicted embodiment, the first conveying device also includes a base plate 44 having a recess for receiving the body of a bottle. In this embodiment, the base plate 44 is divided into two parts and can be removed. The base plate 44 can be rotated around a rotation axis which is located coaxially with the rotation axis 4. Its rotational motion is linked to the shaft 3. However, the axial position of the base plate 44 cannot be adjusted together with the axial position of the assembly 8. As a result, the first conveying device 1 can be adjusted for containers of different heights.
[0060] An improved variant 45 (Figure 9) of the first conveying device 1 also includes a shaft 46 that can rotate around a rotation axis 47. This shaft has a first axial end 48 and a second axial end 49 on the opposite side. The first end 48 is a free end during operation. The second end 49 is provided with a flange 50 for detachably connecting the shaft 46 to a drive shaft (not shown).
[0061] Apparatus modification 45 also includes an assembly 51 positioned on the shaft 46. The assembly 51 can be inserted onto the shaft 46 via the first end 48 of the shaft 46. It comprises a hub 52, a carrier plate 53, and a control cam carrier 54. Where the first transport device 1 still constituted the base portion 13 of the adjustment mechanism, in apparatus modification 45 this is integrated into the hub 52. The hub 52 is provided with a cover plate 55.
[0062] The carrier plate 53 is firmly connected to the hub 52. The control cam carrier 54 is mounted on the hub 52 so as to be able to rotate around the hub 52. The axis of rotation of the control cam carrier 54 is located coaxially with the axis of rotation 47. As a result, the control cam carrier 54 can move in the rotational direction relative to the carrier plate 53. However, the parts of the assembly 51 are not movable relative to each other in the axial direction, at least during operation.
[0063] The hub 52, like the base 13, is positioned on the shaft 46 in a fixed state so as not to rotate. Since the hub 52 is firmly connected to the carrier plate 53, the carrier plate 53 is also positioned on the shaft 46 in a fixed state so as not to rotate.
[0064] The lock web 56 is firmly connected to the control cam carrier 54 and extends radially. At the end away from the rotation axis 47, the lock web 56 has a passage through which a cylinder can be guided, and the position of the cylinder is fixed relative to the rotation axis 47. As a result, the control cam carrier 54 cannot rotate together with the carrier plate 53 and the shaft 46.
[0065] An adjustment mechanism for adjusting the axial position of assembly 51 comprises a worm shaft 57 rotatably mounted on the hub 52 and interacting with a toothed rack 58 configured on the shaft 46. The worm shaft 57 can rotate about a pivot axis 59 which is substantially parallel to the pivot axis 47. A cover plate 55 encloses the worm shaft 57 in the axial direction of the hub 52. The end 60 of the worm shaft 57 has a polygonal cross-section and protrudes from the cover plate 55. The portion of the hub 52 in which the worm shaft 57 is located forms the portion of the assembly 51 closest to the free first end 48 of the shaft 46 in the axial direction, so the end 60 for positioning a device or connecting an actuator is relatively easily accessible. No further parts of the conveying device modification 45 are provided between the free first end 48 of the shaft and the assembly 51.
[0066] The axial position of assembly 51 can be adjusted by rotating the worm shaft 57 around its rotation axis 59. To fix the position, a clamping device (not shown), such as the clamping device 23 of the first conveying device 1, can be provided.
[0067] In other words, it is clear that assembly 51 is not simply an inverted version of assembly 8 of the first conveying device 1. The worm shaft 57 is always positioned in a part of assembly 51 that is closer to the first free end 48 of the shaft 46 in the axial direction than the carrier plate 53. As a result, the grippers (not shown in Figure 9) located on the carrier plate 53 do not make it difficult to access the adjustment mechanism.
[0068] This principle is also used in the second transport device 61 (Figures 10-16).
[0069] The second conveying device 61 also includes a shaft 62 having a basic cylindrical shape (circular). However, the shaft 62 has a single groove 64 extending axially (with respect to the rotation axis 63 of the shaft 62). The shaft 62 further has a toothed rack 65 that extends axially, formed by a notch running laterally with respect to the rotation axis 63. The second conveying device 61 also includes an assembly 66 positioned on the shaft 62. The assembly 66 can be inserted onto the shaft 62 via the first end 67 of the shaft 62. The assembly 66 includes a carrier wheel 68 and a control cam carrier 69.
[0070] The carrier wheel 68 has an integrated hub 70, spokes 71a to e that function as connecting webs, and a continuous circumferential portion 72. In alternative embodiments, the carrier wheel 68 can be composed of multiple parts. However, the integrated design leads to weight reduction and reduced mass inertia.
[0071] The control cam carrier 69 is mounted on the hub 70 so as to be able to rotate around the hub 70. The axis of rotation of the control cam carrier 69 is coaxial with the axis of rotation 63. As a result, the control cam carrier 69 can move in the rotational direction relative to the carrier wheel 68. However, the parts of the assembly 66 are not movable relative to each other in the axial direction, at least during operation.
[0072] The hub 70 is positioned on the shaft 62 in a state where it is fixed in place by a portion 73 that engages with the groove 64, preventing it from rotating.
[0073] In one embodiment, the shaft 62 can be configured to have at least two grooves extending in the axial direction. In this embodiment, in the corresponding configuration of the conveying device 61, it is possible to ensure that the hub 70 is positioned on the shaft 62 in a fixed manner without rotation, particularly by providing multiple parts 73. By providing multiple grooves 64, the hub 70 can be inserted onto the shaft 62 in different ways. For example, four grooves can be provided on the shaft 62 at equal intervals. As a result, the hub 70 can also be inserted onto the shaft 62 rotated by 90°.
[0074] The lock web 74 is firmly connected to the control cam carrier 69 and extends radially. At the end away from the rotation axis 63, the lock web 74 has a fork 75 which can be held by an object comparable to the cylinder 18. As a result, the control cam carrier 69 cannot rotate with the carrier wheel 68.
[0075] At the second end 76 opposite the first end 67, the shaft 62 can be firmly and coaxially connected to the drive shaft, at least indirectly. A flange 77 is provided for this purpose. As a result, the assembly 66 and the shaft 62 become part of a single unit that is connected to the drive shaft and can be removed from it relatively easily.
[0076] The adjustment mechanism comprises a worm shaft 78 rotatably mounted on the hub 70 and interacting with a toothed rack 65. The worm shaft 78 can be rotated around a rotation axis 79 that is substantially parallel to the rotation axis 63. As a result, the hub 70 can be designed to be relatively compact in the radial direction. This effect is enhanced by the fact that the hub 70 is open laterally in the area of the worm shaft 78. However, the cover plate 80 (Figure 13) surrounds the worm shaft 78 within the hub 70 in the axial direction.
[0077] The end 81 of the worm shaft 78 has a polygonal cross-section and protrudes from the cover plate 80. The portion of the hub 70 to which the worm shaft 78 is mounted forms the portion of the assembly 66 closest to the free first end 67 of the shaft 62 in the axial direction, so the end 81 for positioning fixtures or connecting actuators is relatively easily accessible. No further components of the conveying device 61 are provided between the free first end 67 of the shaft and the assembly 66.
[0078] The axial position of assembly 66 can be adjusted by rotating the worm shaft 78 around its axis of rotation 79.
[0079] In the illustrated embodiment, a clamping device 82 (Figure 13) is further provided for forming a reversible friction connection between the assembly 66, particularly a portion of the assembly 66 positioned in a fixed manner so as not to rotate, and the shaft 62. In this embodiment, the clamping device 82 acts directly on the outer surface of the shaft 62. The clamping device 82 can be operated by a lever 83. The lever 83 protrudes relative to the hub 70, particularly the cover plate 80. Other types of clamping devices are also possible, for example, those comprising clamps or loops. The clamping device 82 fixes the axial position of the assembly 66, which has been adjusted by an adjustment mechanism.
[0080] In the embodiments depicted, nine grippers 84a-i are distributed along the circumference of the carrier wheel 68, particularly along the circumferential portion 72. Since they have the same design, their structure will be described based on the exemplary gripper 84 (Figures 15-16). Further details of the gripper 84 are also described in European Patent Application No. 21170053.9 of April 23, 2021.
[0081] The gripper 84a comprises a first arm 85 and a second arm 86. The first arm 85 and the second arm 86 form a gripping arm pair. In the illustrated embodiment, only one gripping arm pair is provided for each gripper. However, multiple gripping arm pairs can also be provided.
[0082] The first arm 85 is mounted on the double housing 88 so that it can rotate around the first pivot axis 87 (Figure 16). The second arm 86 is mounted on the double housing 88 so that it can rotate around the second pivot axis 89. In an alternative embodiment, separate housings can be provided instead of the double housing 88.
[0083] In the embodiment of the second transport device 61, the double housing 88 is an integral part of the carrier wheel 68, that is, it is constructed integrally with it. This reduces installation costs.
[0084] The pivot axes 87 and 89 are aligned substantially parallel to each other, and in the illustrated embodiment, they are also aligned substantially parallel to the rotation axis 63 of the assembly 66.
[0085] It is possible to imagine a central plane running parallel to the two pivot axes 87 and 89 between the two arms 85 and 86, which approaches when the arms 85 and 86 close the gripping arm pair and moves away when they open. In a top view parallel to the pivot axes 87 and 89, a center line is generated. When the arms 85 and 86 are arranged symmetrically, as in this embodiment, the center line forms at least an approximate bisector of the opening angle.
[0086] To ensure this, the control component of the conveying device generates torque acting only on the first arm 85, but the pivotal motion of the first arm 85 and the second arm 86 are coupled.
[0087] In the illustrated embodiment (Figures 15-16), the first arm 85 consists of two parts: an inner first arm portion 90 and an outer second arm portion 91. The first arm portion 90 is substantially solid. The second arm portion 91 functions as a pivot clamp. The second arm portion 91 has two fingers that extend axially (relative to the first pivot axis 87), the free ends of which form the free end of the first arm 85. In the illustrated embodiment, the fingers have a bottleneck contour, i.e., are curved. The second arm portion 91 is replaceable.
[0088] The first arm portion 90 is fixed to the switching shaft 92 in a state that prevents rotation. The switching shaft 92 is mounted on a double housing 88 and guided through it. A roller lever 93 extending from the switching shaft 92 is positioned at one end of its axial direction.
[0089] The roller lever 93 has a rotatably mounted roller 94. This is adapted to follow the control cam defined by the control cam carrier 69 when the gripper 84a is guided over the control cam by the relative rotation of the carrier wheel 68. A torque is generated acting on the first arm 85. The first arm 85 transmits force to the second arm 86, so that only an external force acting on one of the actuators moves both arms 85, 86. In the illustrated embodiment, the gripping arm pair opens against a reset force. However, in principle, embodiments can also be conceivable in which the gripping arm pair closes against a reset force and the actuator is adapted to open the gripping arm pair.
[0090] Since the roller lever 93 is positioned at an axial distance from the first arm 85, it can overlap with at least one of the arms 85 and 86 when viewed parallel to the pivot axes 87 and 89. As a result, the footprint of the gripper 84a is relatively small.
[0091] In the illustrated embodiment, the second arm 86 is similarly composed of two parts: an inner first arm portion 95 and an outer second arm portion 96. The first arm portion 95 is substantially solid. The second arm portion 96 functions as a pivot clamp. In the illustrated embodiment, the second portion 91 of the first arm 85 is a mirror image of the second portion 96 of the second arm 86. Since they are themselves symmetrical with respect to the lateral plane of symmetry with respect to the pivot axes 87, 89, the second arm portions 91, 96 are even structurally identical, except that they are arranged in reverse order.
[0092] The first arm portion 95 of the second arm 86 is a mirror image of the first arm portion 90 of the first arm 85. Indeed, in the illustrated embodiment, there is a round bore through which the second shaft 97 is guided. This is rotatably mounted in the double housing 88 and guided through it.
[0093] The second arm portions 91 and 96 protrude radially outward from the circumferential portion 72 of the carrier wheel 68.
[0094] The first portion 90 of the first arm 85 and the first portion 95 of the second arm 86 are configured with recesses facing each other and the central plane. These recesses have a substantially flute-shaped design and are separated at their respective ends located closer to the double housing 88 in the axial direction. The force transmission body 98 held between the recesses is supported by the separation.
[0095] The recesses have a circular inner contour when viewed in the axial direction. They surround the force transmission body 98 to such an extent that forces directed primarily parallel to the central plane can be transmitted through them. Parts of the first portion 90 of the first arm 85 and parts of the first portion 95 of the second arm 86 define the respective portions of the inner surface of the first or second recess. These surface portions have normals that have a principal component parallel to the central plane, at least in the closed state of the gripping arm pair. Furthermore, they are located between the pivot axes 87 and 89, but at a distance from each pivot axis 87 and 89. As a result, torque is generated by the transmitted force.
[0096] The spring 73, which encloses the arms 85 and 86, exerts a reset force, in this embodiment, a closing force. In other embodiments, additional or alternative devices for exerting the reset force may be provided. Examples of such devices can be found in WO 2020 / 108758 A1.
[0097] In the depicted embodiment, the force transmission body 98 is an elongated body. Due to the shape of the recess, the longitudinal axis of the force transmission body extends substantially axially with respect to the pivot shafts 87, 89. In alternative embodiments, the force transmission body 98 can be spherical, and the recess can have a cylindrical or spherical design. In the depicted embodiment, the force transmission body 98 is designed as a cylinder with a circular cross-section. A cylindrical shape with a polygonal cross-section is also possible. However, a circular shape results in more uniform power transmission, and consequently, less wear and abrasion.
[0098] As shown in Figures 15 and 16, the switching shaft 92 is connected to the first arm 85. As shown in Figures 10 to 14, in the case of the grippers 84a to i of the second conveying device 61, it is the second arm 86. In other words, both arrangements are possible. The only thing that needs to be arranged depending on the arrangement and direction of rotation is the roller lever 93.
[0099] When installed in assembly 66, the gripper 84a has only a slight extension in the direction of the rotation axis. Furthermore, it can be manufactured from relatively few parts. The double housing 88 is relatively compact radially (relative to the rotation axis 63) because only the switching shaft 92 and the second shaft 62 are mounted therein. This is because the first arm 85 is directly mounted to the switching shaft 92. The force transmission body 98 and reset spring 73 nevertheless ensure that the rotational movements of the two arms 85, 86 are synchronized.
[0100] The switching shaft 92 is axially aligned with the assembly 66. As a result, it is relatively short.
[0101] The second conveying device 61 is compact and lightweight. Furthermore, the adjustment mechanism is easily accessible. This also applies to the grippers 84a to i.
[0102] The present invention is not limited to the depicted embodiments, which can be modified within the scope defined by the claims. The control cam carriers 12, 69 can, for example, be designed as (circular) cylindrical drums, to which a separate body defining the actual control cam portion is detachably fixed. Thus, the conveying device can be optimized in a more flexible manner for specific configurations. [Explanation of Symbols]
[0103] 1: First conveying device 2: Bottle 3: Shaft 4: Rotation axis 5: 1st groove 6:Second groove 7: Toothed rack 8: Axial positioning assembly 9: First shaft end 10: Hub 11: Carrier plate 12: Control Cam Carrier 13: Base section 14: Cover plate 15: First spring 16: Second spring 17: Rockweb 18: Cylinder 19: Drive shaft 20: Worm shaft 21: Rotation axis 22: End 23: Clamping equipment 24: Lever 25a~h:Gripper 26:Left pivot axis 27: Right pivot axis 28: Left gripping arm 29: Right gripping arm 30: Left gripping arm body 31: Right gripping arm body 32:Left grip part 33: Right grip part 34: Left bearing element 35: Right bearing element 36: Perimeter 37: Left Magnet 38: Right Magnet 39: Reset spring 40: Switching shaft 41: Control elements 42: Roller lever 43: Laura 44: Grand Plate 45: Modified Apparatus 46: Shaft 47: Rotation axis 48: 1st end 49: 2nd end 50: Flange 51: Assembly 52: Hub 53: Carrier Plate 54: Control Cam Carrier 55: Cover plate 56: Rockweb 57: Worm shaft 58: Toothed rack 59: Rotation axis 60: End 61: Second conveying device 62: Shaft 63: Rotation axis 64: Groove 65: Toothed rack 66: Assembly 67: 1st end 68: Carrier Wheel 69: Control Cam Carrier 70: Hub 71a~e: Spokes 72: Circumference 73: Engaging part 74: Rockweb 75: Fork 76: 2nd end 77: Flange 78: Worm shaft 79: Rotation axis 80: Cover plate 81: End 82: Clamping equipment 83: Lever 84a~i:Gripper 85: First Arm 86: Second Arm 87: 1st pivot axis 88: Double Housing 89:Second pivot axis 90: First part of the first arm 91: Second part of the first arm 92: Switching shaft 93: Roller lever 94: Laura 95: First part of the second arm 96: Second part of the second arm 97: Second shaft 98: Force transmission body 99: Reset spring
Claims
1. Object (2), a device for gripping and transporting a container, wherein the device is The shaft (3; 46; 62) and An arrangement (8;51;66) comprising at least one carrier (11;53;68), wherein the arrangement (8;51;66) is fixed in place on the shaft (3;46;62) so as not to rotate, and the axial position of the arrangement (8;51;66) along the shaft (3;46;62) is adjustable, the arrangement (8;51;66), At least one gripper (25a-h; 84a-i) positioned on the carrier (11; 53; 68), each of the grippers (25a-h; 84a-i) comprising a pair of gripping arms (28, 29; 85, 86) for gripping one of the objects (2), The apparatus comprises an adjustment mechanism for adjusting the axial position of the arrangement body (8;51;66) along the shaft (3;46;62), wherein the adjustment mechanism comprises a toothed rack (7;58;65) configured on the shaft (3;46;62) and a transmission shaft (20;57;78) rotatably mounted within the arrangement body (8;51;66) and interacting with the toothed rack (7;58;65).
2. The apparatus according to claim 1, wherein the transmission shafts (20; 57; 78) are rotatably mounted about a rotation axis (21; 59; 79) which is substantially parallel to the toothed rack (7; 58; 65).
3. The apparatus according to claim 1 or 2, wherein the transmission shaft (20; 57; 78) is a worm shaft.
4. The arrangement (8; 51; 66) is insertable into the shaft (3; 46; 62) via the first axial end (9; 48; 67) of the shaft (3; 46; 62), or removable from the shaft (3; 46; 62). The apparatus according to any one of claims 1 to 3, wherein the shafts (3; 46; 62) can be connected coaxially to the drive shaft (19) at the opposite second end (49; 76).
5. The apparatus according to claim 4, wherein a connecting flange (50; 77) for connecting the shaft (46; 62) to the drive shaft (19) is provided at the second end (49; 76).
6. The arrangement (8; 51; 66) is insertable onto the shaft (3; 46; 62) or removable from the shaft (3; 46; 62) via the first axial end (9; 48; 67) of the shaft (3; 46; 62). The apparatus according to any one of claims 1 to 5, wherein the transmission shaft (20; 57; 78) is rotatably attached to a part of the arrangement body (8; 51; 66) that is positioned at the end of the arrangement body (8; 51; 66) closest to the first end (9; 48; 67).
7. The apparatus according to any one of claims 1 to 6, wherein the transmission shaft (20; 57; 78) has a portion (22; 60; 81) at one end for connecting at least one device or actuator.
8. The apparatus according to claim 6 or 7, wherein the portion (22; 60; 81) is located at the end of the transmission shaft (20; 57; 78) closest to the first end (9; 48; 67).
9. The apparatus according to any one of claims 1 to 8, further comprising equipment (23; 82) for forming a reversible friction connection between the arrangement (8; 51; 66) and the shaft (3; 46; 62).
10. Each of the grippers (25a-h; 84a-i) has at least one actuation part (42; 93) adapted to cause pivoting of at least one of the arms (28, 29; 85, 86) of the gripping arm pair around their respective pivot axes (87, 89) when in operation. The apparatus according to any one of claims 1 to 9, wherein the arrangement (8; 51; 66) is movable relative to the carrier (11; 53; 68) in the rotational direction, and comprises at least one component (12; 54; 69) adapted to actuate the respective actuation parts (42; 93) of the grippers (25a-h; 84a-i) to pivot at least one of the arms (28, 29; 85, 86) when the shaft (3; 46; 62) rotates.
11. The apparatus according to claim 10, further comprising at least one lock web (17; 56; 74) firmly connected to the at least one component (12; 54; 69), wherein the lock web is adapted to be coupled to an object (18) that is stationary relative to the shaft (3; 46; 62), the apparatus according to claim 10.
12. Each of the grippers (25a to h; 84a to i) is equipped with at least one switching shaft (40; 92) that is rotatable about a pivot axis (87) by the operation of one of the at least one operating parts (42; 93), The apparatus according to claim 10 or 11, wherein the switching shafts (40; 92) are axially adjustable together with the arrangement members (8; 51; 66).
13. The apparatus according to claim 12, wherein the operating parts (42; 93) are arranged on the switching shaft (40; 92) and extend from the switching shaft.
14. The apparatus according to claim 12 or 13, wherein each of the grippers (25a to h; 84a to i) is configured such that the pivotal movement of the arms (28, 29; 85, 86) of a pair of gripping arms is coupled around their respective pivot axes (87; 89).
15. The apparatus according to any one of claims 12 to 14, wherein each of the grippers (25a to h; 84a to i) is provided with a device (37, 38, 39; 99) for generating a reset force that leads to a torque acting on the switching shaft (40; 92).