BEVERAGE CAN CLIP, GRIPPING HEAD AND METHOD FOR RECEIVING AT LEAST ONE BEVERAGE CAN

Abstract

A clamp (1) for beverage cans (20) is described; the clamp (1) comprises at least one gripping means (6) used to grip a particular beverage can (20) from below in a shape-fitting manner in the region of an upper seam (5), said upper seam (5) being formed by a particular beverage can (20); the clamp (1) comprises at least one centering device (30), by means of said at least one centering device (30) the particular beverage can (20) can be placed in a defined alignment, in said defined alignment the at least one gripping means (6) is capable of gripping a particular beverage can (20) from below in a shape-fitting manner in the region of its upper seam (5).

Description

BEVERAGE CAN CLIP, GRIPPING HEAD AND METHOD FOR RECEIVING AT LEAST ONE BEVERAGE CAN DESCRIPTIVE MEMORANDUM The present invention relates to a beverage can clamp and a method used to receive at least one beverage can. Besides bottles and cartons, beverage cans are among the most important types of commercial packaging for drinks. They can also serve as drinking vessels. Beverage cans are primarily used for carbonated beverages, such as canned beer, and soft drinks, such as cola, lemonade, and energy drinks. To drink from a beverage can, it is typically opened by pulling a tab on the lid. Modern beverage cans typically consist of a one-piece cylindrical container made of aluminum or tinplate with an aluminum lid attached by a folded seam. The lid features an oval-shaped groove and a riveted metal tab that acts as an integrated can opener. This tab presses against the grooved oval inside the can, through the beverage, and creates a spout or drinking opening. Below the lid, the can's diameter typically tapers, forming a seam at the top edge. Therefore, the lid usually has a smaller outer diameter than the cylindrical body of the can. There are a variety of packaging types used to process, arrange, group, and pack items, such as beverage containers in the form of cans. For example, items or containers are assembled into relatively practical, portable package units, which can generally be considered packaging units. Several methods exist for assembling individual cans into larger packages. For instance, beverage containers are primarily bundled together using shrink film and packaged in packs of four, six, or more. Producing packages is often unavoidable, as packages are the most common type of retail or packaging unit for beverage containers, particularly for cans made of metal or plastic, or for bottles made of PET plastic. Some packages are assembled in layers and placed on pallets for transport. Another known variant involves the use of so-called top-grip cartons to gather a plurality of beverage containers via their neck regions, AP / C Ln / Zznz / E / YIAI, for example, in particular bottles or cans. Patent document EP 1 075 419 B1 describes a packaging machine used to position such top-grip cartons. In this context, the items are arranged in a box, and the top-grip carton is positioned on top of at least one item arranged in the box. In particular, there is a plurality of items arranged in the box, and subgroups are formed by positioning a smaller number of top-grip cartons, with each subgroup gathering a portion of the items arranged in the box. Meanwhile, many different sizes of cans are commonly used and available. Although cans with a capacity of 0.33 or 0.5 liters are usually available, there are also cans with 0.15, 0.25, 0.355 liters, or other capacities. Furthermore, there are different shapes of cans that are known. Although the lids of standard cans have a significantly smaller diameter than the can cylinders themselves, the cylinder diameters and lid diameters of so-called slim cans or thin cans are generally or approximately the same. To assemble outer packaging, cans are grouped together, with the arrangement and number of cans in each group determined by the packaging unit being produced. The standard cans assembled in a group are arranged side-by-side, with each can touching the others on their contact surfaces. When the can assembly is transferred to a corresponding packaging module, the standard cans are suctioned and lifted by vacuum cups on their rims and / or lids. For this purpose, the vacuum cup must have a diameter at the suction area larger than the rim of the can, while simultaneously being smaller than the maximum outside diameter of the standard can, ensuring that the arrangement of directly adjacent standard cans remains aligned. The gripping devices known to date, capable of receiving beverage cans and moving them along a transfer path for further handling or packaging, have a complex structure. It also cannot be definitively ruled out, with the previously described vacuum cup gripping system, that the beverage cans may become inadvertently misaligned with the gripping device. This can occur, in particular, when the position of the beverage cans does not correspond to the expected target position upon receipt. This can happen, for example, if individual beverage cans inadvertently slip before being received, or if their positions are altered by other mechanical causes. To move the beverage cans within the gripping device's grasping range in a precise arrangement, guide rails are often necessary in practice.It would be preferable to have packaging devices designed with a simple and compact structure, which would make it possible to dispense using these guide rails. κη / c Ln / zznz / E / YiAi Therefore, one objective of the present invention is to provide a beverage can gripper characterized by a simple structure and capable of receiving and handling beverage cans with high reliability. Another objective is to provide a corresponding method that is easy to implement and enables the reliability of receiving and handling beverage cans. The above tasks are accomplished by objects comprising the features of the independent claims. The embodiments of the invention are described in the dependent claims. The invention relates to a beverage can clamp. In various embodiments, the clamp can be designed to receive a beverage can. While generally suitable for beverage cans, the clamp can also be adapted to receive cans containing other contents, such as food. Therefore, the clamp's use is not limited to beverage cans. The clamp comprises at least one gripping means used to grasp a particular beverage can from below in a form-fitting manner, in the region of an upper seam, the upper seam being formed by the particular beverage can. The at least one gripping means may consist of at least one lever, said at least one lever being rotatable about a pivot point so that the gripping means receives and / or releases the particular beverage can. Alternatively or additionally, the at least one lever may be designed to be reversible and elastically deformable. It is conceivable that the at least one gripping means or the at least one lever may be made at least partially of plastic. The clamp also comprises at least one centering device, by means of said at least one centering device the particular beverage can be placed in a defined alignment, in said defined alignment the at least one gripping means is capable of gripping a particular beverage can from below in a shape-fitting manner in the region of its upper seam. If required, the clamp may comprise at least one pusher, said at least one pusher interacting with the at least one gripping means in such a way that it is possible to release a particular shape-fit grip from below the at least one gripping means in the upper seam region by means of a linear drive movement of the at least one pusher. Where appropriate, an end section of the at least one gripping means may be held by the at least one pusher, or the at least one gripping means may be mounted on the at least one pusher, as applicable. In particular, it is possible for an end section of the at least one gripping means to be held by the at least one pusher in a shape-fit and / or jaw-like manner and / or mounted on the at least one pusher in a shape-fit and / or jaw-like manner. Rn / C ίη / 77Π7 / E / YΙΛΙ Alternatively or additionally, it is possible that the at least one pusher interacts with the at least one gripping means, such that the at least one gripping means is able to apply a clamping force to a beverage can by a linear drive motion of the at least one pusher, to grip the particular beverage can in the region of the particular top seam. It is also conceivable that the at least one pusher interacts with the at least one gripping means, so that the clamping force applied to hold a particular beverage can in the region of the particular top seam may be undone by an additional drive motion of the at least one pusher, with the additional drive motion preferably running in the opposite direction. It is also possible for the gripper to comprise a plurality of gripping means, with a common pusher being assigned to the plurality of gripping means, and with the common pusher interacting with the plurality of gripping means, such that a particular grip, conforming to the shape from below of the plurality of gripping means in the upper seam region, may be released by a linear drive motion of the common pusher. The plurality of gripping means may be oriented away from the common pusher or project radially from the common pusher, as applicable. Alternatively or additionally, the gripper may comprise a plurality of gripping means, with the common pusher being assigned to the plurality of gripping means, and with the common pusher interacting with the plurality of gripping means, such that the plurality of gripping means are able to apply a clamping force to the particular beverage can by a linear drive movement of the common pusher to grip the particular beverage can in the region of the particular top seam. It is also possible that the at least one pusher or the common pusher forms a threaded section that communicates with a corresponding collet thread, such that the at least one pusher or the common pusher is capable of performing a particular linear drive motion by means of a rotary motion, preferably about its longitudinal axis. Alternatively or additionally, the at least one pusher or the common pusher may be pneumatically controllable to perform a particular linear drive motion. Where appropriate, the collet threaded section may be provided by a collet mounting plate and / or a collet joint, which will be described below. It is also possible that the gripper comprises at least one spring, said at least one return spring being capable of applying a spring force to the pusher or common pusher to return the pusher to the starting position after performing the movement of Rn / C ίη / 77Π7 / E / YILI linear drive. Alternatively or additionally, it is possible that at least one return spring is capable of pressing at least one gripping means by applying force against the particular beverage can in the region of the upper seam. It is conceivable that the at least one gripping means used to grasp the beverage can from below in a form-fitting manner in the region of the upper seam comprises at least one insert designed as a hook, said at least one insert designed as a hook being designed as a replaceable component of the at least one gripping means. The at least one insert designed as a hook may be made of steel, aluminum, and / or plastic, as the case may be. Additionally, the clamp may comprise at least one torsion spring, with the at least one clamp being in contact with the at least one torsion spring, and with the at least one gripping means being held in position by the at least one torsion spring while the gripping means grasps a particular beverage can from below in a form-fitting manner, and with the form-fitting grip from below of the at least one gripping means not being undone by the elastic spring movement of the at least one gripping means against the spring force of the at least one torsion spring. Several embodiments are possible in which each gripping means of the plurality of gripping means has two torsion springs assigned thereto, which are connected to the particular gripping means on opposite sides or are in contact with the particular gripping means on opposite sides, as applicable. Where appropriate, the gripper may comprise a ball joint. By means of this ball joint, at least one gripping means and / or at least one centering device and / or at least one pusher or common pusher, as applicable, are rotatably mounted. In this context, it is conceivable that the gripper has a mounting plate and a formed part. The formed part may form the at least one centering device. Furthermore, the formed part and the mounting plate together may form the ball joint. Additionally, it is conceivable in various embodiments that the formed part may be displaced relative to the mounting plate in the axial or Z direction, as applicable. It is also possible that the clamp comprises at least one spring, preferably formed from a plurality of leaf springs, and that at least one spring provides a restoring force in a rotary movement of the ball joint for the at least one gripping means and / or for the at least one centering device and / or for the at least one pusher or for the common pusher, as applicable. The at least one spring, preferably formed from a plurality of leaf springs, may be in contact with the formed part described above, as well as with the mounting plate described above. The invention also relates to a gripping head for a plurality of cans Rn ! C Ln / Zznz / E / YIAI of beverage, said plurality of beverage cans remain contiguous to one another. The gripping head comprises at least two grippers according to at least one exemplary embodiment of the above description, with one particular gripper being designed to grip a particular beverage can or a plurality of beverage cans. One particular gripper of the at least two grippers may form a particular mounting plate, with the mounting plates of the at least two grippers bearing at the same level to one another. The number of grippers of the gripping head and the number of beverage cans to be received in each case may correspond. In practice, a gripping head may have exactly six grippers or exactly eight grippers, for example. It is conceivable for the gripping head that the at least one centering device of the particular gripper is positioned such that the at least one centering device comes into surface contact with an outer body surface in at least one defined region of the particular beverage can when it receives the particular beverage can, said at least one defined region being positioned off-center along the circumference of the particular beverage can with respect to at least one contact region in which the beverage can is contiguous to at least one other beverage can. Thus the gripping head can be designed to receive a plurality of beverage cans, said plurality of beverage cans being each formed by a plurality of contiguous thin cans or slim cans. The invention also relates to a method for receiving at least one beverage can by means of at least one clamp. The features already described above relating to various embodiments of the clamp or gripping head can be provided similarly for the embodiments of the method described below, and are therefore not mentioned repeatedly. The features described above that pertain to the method's modes of operation may also be provided for the gripper or grasping head modes already described above. Where appropriate, the gripper or grasping head may be designed to implement the modes of operation described below of the method according to the invention. The method provides that, in order to receive at least one beverage can, at least one gripping means, which is designed as a component of at least one clamp, grips the at least one beverage can from below in a shape-fitting manner in the region of a particular upper seam, said particular upper seam being formed by the particular beverage can. It is anticipated that at least one beverage can will enter into a defined alignment by means of at least one centering device, which is designed as a component of at least one gripper, wherein the defined alignment of the at least one gripping means of the at least one gripper is capable of gripping a particular beverage can from below in a shape-fitting manner in the region of the particular upper seam. In this context, it is possible that the gripper is positioned on the at least one particular beverage can in a direction coming from above, with the at least one centering device, which is designed as a part of the at least one gripper, coming into surface contact with the at least one beverage can, and in the process putting the at least one beverage can into a defined alignment, wherein in the defined alignment the at least one gripping means of the at least one gripper is able to grip a particular beverage can from below in a shape-fitting manner in the region of the particular upper seam of the beverage can. It is possible that the at least one clamp has at least one pusher, said at least one pusher performs a linear drive motion, with the result that the gripping adjustment from below of the at least one gripping means is undone. It is also possible that the at least one clamp has at least one pusher, said at least one pusher performing a linear drive motion, with the result that a clamping force is applied to a particular beverage can by means of the at least one gripping means, so that the at least one gripping means holds the particular beverage can. It is also possible that the at least one clamp has at least one pusher, said at least one pusher performing a linear drive motion, with the result that a clamping force applied up to and after on the particular beverage can by the at least one gripping means, so that the at least one gripping means holds the particular beverage can, is released. It is also possible that a gripper or a plurality of grippers each have a plurality of gripping means, with a common pusher being assigned to the plurality of gripping means of the particular gripper, said common pusher performing a linear drive motion, with the result that the shape-fit grips from below by the plurality of gripping means are released simultaneously or at least approximately simultaneously. It is also conceivable that a clamp or a plurality of clamps each have a plurality of gripping means, with a common pusher being assigned to the plurality of gripping means of the particular clamp, said common pusher performing a linear drive motion, with the result that the plurality of gripping means apply a clamping force to a particular beverage can simultaneously or at least approximately simultaneously, to grip the particular beverage can. It is also conceivable that a clamp or a plurality of clamps each have a plurality of gripping means, with a common pusher being assigned to the plurality of gripping means of the particular clamp, said common pusher performing a linear drive motion or an additional linear drive motion, as applicable, with the result that the clamping forces applied a and n thereafter on the particular beverage can by the plurality of gripping means to hold the particular beverage can are released simultaneously or at least approximately simultaneously. It is conceivable that at least one pusher or the common pusher forms a threaded section, which communicates with a corresponding connecting thread of the particular clamp, and that the at least one pusher or common pusher preferably rotates about a longitudinal axis and thereby performs a particular linear drive motion. Alternatively or additionally, it is possible that the at least one pusher is pneumatically controllable to perform a particular linear drive motion. It is possible that the at least one clamp has at least one torsion spring, with said at least one torsion spring the at least one gripping means being in contact, with the at least one gripping means being pressed under the upper seam of a particular beverage can when it receives a particular beverage can, and with the grip being adjusted to the shape from below by the at least one gripping means being subsequently undone by a spring-like movement of the at least one gripping means against a spring force of the at least one torsion spring. It is also possible that the at least one gripper has at least one ball joint, by means of said ball joint the at least one particular gripping means and / or the at least one particular centering device and / or the at least one particular pusher or the particular common pusher, as applicable, rotates, as required, if a current position of a particular beverage can deviates from an expected target position of a particular beverage can when received by the at least one particular gripper. It is also conceivable that the at least one clamp comprises at least one spring, said at least one spring preferably being formed from a plurality of leaf springs, and said at least one spring rotates the at least one particular gripping means and / or the at least one particular centering device and / or the at least one particular pusher or the common pusher, as applicable, back with spring force to a starting position in a rotary motion made after the at least one particular beverage can has been received. In the following passages, the accompanying figures further illustrate typical embodiments of the invention and its advantages. The size relationships of individual elements in the figures do not necessarily reflect the actual size relationships. It should be understood that in some cases various aspects of the invention may be shown exaggerated or enlarged in relation to other elements to facilitate understanding of the invention. Figures 1A and 1B show a schematic perspective view and a schematic cross-section of one embodiment of a clamp according to the invention. Figure 2 shows individual details of the modality of a clamp according to Figures 1A and 1B. Figures 3A and 3B illustrate a beverage can being received by a clamp modality according to Figures 1A and 1B and 2. Figure 4 shows a cross-sectional view through an additional embodiment of a clamp according to the invention. Figure 5 shows another cross-sectional view through the modality of a clamp according to Figure 4. Figures 6A to 6E show a total of five schematic illustrations (Figure 6A, Figure 6B, Figure 6C, Figure 6D, and Figure 6E) presenting an additional embodiment of a clamp according to the invention. Figures 7A to 7E show a total of five schematic illustrations (Figure 7A, Figure 7B, Figure 7C, Figure 7D, and Figure 7E) presenting an additional embodiment of a clamp according to the invention. Figure 8 shows a schematic perspective view of one modality of a gripping head according to the invention. Figures 9A to 9D show a total of four schematic perspective, side or section views (Figure 9A, Figure 9B, Figure 9C, and Figure 9D) illustrating an embodiment of a gripping device comprising a plurality of clamps according to an embodiment of the present invention. Figure 10 shows a schematic view of a beverage can such that it can be received in each case by the modalities of a clamp or a gripping head according to Figures 1A to 9D. Figure 11 shows a flowchart of individual steps that can be provided in various modalities of the method according to the invention. Identical or equivalent elements of the invention are designated using identical reference characters. Additionally, for the sake of clarity, only the reference characters relevant to describing individual figures are provided. It should be understood that the detailed description and specific examples, even if they indicate preferred embodiments, are intended for illustrative purposes only and are not intended to limit the scope of the invention. It must be explicitly mentioned that at this point all aspects and modality variants explained in the context of the clamp and gripping head according to the invention, Rn / C ίη / 77P7 / E / YILI may likewise belong to or constitute aspects of the method according to the invention. If specific aspects and / or interrelationships and / or effects related to the gripper or the gripping head according to the invention are mentioned at any point in the present description or in the claim definitions, they therefore likewise belong to the method according to the invention. The same applies in reverse, so that all aspects and modality variants explained in the context of the method according to the invention may also belong to or constitute partial aspects of the gripper or the gripping head according to the invention.If specific aspects and / or interrelationships and / or effects related to the method according to the invention are mentioned at any time in the present description or in the definitions of the claims, this therefore also applies to the clamp or gripping head according to the invention. Figure 1A shows a schematic perspective view and Figure 1B shows a schematic cross-section of one embodiment of a clamp 1 according to the invention. By means of the clamp 1 shown herein, it is possible to receive a particular beverage can 20 such as the one illustrated exemplarily in Figure 10. To achieve this, the clamp 1 comprises a plurality of gripping means 9, which in the present context are each formed by a lever 7 and have a hook 8 at their downstream end. A centering device 30, which in this context has four centering fingers 32, is mounted on a mounting plate 12 of the gripper 1 via a ball joint 15 (see Figure IB). To receive a beverage can 20, the gripper 1 is positioned on the beverage can 20 in an upward direction. The four centering fingers 32 initially rest on an outer surface 2 of the beverage can 20. If the beverage can 20 is not in the expected target position at this point, it is displaced by the centering fingers 32 and placed in a suitable position for receiving the beverage can 20 by means of gripping means 6 or hooks 8, as applicable. This is how gripper 1 is able to align the beverage can 20 by means of the centering device 30. In the perspective illustration of figure 1A, the beverage can 20 has not yet been received by gripper 1. Starting from the position of figure 1A, gripper 1 has been moved further down or closer to the beverage can 20, with the hooks 8, which are formed by the gripping means 6, gripping the beverage can 20 from below in the region of its upper seam 5 and then holding the beverage can 20 in a shape-fitting manner, according to figure 1B. As will be described later for Figure 2, the gripping means 6 in each case make contact with a torsion spring 17 such that the hook 8 of the gripping means 6 is able to rotate about the pivot point 50 when the clamp 1 is being positioned on the beverage can 20, and the hook 8 then presses into the upper seam 5 due to the restoring force of the torsion spring 17 and grips the beverage can 20 from below in a form-fitting manner in the region of the upper seam 5, as can be discerned in Figure 1B. The embodiment of gripper 1 according to Figures 1A and 1B has exactly four gripping means 6, each having a hook 8 at its downward-facing end. It should be understood that this number is only an example, and that other embodiments of gripper 1 may also have more than exactly four gripping means 6 or fewer than exactly four gripping means 6. If required, it is also possible that the arrangement or displacement, by means of which the gripping means 6 are deflected from the longitudinal axis of the particular beverage can to be received, may differ from the arrangement or displacement of the modality of Figures 1A and 1B. In this context, the gripping means 6 or the hooks 8 are arranged 90° off-center to each other, allowing the beverage can 20 to be held very securely. Figure IB also shows that the centering fingers 32 remain in surface contact with the other body surface 2 of the beverage can 20, while the seam 5 of the beverage can 20 is gripped from below by the gripping means 6 or the hook 8. In addition to the function of the centering fingers 32 to align the beverage can 20 so that it is received by the gripping means 6, the beverage can 20 is held in position under the surface contact of its outer body surface 2 with the centering fingers 32 when the gripper 1 carries the particular beverage can 20 or carries it along a transfer path. It is also clear from the perspective view of Figure 1A that each centering finger 32 is followed by a hook 8 along the circumference of the beverage can 20. In this way, a hook 8 or gripping half 6 is formed by the clamp 1 between each pair of centering fingers 32. If the beverage can 20 is to be released after being gripped by the clamp 1, it is necessary for this purpose that the grip on the beverage can 20 from below in the region of the upper seam 5 by the hooks 8 be released. Therefore, either the hooks 8 or the gripping means 6 must be moved away from the seam 5 in each case, so that the beverage can 20 is no longer held by the gripping means 6 in a form-fitting manner. To this end, the clamp 1 has a pusher 3, which is capable of performing a linear drive movement to release the existing grip by the hooks 8 from below. The longitudinal section of Figure IB in this context illustrates that the pusher 3 forms a thread 22, which is in coupling with a corresponding splice thread 24 of the clamp 1. Due to the corresponding coupling between the thread 22 and the splice thread 24, the pusher 3, when rotated, moves upwards in a vertical direction or downwards in a vertical direction, in a linear manner and depending on the particular direction of rotation. All gripping means 6 are held by or accommodated by pusher 3 such that all hooks 8 can be moved out of the top seam 5 of the beverage can 20 by means of a single linear drive motion of pusher 3. The gripping means 6 are rotated about the pivot point 50 by means of a linear drive motion of pusher 3 so that the hooks 8 leave the top seam 5 of the beverage can 20, resulting in the beverage can 20 no longer being held by the gripping means 6 in a form-fitting manner. Thus, the gripping means 6 or the lever 7, as applicable, are elastically deformable in a reversible manner, with the result that it is possible for the gripping means 6 or the hooks 8, as applicable, to rotate about the pivot point 50. As mentioned earlier, the gripping means 6 are in contact with the torsion springs 17, which are discernible in detail in the enlarged perspective illustration of Figure 2. If the pusher 3 moves back upwards in a linear manner after a particular beverage can 20 has been released, the torsion springs 17 in the process rotate the gripping means 6 or the hooks 8 back to a starting position. From this starting position, the gripping means 6 or the hooks 8 are able to snap under the top seam 5 of another particular beverage can 20 when the clamp 1 is positioned over the other particular beverage can 20. In practice, it may be necessary to clamp beverage cans 20 with a relatively high mass. In this case, the grip exerted on the beverage can 20 from below, conforming to the shape of its upper seam 5, and the clamping force between a particular hook 8 and the beverage can 20—this clamping force being applied, as the case may be, by torsion springs 17 (see Figure 2) on the hooks 8—may not be sufficient to securely clamp such a high-mass beverage can 20. The described functional principle of the clamp 1 conveniently also allows for a greater clamping force to be applied by the hooks 8 to hold the beverage can 20. As can be discerned in Figure IB, the gripping means 6 or levers 7, as applicable, are housed by the pusher 3 or mounted on the pusher 2 in a form-fit manner. When the pusher 3 moves upward in a linear manner, the gripping means 6 necessarily rotate about the pivot point 50 in the process, with the result that the clamping force of the particular hook 8 pressing against the beverage can 20 is further intensified. Rn / C ίη / 77Π7 / E / YΙΛΙ However, in many cases, gripping a particular beverage can 20 from below in a way that conforms to the shape in the region of the upper seam 5 will be sufficient to safely transport the beverage can 20 by means of the clamp 1. It is possible to further increase the gripping force, as required, if the beverage can 20 has a relatively high mass. If a beverage can 20 is not located exactly in the intended position for reception, a particular beverage can 20 is aligned by the centering fingers 32, as previously described, so that the gripping means 6 are able to reliably receive the particular beverage can 20. To avoid damaging the beverage can 20 in the process, a first possibility that has proven useful is for the centering fingers 32 to taper downwards according to Figures 1A and 1B. Since the same centering fingers 32 are formed to be rigid or relatively rigid, it has also been found successful, in addition to or as an alternative to the tapered design of the centering fingers 32, to provide a ball joint 15 and at least one spring 40. In the present context, the at least one spring 40 is formed by a plurality of leaf springs 42. The longitudinal section of Figure IB also shows that the ball joint 15 is formed by the mounting plate 12 and a formed part 14. The formed part 14 also forms the centering device 30 or, as applicable, forms the centering fingers 32 and also the splice thread 24, which is in coupling with the corresponding thread 22 of the pusher 3. If a centering finger 32 makes contact with a beverage can 20 that is not in a suitable position for receiving, the centering fingers 32 may be rotated by the ball joint 15 against the restoring force of at least one spring 40 or the leaf springs 42, as applicable. After the beverage can 20 has been received or during transport of the beverage can 20 by the gripper 1, the centering fingers 32 are rotated back to their starting position by means of the restoring force of at least one spring 40 or the leaf springs 42. The at least one spring 40 or the leaf springs 42 are in mechanical contact with both the mounting plate 12 and the formed part 14, or are arranged between the formed part 14 and the mounting plate 12. The detailed perspective view in Figure 2 shows individual details of a gripper 1 as shown in Figures 1A and 1B. The torsion springs 17, with which the gripping means 6 or levers 7 are in contact, can now be seen in the illustration in Figure 2. According to Figure 2, it is possible in this context to provide a plurality of torsion springs 17, with adjacent gripping means 6 being connected in each case by an intermediately arranged torsion spring 17. Alternatively, it is also conceivable that exactly a spring be provided. Rn / C ίη / 77Π7 / E / YILI torsion 17, which has a circular and / or annular shape and with which each of all the gripping means 6 are connected. The two longitudinal sectional views in Figures 3A and 3B illustrate a beverage can 20 being received by a gripper 1, as shown in Figures 1A and 1B. Figure 3A shows the gripper 1 still positioned above the beverage can 20. The gripper 1 may be coupled by means of the mounting plate 12 to a handling device, not shown herein, which moves the gripper 1 into the position shown in Figure 3A. Alternatively, the beverage can 20 may be located on a horizontal conveyor, as applicable. The handling device may be designed as an industrial robot or as a two-bridge system. Figures 3A and 3B, viewed together, illustrate the further procedure for receiving a beverage can 20. Gripper 1 is positioned on beverage can 20 in an upward direction. In this context, the centering fingers 32 make surface contact with an outer body surface 2 of beverage can 20 and align the can 20, as required, if its particular position does not correspond to a target position suitable for receiving it. During a further movement of gripper 1 toward beverage can 20, hooks 8 are pressed into the top seam 5, thereby gripping the beverage can 20 from below in a form-fitting manner and securing it to gripper 1. If required, it is possible to subsequently move the pusher 3 upwards in a linear manner, thereby further intensifying the gripping force of the hooks 8 that grip the beverage can 20 in the region of the upper seam 5. Figure 4 shows a cross-sectional view of another embodiment of a gripper 1 according to the invention. Corresponding to the embodiment described above for Figures 1A to 3B, the embodiment of a gripper 1 according to Figure 4 also comprises a pusher 3, a mounting plate 12, a formed part 14, at least one spring 40, which is made of leaf springs 42 in the present case, a plurality of gripping means 6 or levers 7, as well as a centering device 30 with a plurality of centering fingers 32, which are capable of aligning a beverage can 20, as required, and stabilizing it while it is being handled. In the embodiment shown in Figure 4, the pusher 3 is pneumatically actuated and is capable of performing a linear drive motion with a specific pneumatic drive, enabling the hooks 8 to release the top seam 5 of the beverage can 20, thereby freeing the beverage can 20. Since in practice the beverage cans 20 are gripped and transported by a clamp 1 at high speed, the gripping means 6 frequently tend to show signs of wear in the region of their hooks 8. In the embodiment of Figure 4, the hooks 8 of the gripping means 6 are each formed by an insert 9. This particular insert 9 can be replaced, as required, when signs of wear occur. It has been found that it is convenient for the inserts 9 to be made of steel, aluminum, and / or plastic. Since the inserts 9 are replaceable, it is possible to ensure that even if wear occurs on a hook 8, a particular beverage can 20 will still be gripped from below in a shape-fitting manner in the region of its upper seam 5, and will continue to be transported safely. It is not necessary to replace the clamp 1 immediately, thus ensuring a long service life. Figure 5 shows another cross-sectional view of a gripper 1 as shown in Figure 4. Again, the inserts 9 are visible in Figure 5, forming the hooks 8 of the gripping means 6 and capable of gripping a particular beverage can 20 from below in the region of its upper seam 5 (see Figure 10). The inserts 9 are housed in a form-fitting manner by a remaining portion of the gripping means 6 and can be removed from this portion by an axial movement. The embodiment of a clamp 1 according to figures 4 and 5 also comprises a plurality of return springs 55 in contact with the pusher 3. Temporarily after the pusher 3 has been moved in the downward vertical direction so that the grip of the hooks 8 from below in the upper seam region 5 is released, the return springs 55 are able to move the pusher 3 in a linear manner back to a starting position by means of a spring force. Since the gripping means 6 are in contact with the pusher 3, and since the return springs 55 press the pusher 3 with the upward spring force in a linear manner, it is possible that the hooks 8, having received a beverage can 20, may be further pressed by the application of force against the particular beverage can 20 by means of the return springs 55. Thus, a particular beverage can 20 may be held in a clamping manner by the hooks 8 by means of a particular spring force from the return springs 55, making it possible for the clamp 1 to carry a particular beverage can 20 with no risk, or only a slight risk, of inadvertently disengaging. The return springs 55 according to the modality of figures 4 and 5, as well as the inserts 9 designed as hooks 8 according to the modality of figures 4 and 5, can also be provided for the modality of figures 1A to 3B. Figures 6A to 6E show another embodiment of a gripper 1 according to the invention, in a plurality of schematic illustrations. Corresponding to the embodiments described above for Figures 1A to 5, the embodiment of a gripper 1 according to Figures 6A to 6E also comprises a pusher 3, a mounting plate 12, and a formed part 14, at least Rn / c Ln / zznz / E / YiAi a spring 40, a plurality of gripping means 6 or levers 7, as well as a centering device 30 with a plurality of centering fingers 32, which are capable of aligning a beverage can 20, as required, and stabilizing it while it is being handled. The beverage can in Figure 6A is designated with reference number 20. Spring 40 is located on or accessible from the outside and applies a restoring force to the formed part 14 relative to the mounting plate 12 when the formed part 14 and the mounting plate 12 are rotated relative to each other or moved axially relative to each other. Such rotation is possible when the centering fingers 32 are not precisely aligned with the particular beverage can 20 during positioning on the beverage can 20. In this process, gripper 1 is able to perform a compensating movement by means of the ball joint 15. The individual details of the gripper modality 1 are clearly discernible in the enlarged and detailed view of Figure 6B. The pusher 3 houses the gripping means 6 according to the modalities illustrated above, and is capable of rotating the hooks 8 by means of an axial movement about the pivot point 50. The embodiment of a gripper 1 according to Figures 6A to 6E also has a return spring 55, but its function differs in the embodiment of Figures 6A to 6E from the embodiments illustrated above. On the one hand, as can be seen in Figure 6B together with Figure 6C, the gripper 1 is being positioned over a beverage can 20 to receive the particular beverage can 20. In this context, the centering fingers 32 align the beverage can 20 in such a way that the gripping means 6 are able to grasp the beverage can 20 below the seam 5 (cf. Figure 6C) after the beverage can 20 has been fully aligned. The contact between the formed part 14 and the mounting plate 12 via the ball joint 15 is now established, allowing the formed part 14 to be displaced axially relative to the mounting plate 12 against a spring force 40. This allows for the initial compensation of tolerances in the vertical direction when the beverage can 20 is received, should its height deviate slightly from the expected target height. The formed part 14 can yield vertically relative to the mounting plate 12. As the gripper 1 lifts the beverage can 20 after receiving it, the spring 40 guides the formed part 14 back to its starting position. In practice, gripper 1 is normally positioned over the beverage can 20 such that the formed part 14 moves in the axial direction with respect to the mounting plate 12 against the force of spring 40. If the beverage can 20 is in an skewed position or if the beverage can 20 is not exactly in an expected position, it is possible to align the beverage can 20 by pushing it in such a way by means of the centering fingers Rn / C ίη / 77Π7 / E / YΙΛΙ 32. In the illustration in Figure 6B, clamp 1 is still positioned above beverage can 20, whereas clamp 1 in the illustration in Figure 6C is already positioned on beverage can 20. After clamp 1 has been positioned on beverage can 20 according to Figure 6C, hook 8 is already located on seam 5 or at least positioned in close proximity to seam 5. However, the beverage can 20 in Figure 6C is not yet being securely held by the clamp 1, as the hooks 8 are not yet pressed against the beverage can 20 with the specified gripping force. The return spring 55 in Figure 6C is either unloaded or applies only a very weak force to the gripping means 6. The further procedure for receiving the beverage can 20 follows from the schematic illustration in Figure 6D. The pusher 3 is pulled axially upward, causing the hooks 8 to be pressed against the beverage can 20 at the seam 5 by the application of force or in a clamping manner, and securing the beverage can 20 to the gripper 1. At the same time, the return spring 55 is loaded by the axial movement of the pusher 3 and is held in a loaded state. Starting with the illustration in Figure 6D, or after the beverage can 20 has been received, the gripper 1 can move the beverage can 20 to a specific target location. If the beverage can 20 is to be released at the target location, the pusher 3 moves back for this purpose to the starting position in an axial manner, by means of the restoring force of the return spring 55 and due to its mass, with the result that the beverage can 20 is no longer held fixed to the clamp 1 by the hooks 8. This is how the release of the beverage can 20 is carried out without the aid of an actuator, and simply by means of the restoring force of the return spring 55 and due to the weight or mass of the pusher 3 itself. Figure 6E shows a schematic cross-sectional view diagonally from below of clamp 1, now without the beverage can 20. The illustration in Figure 6E, in this context, again presents the construction design of the return spring 55 for the modality described in Figures 6A to 6D. The return spring 55 consists of a plurality of V-shaped fins, more precisely, in this case, four V-shaped fins, each of which is fixedly connected at one end to the pusher 3. Figures 7A to 7E show schematic illustrations of another embodiment of a gripper 1 according to the invention. Corresponding to the embodiments described above for Figures 1A to 6E, the embodiment of a gripper 1 according to Figures 7A to 7E also comprises a pusher 3, a mounting plate 12, a formed part 14, at least one spring 40, a plurality of gripping means 6 or levers 7, and a centering device 30 with a plurality of centering fingers 32, which are capable of aligning a beverage can 20, as required, and of stabilizing it while being handled. The beverage can in the illustration in Figure 7A is also designated with the reference number 20. The spring 40 is located on or accessible from the outside and applies a restoring force to the formed part 14 with respect to the mounting plate 12 when the formed part 14 and the mounting part 12 are rotated relative to each other or moved axially relative to each other. Such rotation is possible when the centering fingers 32 are not precisely aligned with the particular beverage can 20 during positioning on the beverage can 20. In this process, the gripper 1 is able to perform a compensating movement by means of the ball joint 15. The embodiment of a gripper 1 in Figures 7A to 7E differs from the embodiment of a gripper 1 in Figures 6A to 6E in the construction design of the return spring 55. According to the embodiment of the return spring 55 in Figure 6A and below, the return spring 55 of the embodiment in Figure 7A and below is provided for the purpose of moving the pusher 3 back to a starting position by spring force if the beverage can 20 is to be released by the gripper 1. The return spring 55, as shown in Figures 7A to 7E, is positioned in the region of the ball joint 15. The pusher 3 extends through the return spring 55. The return spring 55 is also fixedly connected to the mounting plate 12 of the clamp 1. This return spring 55 design, as shown in Figures 7A to 7E, is characterized by high fatigue resistance. In addition to the gripper 1 according to Figure 7A, the detailed schematic illustration in Figure 7B shows a mechanism by means of which the pusher 3 can be actuated to receive a beverage can 20. The mechanism is part of the whole gripping device 60 which can be seen in the schematic perspective view according to Figure 9A. As shown in Figure 7B, the pusher 3 forms a head 4 with a mushroom-shaped design at its upward-facing end. A drive means 62 grips the head 4 from below so that the drive means 62 can be moved upward, thereby pulling the pusher 3 upward along with it. As described earlier, it is possible to make the hooks 8 rest on the beverage can 20 in the seam region 5 by applying force. If a particular beverage can 20 is to be released, the drive means 62 moves back down to the starting position according to Figure 7B. In this context, the pusher 3 follows the movement of the drive means 62 and is moved downwards due to the restoring force of the return spring 55 and due to its own mass or weight. The longitudinal section of Figure 7B also shows that the drive means κη / c Ln / zznz / E / YiAi is housed in a casing 64, which, on the one hand, guides the drive means 62 in the axial direction and, on the other hand, prevents accidental access by a user from the outside. Figure 7B also illustrates that the drive means 62 has a clearance 63 in which the head 4 of the pusher 3 is housed. The head 4 can be raised in the axial direction relative to the drive means 62 within this clearance 63. If the gripper 1 does not align precisely with a beverage can 20 when being positioned on the particular beverage can 20, the pusher 3 is able to tilt slightly upwards, thus counteracting damage to the particular beverage can 20. In practice, it is also envisaged that gripper 1 will be positioned on beverage can 20 and subsequently moved further towards, or subsequently pressed onto, beverage can 20, as applicable, until formed part 14 and mounting plate 12 advance towards each other. This relative movement between formed part 14 and mounting plate 12 can be 2 millimeters, as the case may be. If beverage can 20 is not in a target position, or if it is in an orientation that deviates from a target orientation, it may be possible to align beverage can 20 by pushing it in this manner. In this context, the pusher is again able to yield in clearance 63 so that the pushing action does not, in practice, involve damage to beverage can 20. Figures 7C and 7D, viewed together once again, illustrate two consecutive steps that take place when a beverage can 20 is received by the gripper modality 1 according to Figures 7A to 7E. In Figure 7C, clamp 1 is already positioned on the beverage can 20. Hooks 8 are already in the seam region 5, but are not yet being supported by the application of force on the beverage can 20. In Figure 7D, pusher 3 is pulled upward, causing hooks 6 to rest on beverage can 20 by applying force and simultaneously loading the return spring 55. If beverage can 20 is to be detached from gripper 1, pusher 3 is moved back to its starting position by means of the restoring force of the return spring 55. Figure 7E shows a schematic cross-sectional view through gripper 1 and in this context shows, in particular, the design of a return spring 55 that is designed as part of gripper 1. The return spring 55 is positioned in the region of the ball joint 15. The return spring 55 is also guided around, or houses, the pusher 3. At its upper end, the pusher 3 forms a mushroom-shaped head 4 that can be gripped from below by an actuating means 62, according to Figure 7B. Rn / c ίη / ζζηζ / Ε / γίΛΐ Figure 8 shows a schematic perspective view of one embodiment of a gripping head 10 according to the invention. The gripping head 10 comprises multiple grippers 1, which may be designed according to the exemplary embodiment of Figures 1A to 3B and / or according to the exemplary embodiment of Figures 4 and 5. The beverage cans 20 received by the gripping head 10 in Figure 8 and illustrated again in Figure 10 are designed as so-called slim cans, characterized in that the cross-sectional diameter of the beverage can 20 is shaped to be almost identical along its entire height. Such a beverage can 20 has a narrowing only in the seam region 5. A top rim region and the outer body surface 2 of the beverage can 20 have an identical or nearly identical cross-sectional diameter. When a group of said beverage cans 20 is received, the adjacent beverage cans 20 are supported against each other by their outer body surfaces 2. The gripping heads known in the prior art receive said groups of beverage cans 20 pneumatically; for this purpose, negative pressure is generated in each case between a lid of a particular beverage can and the gripping head. In this context, the beverage can 20 is immersed in a particular suction head of said gripping head. Due to the geometry of a thin can, as illustrated in Figure 10, this gripping head cannot, or only with difficulty, receive a plurality of contiguous beverage cans 20 pneumatically. Because of their geometry, the beverage cans 20 are very close to each other from the bottom section to the lid. With gripping heads known in the prior art, it is not possible to immerse contiguous thin cans in the particular suction head so that the gripper can be pneumatically grasped. Another disadvantage is that a particular beverage can 20 can be inadvertently detached from the suction head, as the lid does not have a smooth surface due to the tab located on it. Furthermore, it is not possible with known prior art gripping heads to mechanically receive a plurality of such beverage cans 20 by means of clamping elements on the outer body surfaces 2, because the beverage cans 20 rest against each other almost along their entire length due to their geometry, and therefore the outer body surfaces 2 are not partially accessible along their entire length. The gripping head 10 of Figure 8 is capable of receiving and subsequently safely transporting a plurality of said beverage cans 20. From Figure 8, it can be observed in this context that the centering fingers 32 are each positioned such that the centering fingers 32 are in surface contact with an outer body surface 2 of the Rn! C ίη / 77Π7 / E / YΙΛΙ particular beverage can 20 in a specific region, said specific region being off-center along the circumference of the particular beverage can 20 with respect to a contact region in which the particular beverage can 20 is contiguous to an adjacent beverage can 20. Thanks to said positioning of the centering fingers 32, it is possible to align all the beverage cans 20 of a particular group by means of the centering fingers 32 while the gripper 1 is being positioned over the beverage cans 20. During another movement of the gripper 1 towards the beverage cans 20, the beverage cans 20 are held from below in a shape-fitting manner in the region of their particular upper seams 5 by a plurality of gripping means 6, as already described for Figures 1A to 5. Therefore, the gripping head 10 is particularly suitable for receiving a plurality of beverage cans 20 that remain supported on one another and that are formed from thin cans. The different views in Figures 9A to 9D show an exemplary embodiment of a gripping device 60 capable of receiving a plurality of beverage cans 20 simultaneously. The gripping device 60 has a separate gripper 1 for each beverage can 20 received. In this instance, the gripping device 60 is capable of holding four beverage cans 20 simultaneously; for this purpose, the gripping device 60 has four grippers 1. In the gripping device 60 of Figures 9A to 9D, each gripper 1 is designed according to the exemplary embodiment described above in Figures 7A to 7E. From Figure 9A, spring 40, or the externally located spring 40, can be seen. This spring 40 provides appropriate tolerance compensation if a particular clamp 1 is not precisely positioned on the particular beverage can 20. Furthermore, as shown in Figure 9A with reference number 64 and already illustrated in Figure 7B, there is the housing in which the drive means 62 are arranged, which are provided for axially moving a particular pusher 3. Each gripper 1 comprises four centering fingers 32, which are attracted into support with the outer body surface 2 of a particular beverage can 20, to align the particular beverage can 20. According to the exemplary embodiment of Figures 9A to 9D, the gripping device 60 may be mounted on a two-bridge system, for example, guiding the gripping device 60 over the beverage containers. Figure 9B again shows the drive means 62, which are capable of pulling the pusher 3 upwards and thereby pressing the hooks 8 against the beverage can 20 by applying force or in a clamping manner, as applicable. The return spring 55 is also illustrated, which is capable of moving the pusher 3 back to its starting position, so that the beverage can 20 is released. Rn ! C Ln / Zznz / E / YIAI The clamps 1 in Figures 9C and 9D are identical to clamps 1 in Figures 9A and 9B, or relate to an exemplary embodiment, as applicable. From Figures 9A and 9B viewed in conjunction with Figures 9C and 9D, it is clear that clamps 1 are suitable for receiving so-called thin cans, as exemplified in Figure 10. According to figures 9C and 9D, it is also possible for these clamps 1 to receive other beverage cans 20 that are different in terms of their geometry from the thin cans of figure 10. In this way, said clamp 1 is also suitable for receiving beverage cans 20 formed by regular beverage cans or standard cans, by preserved food cans, or by beverage cans 20 with a polygonal cross-section. Figure 10 shows a schematic view of a beverage can 20 that can be received in each case by the modalities of a gripper 1 or a gripping head 10 and a gripping device 60 according to Figures 1A to 9D. The beverage can 20 is designed as a slim can, with a cross-sectional diameter that remains almost constant along its entire height. Only in the region of the lid or the tab does the beverage can 20 form an upper seam 5, by means of which a gripper 1 or a gripping head 10 or a gripping device 60, as applicable, is able to grip the beverage can 20 from below in a form-fitting manner, according to the previous exemplary modality of Figures 1A to 9D. Figure 11 shows a flowchart of individual steps that can be provided in various embodiments of Method 100 according to the invention. In the first step of Method 110, a gripper 1 descends toward a beverage can 20, with the particular beverage can 20 being brought into a defined alignment by means of the centering device 30, which is designed as part of at least one gripper 1. In said defined alignment, a plurality of gripping means 6 designed as part of the gripper 1 are capable of gripping the beverage can 20 from below in a form-fitting manner in the region of an upper seam 5. To place the beverage can 20 into the defined alignment, a plurality of centering fingers 32, which are designed as part of the centering device 30, come into contact with an outer body surface 2 of the beverage can 20 and, in the process, push the particular beverage can 20 into the defined alignment. In the second step of method 120, clamp 1 is lowered further into the beverage can 20. By doing this, the particular beverage can 20 is held from below in a shape-fitting manner in the region of its upper seam 5; for this purpose, a hook 8 of clamp 1 is snapped into the upper seam 5 of the beverage can 20. In the next third step 130, the beverage can 20 received by the gripper 1 is transported towards further handling. Subsequently, the fourth step 140 is carried out, in which the hooks 8 are moved Rn / C ίη / 77Π7 / E / YΙΛΙ outside the top seam 5 of the 20-liter beverage can, and thus the 20-liter beverage can is no longer held by clamp 1, or rather, is released. Then it is possible for clamp 1 to be moved towards another 20-liter beverage can so that clamp 1 receives the other 20-liter beverage can. The embodiments, examples, and alternatives in the preceding paragraphs, the claims, or the description and figures, including any of their different aspects or respective individual features, may be taken independently or in any combination. Figures described in connection with one embodiment are applicable to all embodiments, unless such features are incompatible. If the illustrations and aspects are generally referred to as schematic in the context of the preceding description of the figures, it is by no means intended to imply that the illustrations and their descriptions are of lesser importance than the description of the invention. A person skilled in the art is perfectly capable of gathering sufficient information from the schematically and abstractly illustrated figures to facilitate an understanding of the invention, without that understanding being affected in any way by any of the drawn elements or, for example, by size relationships that may not be drawn precisely to scale.Based on the more fully explained representations of the method according to the invention, and based on the more concretely explained functionality of the clamp and gripping head according to the invention in the figures, the skillful reader is able to promote a better understanding of the inventive idea, which is formulated in a more general and / or more abstract way in the claims and in the general part of the description. List of reference numbers: Pliers Exterior body surface Pusher Head Sewing Grips Lever Hook Insert Grip head Mounting plate formed part Rn 7 C ίη / ΖΖΠΖ / Ε / ΥΙΛΙ Patella Torsion spring Can of drink Threading Splice threading Centering device Centering finger Spring Crossbow spring Pivot point Return spring, gripping device, actuating means, clearance Box Method First step of the method Second step of the method Third step of the method Fourth step of the method

Claims

1. A clamp (1) for beverage cans (20), the clamp (1) comprising - at least one gripping means (6) used to grip a particular beverage can (20) from below in a shape-fitting manner in the region of an upper seam (5), said upper seam (5) being formed by a particular beverage can (20), the clamp 1 is characterized by - at least one centering device (30), by means of said at least one centering device (30) the particular beverage can (20) can be placed in a defined alignment, in said defined alignment the at least one gripping means (6) is capable of gripping a particular beverage can (20) from below in a shape-fitting manner in the region of its upper seam (5).

2. The clamp according to claim 1, further characterized in that it comprises at least one pusher (3), said at least one pusher (3) interacting with the at least one gripping means (6) such that a form-fit grip from below in the region of the upper seam (5) by the at least one gripping means (6) can be undone by a linear drive movement of the at least one pusher (3), and / or said at least one pusher (3) interacting with the at least one gripping means (6) such that the at least one gripping means (6) is capable of applying a clamping force to a particular beverage can (20) by means of a linear drive movement of the at least one pusher (3) to grip the particular beverage can (20) in the region of the particular upper seam (5).

3. The clamp according to claim 1 or claim 2, further characterized in that it comprises a plurality of gripping means (6), with a common pusher (3) being assigned to the plurality of gripping means (6), wherein the common pusher (3) interacts with the plurality of gripping means (6) such that a form-fit grip from below in the region of the upper seam (5) by the plurality of gripping means (6) can be released by a linear drive movement of the common pusher (3), and / or such that the plurality of gripping means (6) are capable of applying a clamping force to the particular beverage can (20) by a linear drive movement of the common pusher (3) to hold the particular beverage can (20) in the region of the particular upper seam (5).

4. The clamp according to claim 2 or claim 3, further characterized in that - the at least one pusher (3) or the common pusher (3) forms a thread (22), which communicates with a corresponding splice thread (24) of the clamp (1), such that the at least one pusher (3) or the common pusher (3) is capable of performing a particular linear drive motion by means of a rotary motion preferably about its longitudinal axis, and / or wherein - the at least one pusher (3) or the common pusher (3) is pneumatically controllable to perform a particular linear drive motion.

5. The clamp according to any one of claims 1 to 4, further characterized in that it comprises at least one return spring (55), said at least one return spring (55) being able to apply a spring force to the pusher (3) or the common pusher (3) to return it to a starting position after having performed the linear drive movement, and / or said at least one return spring (55) being able to press the at least one gripping means (6) against the particular beverage can (20) in the region of the upper seam (5) by applying force.

6. The clamp according to any one of claims 1 to 5, further characterized in that the at least one gripping means (6) used to grip a beverage can (20) from below in a form-fitting manner in the region of an upper seam (5) comprises at least one insert (9) designed as a hook (8), said insert (9) designed as a hook (8) being designed as a replaceable part of the at least one gripping means (6).

7. The clamp according to any one of claims 1 to 6, further characterized in that it comprises at least one torsion spring (17), said at least one torsion spring (17) being in contact with the at least one gripping means (6), wherein the at least one gripping means (6) is held in position by means of the at least one torsion spring (17) while the gripping means (6) grips a particular beverage can (20) from below in a shape-fitting manner, and wherein the shape-fitting grip from below by the at least one gripping means (6) is released by means of the spring-elastic movement of the at least one gripping means (6) against the spring force of the at least one torsion spring (17).

8. The clamp according to any one of claims 1 to 7, further characterized in that it comprises a ball joint (15), by means of said ball joint (15) the at least one gripping means (6) and / or the at least one centering device (30) and / or the at least one pusher (3) or common pusher (3), as applicable, are rotatably mounted.

9. The clamp according to claim 8, further characterized in that it comprises at least one spring (40), preferably formed by a plurality of leaf springs (42), and said at least one spring (40) provides a restoring force in a rotary movement of the ball joint (15) for the at least one gripping means (6) and / or for the at least one centering device (30) and / or for the at least one pusher (3) or the common pusher (3), as applicable.

10. A gripping head (10) for a plurality of beverage cans (20), said plurality of beverage cans (20) remaining contiguous to one another, the gripping head (10) comprising - at least two clamps (1) according to any one of claims 1 to 9, wherein a particular clamp (1) is designed to grip a particular beverage can (20) from the plurality of beverage cans (20), and for said clamp (1) it is provided that - the at least one centering device (30) of the particular clamp (1) is positioned such that the at least one centering device (30) comes into surface contact with an outer body surface in at least a defined region of a particular beverage can (20) when receiving the particular beverage can (20),said at least one defined region is positioned off-center along the circumference of the particular beverage can (20) with respect to at least one contact region in which the beverage can (20) is contiguous to at least one other beverage can (20).

11. A method (100) used for receiving at least one beverage can (20) by means of at least one gripper (1), in said method, - for receiving 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 below in a shape-fitting manner in the region of a particular upper seam (5), said particular upper seam (5) being formed by the particular beverage can (20), method is characterized in that the at least one beverage can (20) enters into a defined alignment by means of at least one centering device (30), which is designed as a part of the at least one gripper (1),in said defined alignment the at least one gripping means (6) of the at least one clamp (1) is capable of gripping a particular beverage can (20) from below in a shape-fitting manner in the region of the particular upper seam (5).

12. The method according to claim 11, further characterized in that the at least one clamp (1) has at least one pusher (3), wherein the at least one pusher (3) performs a linear drive motion, with the result that the shape-fit grip from below by the at least one gripping means (6) is released, and / or with the result that a clamping force previously applied to the particular beverage can (20) by means of the at least one gripping means (6) to hold the particular beverage can (20) is released.

13. The method according to claim 11 or claim 12, further characterized in that a clamp (1) or a plurality of clamps (1) each have a plurality of gripping means (6), with a common pusher (3) being assigned to the plurality of gripping means (6) of the particular clamp (1), wherein the common pusher (3) performs a linear drive motion, with the result that the shape-fit grips from below by the plurality of gripping means (6) are released simultaneously or at least approximately simultaneously, and / or with the result that the clamping forces applied Rn / C ίη / 77P7 / E / YILI until then on the particular beverage can (20) by the plurality of gripping means (6) to hold the particular beverage can (20) are released simultaneously or at least approximately simultaneously.

14. The method according to claim 12 or claim 13, further characterized in that - the at least one pusher (3) or the common pusher (3) forms a thread (22), which communicates with a corresponding splice thread (24) of the particular clamp (1), and wherein the at least one pusher (3) or common pusher (3) preferably rotates about its longitudinal axis and thereby performs a particular linear drive motion, and / or in said method - the at least one pusher (3) is pneumatically controlled to perform the linear drive motion.

15. The method according to any one of claims 11 to 14, further characterized in that the at least one clamp (1) has at least one torsion spring (17), the at least one gripping means (6) being in contact with said at least one torsion spring (17), wherein the at least one gripping means (6) is press-fitted under the upper seam (5) of a particular beverage can (20) when receiving a particular beverage can (20), and wherein the shape-fit grip from below 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 spring (17).

16. The method according to any one of claims 11 to 15, further characterized in that the at least one gripper (1) has a ball joint (15), by means of said ball joint (15) the at least one particular gripping means (6) and / or the at least one particular centering device (30) and / or the at least one particular pusher (3) or the particular common pusher (3), as applicable, rotates, as required, if a current position of a particular beverage can (20) deviates from an expected target position of a particular beverage can (20) when received by the at least one particular gripper (1).

17. The method according to claim 16, further characterized in that the at least one clamp (1) comprises at least one spring (40), said at least one spring (40) being preferably formed from a plurality of leaf springs (42), and said at least one spring (40) rotates back the at least one particular gripping means (6) and / or the at least one particular centering device (30) and / or the at least one particular pusher (3) or, as applicable, the common pusher (3), with the spring force to a starting position in a rotary motion made after the at least one particular beverage can (20) has been received.

Images