Device for gripping a receptacle
Patent Information
- Application Number
- PCT/EP2025/054920
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2024-03-05
- Filing Date
- 2025-02-24
- Publication Date
- 2025-10-02
AI Technical Summary
Existing grippers for transporting bottles in industrial production lines lack flexibility, precision, and sufficient grip to accommodate bottles of different sizes and shapes, especially during filling and capping operations.
A gripping device with a first and second jaw connected by a sliding connection along a translation axis, featuring flexible clamping flanges and elastic return means, allowing for quick and secure holding of containers without the need for actuators, and a sliding connection between the jaws to maintain grip regardless of shuttle position.
The device provides flexible, precise, and secure gripping of containers of varying sizes and shapes, ensuring stable transport and positioning during conveyor movements.
Smart Images
Figure EP2025054920_02102025_PF_FP_ABST
Abstract
Description
[0001] Device for gripping a container DESCRIPTION
[0002] The invention relates to the conveying of containers within an industrial production line, and more particularly to a device for gripping a container.
[0003] BACKGROUND OF THE INVENTION
[0004] It is known to use a conveyor within an industrial production line to transport empty bottles from a blowing machine to a filling machine. A conveyor generally comprises a conveyor track and a plurality of transport units which are arranged to move along said conveyor track and which comprises a gripper capable of gripping a bottle.
[0005] Grippers are known comprising two jaws which are made of deformable materials and linked together by a sliding connection to form a flexible clamp. While such grippers can grip bottles of different sizes and shapes, they do not provide precise positioning of said bottles or sufficient grip to carry out filling and capping operations.
[0006] Also known are grippers comprising at least two rigid jaws which are mounted so as to be rotatable on a base and controlled by a pneumatic or electric actuator. Also known are grippers comprising two jaws which are articulated around a pantograph-type structure and are controlled by a pneumatic or electric actuator. While such grippers allow bottles to be gripped quickly, they are particularly expensive and do not offer sufficient flexibility to grip bottles of different sizes and shapes.
[0007] However, filling and capping bottles requires a gripping device that is flexible, fast, precise and guarantees a good hold on the bottle.
[0008] SUBJECT OF THE INVENTION
[0009] The aim of the invention is to propose a gripping device making it possible to at least partially overcome the aforementioned drawbacks.
[0010] SUMMARY OF THE INVENTION
[0011] To this end, a device for gripping a container is proposed, comprising a first jaw and a second jaw connected to each other by a sliding connection along a translation axis to form the jaws of a clamp.
[0012] At least one of the first jaw and the second jaw comprises at least one flexible clamping flange which extends in a plane parallel to the translation axis and which comprises a base crossed by a rod mounted to move in translation in the base along a longitudinal axis of the rod between an extended position and a retracted position.
[0013] One end of the rod is coupled to the base by means of a first link chain and a second link chain extending on either side of the longitudinal axis of the rod, the first link chain and the second link chain comprising at least a first end link and a second end link coupled respectively to the base and to the end of the rod along articulation axes perpendicular to the plane.
[0014] Such a clamping flange allows different container shapes and sizes to be accommodated, but also allows for quick and secure holding of the container without the need for an actuator to articulate the clamping flange.
[0015] According to a particular characteristic, the rod is returned to its extended position by elastic return means.
[0016] In particular, the elastic return means comprise a first spring coupled to the first end link of the first chain of links and to the base, and a second spring coupled to the first end link of the second chain of links and to the base.
[0017] According to another particular characteristic, one of the first jaw and the second jaw comprises two flexible clamping flanges arranged one above the other.
[0018] According to another particular characteristic, wherein the first bit and the second bit are identical.
[0019] According to another particular characteristic, the other of the first jaw and the second jaw is arranged to form at least one centering V.
[0020] In particular, the centering V is rigid.
[0021] In a particular manner, the other of the first jaw and the second jaw is arranged to form two centering Vs arranged one above the other.
[0022] The invention also relates to a transport unit for a conveyor comprising such a gripping device.
[0023] The invention also relates to a conveyor comprising at least one such transport unit.
[0024] BRIEF DESCRIPTION OF THE DRAWINGS
[0025] The invention will be better understood in light of the following description, which is purely illustrative and non-limiting, and must be read in conjunction with the appended figures, among which:
[0026] [Fig.l] Figure 1 is a perspective view illustrating a conveyor comprising a transport unit according to a particular embodiment of the invention;
[0027] [Fig.2A] Figure 2A is a first perspective view of the transport unit illustrated in Figure 1;
[0028] [Fig.2B] Figure 2B is a second perspective view of the transport unit illustrated in Figure 1;
[0029] [Fig.2C] Figure 2C is a view identical to Figure 2A, in which the transport unit carries a container; [Fig.3A] Figure 3A is a top view of the transport unit illustrated in Figure 1, arranged on a straight portion of the conveyor track;
[0030] [Fig.3B] Figure 3B is a view identical to Figure 3A in which the transport unit carries a container;
[0031] [Fig.3C] Figure 3C is a view identical to Figure 3A, arranged on a curved portion of the conveyor track;
[0032] [Fig.4] Figure 4 is a top view of a variant of the transport unit shown in Figure 1.
[0033] DETAILED DESCRIPTION OF THE INVENTION
[0034] With reference to Figure 1, a container conveyor 1, according to a particular embodiment of the invention, comprises a conveyor track 2 and a plurality of transport units 10 capable of moving along said conveyor track 2 by means of electromagnetic currents. For reasons of readability, only one transport unit 10 has been shown, the transport units 10 here all being identical.
[0035] The conveyor track 2 comprises an external periphery 3 defining a height of the conveyor track 2. The external periphery 3 of the conveyor track 2 extends substantially vertically and comprises two parallel flat surfaces 3.1, connected to each other by two semi-cylindrical surfaces 3.2 so as to define a movement path of the transport unit 10 in a closed loop.
[0036] Referring to Figures 2A-2C, the transport unit 10 comprises a first shuttle 100.1, a second shuttle 100.2 and a gripping device 200 carried by the first shuttle 100.1 and the second shuttle 100.2.
[0037] The first shuttle 100.1 and the second shuttle 100.2 are here identical and are arranged to move horizontally, independently of one another, along the external periphery 3 of the conveyor track 2. Each of the first and second shuttles 100.1, 100.2 comprises a body 101 extending substantially vertically, opposite the external periphery 3 of the conveyor track 2. The body 101 comprises an upper part carrying two first rollers 102, and a lower part carrying two second rollers 103.
[0038] The first casters 102 are mounted to move in rotation on the body 101 along first Z axes. 102vertical and are shaped to roll in grooves 4.1, 4.2 formed in the upper part of the external periphery 3 of the conveyor track 2. The grooves 4.1, 4.2 each extend in a first horizontal plane and define a flat movement path of the first and second shuttles 100.1, 100.2.
[0039] The second casters 103 are mounted to move in rotation on the body 101 along second Z axes. 103 vertical and are shaped to roll on a rolling surface 4.3, flat, arranged in the lower part of the external periphery 3 of the conveyor track 2. The rolling surface 4.3 extends in a second horizontal plane, and the second axes Z 103 rotation of the second rollers 103 are here merged with the first Z axes 102 rotation of the first wheels 102.
[0040] It is understood that the first shuttle 100.1 and the second shuttle 100.2 are arranged to roll on the external periphery 3 of the conveyor track 2.
[0041] The first shuttle 100.1 and the second shuttle 100.2 are held and moved, independently of each other, along the outer periphery 3 of the conveyor track 2 by means of an electromagnetic system known per se: the position, speed and acceleration of the first shuttle 100.1 are managed independently of the position, speed and acceleration of the second shuttle 100.2. Each of the first and second shuttles 100.1, 100.2 also comprises a support 104, substantially rectilinear, which extends generally horizontally from an upper end of the body 101. The support 104 has a proximal end rigidly fixed to the upper end of the body 101, and a distal end comprising a hole in which a hinge shaft 201 is mounted to rotate about a vertical axis Z2oi. It is understood that the support 104 is fixed relative to the body 101.The articulation shaft 201 here has a lower end and an upper end extending on either side of the support 104.
[0042] The gripping device 200 forms a clamp and comprises:
[0043] - the articulation shafts 201 carried by the first shuttle 100.1 and the second shuttle 100.2;
[0044] - a first jaw 210 rigidly fixed to the lower end of the articulation shaft 201 carried by the first shuttle 100.1;
[0045] - a second jaw 220 rigidly fixed to the lower end of the articulation shaft 201 carried by the second shuttle 100.2;
[0046] - a first arm 202.1 having a proximal end rigidly fixed to the upper end of the articulation shaft 201 carried by the first shuttle 100.1;
[0047] - a second arm 202.2 having a proximal end rigidly fixed to the upper end of the articulation shaft 201 carried by the second shuttle 100.2; and
[0048] - a rod 203 for holding opposite the first and second jaws 110, 120, the rod 103 having a first end rigidly fixed to a distal end of the second arm 202.2, and a second end, opposite the first end, mounted to move in translation in a hole provided at a distal end of the first arm 202.1, along a longitudinal axis X2o3 of the rod 203.
[0049] It will be noted that the longitudinal axis X2o3 of the rod 203 is orthogonal to the axes of rotation Z 202 201 hinge shafts.
[0050] It is understood that the first jaw 210 and the first arm 202.1 are fixed with respect to the articulation shaft 201 carried by the first shuttle 100.1 (in other words that the first jaw 210 is fixed with respect to the first arm 202.1), and that the second jaw 220, the second arm 202.2 and the rod 203 are fixed with respect to the articulation shaft 201 carried by the second shuttle 100.2 (in other words that the second jaw 220 is fixed with respect to the second arm 202.2).
[0051] It is also understood that the first jaw 210 and the second jaw 220 form the jaws of the clamp and are movable in translation along the longitudinal axis X. 203 of the rod 203 which defines a sliding connection.
[0052] It is further understood that the first jaw 210 is immobile in rotation relative to the second jaw 120.
[0053] The first jaw 210 extends horizontally projecting from the articulation shaft 201 carried by the first shuttle 100.1, along a first clamping axis X 210 which is perpendicular to the Z axis of rotation 202 of said articulation shaft 201 and parallel to the longitudinal axis X 203 of the rod 203 (figure 3A).
[0054] The first jaw 210 comprises a free end which extends opposite the second jaw 220 and which is arranged to form a first centering V 211.1 and a second centering V 211.2 arranged one above the other. The first centering V 211.1 and the second centering V 211.2 extend respectively in a first horizontal plane defining a first clamping height H2 of the container R and in a second horizontal plane defining a second clamping height H2 of the container R (figure 2C). The first centering V 211.1 and the second centering V 211.2 are identical here and have the same vertical plane of symmetry defined here by the axes of rotation Z2oi of the articulation shafts 201. The shape and dimensions of the first and second centering V 211.1, 211.2 are adapted to the shape and dimensions of the container R to be transported.
[0055] The first centering V 211.1 and the second centering V 211.2 are said to be rigid in that they do not undergo deformation when the container R detailed below is tightened.
[0056] The second jaw 220 extends horizontally projecting from the articulation shaft 201 carried by the first shuttle 10.2, along a second clamping axis X 220 which is perpendicular to the Z axis 202 of rotation of said articulation shaft 201 and to the longitudinal axis X 203 of the rod 203 (figure 3A). The second clamping axis X 120 is here confused with the first clamping axis X 110 .
[0057] The second jaw 220 comprises a free end which extends opposite the first jaw 210 and which is arranged to form a first clamping flange 221.1 and a second clamping flange 221.2 arranged one above the other. The first clamping flange 221.1 and the second clamping flange 221.2 extend respectively in the first horizontal plane defining the first clamping height H2 of the container R and in the second horizontal plane defining the second clamping height H2 of the container R. The first clamping flange 221.1 and the second clamping flange 221.2 are here identical and have the same vertical plane of symmetry defined here, as for the first and second centering Vs 211.1, 211.2, by the axes of rotation Z 202 201 hinge shafts.
[0058] With reference to Figure 3A, each of the first and second clamping flanges 221.1, 221.2 comprises a fixed base 222, generally in the shape of an arc of a circle, crossed in its middle by a rod 223 for controlling the deformation of the first and second clamping flanges 221.1, 221.2. The rod 223 has a longitudinal axis X223 coinciding with the clamping axis X220 of the second jaw 220 and is mounted to move in translation in the base 222 along its longitudinal axis X223 between an extended position in which a distal end of the rod 223 is distant from the base 222 and a retracted position in which the distal end of the rod 223 is brought closer to said base 222.
[0059] The distal end of the rod 223 is coupled to a first end 222.1 and to a second end 222.2 of the base 222 by means of a first chain of links 224.1 and a second chain of links 224.2 respectively. The first chain of links 224.1 and the second chain of links 224.2 are here identical and comprise three links articulated together, namely a first link 224a, a second link 224b and a third link 224c. The first link 224a is coupled to the base 224 along a first vertical axis, the second link 224b is coupled to the first link 224a along a second vertical axis, the third link 224c is coupled to the second link 224b along a third vertical axis and to the distal end of the rod 223 along a fourth vertical axis. A free end of the first link 224a of the first and second chains of links 224.1, 224.2 is further coupled, by means of a helical traction spring 225, to a free end of a fixing lug 226.1, 226.2 extending outwardly in radial projection from the base 222.
[0060] It is understood that the links 224a, 224b, 224c of the first chain of links 224.1 form, with the base 222 and the rod 223 a first horizontal loop, and that the links 224a, 224b, 224c of the second chain of links 224.2 form with the base 222 and the rod 223 a second horizontal loop identical to the first loop.
[0061] We also understand that:
[0062] - when the rod 223 is in the extended position, the links
[0063] 224a, 224b, 224c of the first chain of links 224.1 are distant from the links 224a, 224b, 224c of the second chain of links 224.2; and
[0064] - when the rod 223 is in the retracted position, the links 224a, 224b, 224c of the first chain of links 224.1 are moved away from the links 224a, 224b, 224c of the second chain of links 224.2; and
[0065] - the rod 223 is returned to the extended position by the springs 225.
[0066] The dimensions of the links 224a, 224b, 224c of the first and second chains of links 224.1, 224.2 are here chosen so that:
[0067] - when the rod 223 is in the extended position, the second and third links 123b, 123c of the first and second chains of links 123.1, 123.2 are substantially aligned horizontally along an axis perpendicular to the longitudinal axis X223 of the rod 223 and therefore to the clamping axis X220; and
[0068] - when the rod 223 is in the retracted position, the second and third links 224b, 224c of the first and second chains of links 224.1, 224.2 form a notch capable of matching the shape of the container R to be transported.
[0069] It will be noted that the movement of the rod 223 is not controlled by an actuator: the movement of the rod 223 results solely from a sufficient axial force exerted on the distal end of said rod 223.
[0070] The first clamping flange 221.1 and the second clamping flange 221.2 are said to be deformable or flexible in that the links 224a, 224b, 224c of the first and second chain links 224.1, 224.2 are caused to move when the container R detailed below is clamped.
[0071] The operation of the transport unit 10 and its gripping device 200 will now be detailed.
[0072] The container R intended to be transported is here a bottle having, in a manner known per se, a lower part of substantially constant diameter, an upper part narrowing upwards and a neck forming an upper end of the bottle.
[0073] Initially, the first shuttle 100.1 and the second shuttle 100.2 of the transport unit 10 are immobilized along the conveyor track 2 so as to be sufficiently distant from each other to accommodate the bottle R in a vertical position between the first jaw 210 and the second jaw 220.
[0074] In a second step, the bottle R is brought and held in a vertical position, for example by means of a transfer robot, between the first jaw 210 and the second jaw 220 so that the longitudinal axis of the bottle R is substantially perpendicular to the first and second clamping axes X. 220 , X 220of said first and second jaws 210, 220.
[0075] The first shuttle 100.1 and the second shuttle 100.2 are then brought closer to each other so that the distance separating the first jaws 110 and the second jaws decreases until said first jaw 210 and said second jaw 220 are respectively in contact with a first lateral surface and a second lateral surface of the bottle R, at a first height H2 and a second height H2 of said bottle R. The bottle R is then housed in the centering Vs 211.1, 211.2 of the first jaws 210.
[0076] By continuing to move the second shuttle 100.2 towards the first shuttle 100.1, the bottle R exerts on the sliding rods 223 of the second jaw 220 a thrust force tending to move said rods 223 from the extended position to the retracted position. The second and third links 224b, 224c of the first and second chain of links 224.1, 224.2 then substantially match the shape of the second lateral surface of the bottle R.
[0077] The approach of the second shuttle 100.2 towards the first shuttle 100.1 is continued until the clamping forces exerted by the first and second jaws 210, 220 on the lateral surfaces of the bottle R are sufficient to hold said bottle R in position between the first and second jaws 210, 220 without the aid of the transfer robot.
[0078] The R bottle is then released by the transfer robot followed by the movements of the first shuttle
[0079] 100.1 and that of the second shuttle 100.2 are controlled and synchronized so that their spacing and the clamping forces exerted on the bottle R by the first and second jaws 210, 220 remain substantially constant throughout the movement of the first and second shuttles 100.1, 100.2 along the conveyor track 2. The bottle R is then caused to move along the conveyor track 2.
[0080] To release the bottle R from the clamping forces exerted by the first and second jaws 210, 220 in order to extract it from the conveyor 1, it is sufficient to control the movements of the first and second shuttles 100.1,
[0081] 100.2 so as to move them away from each other.
[0082] It will be noted that the sliding connection formed by the rod 203 between the first jaw 210 and the second jaw 220 makes it possible to maintain said first jaw 210 and said second jaw 220 axially opposite one another, regardless of the angular position of the first and second shuttles 100.1, 100.2. Thus, whether the first shuttle 100.1 and / or the second shuttle 100.2 roll on the flat surfaces 3.1 (FIGS. 3A-3B) or on the semi-cylindrical surfaces 3.2 (FIG. 3C) of the conveyor track 2, the contact zones between the bottle R and the first and second jaws 210, 220 remain identical throughout the movement of the transport unit 10 along the conveyor track 2, so that the risk of the bottle R falling during its transport is particularly limited.
[0083] Figure 4 illustrates a transport unit 10' which is nothing other than a variant of the transport unit 10. The transport unit 10' differs from the transport unit 10 in that the gripping device 200' of the transport unit 10' comprises a first jaw 210' and a second jaw 220' identical to the first jaw 210'. The first jaw 110' and the second jaw 120' of the transport unit 10' are identical to the second deformable jaw 220 of the transport unit 10.
[0084] The operation of the transport unit 10' is identical to that of the transport unit 10 except that the clamping of the bottle R is carried out via the deformation of the first jaw 210' and the second jaw 220'. The sliding connection formed by the rod 203 between the first jaw 210' and the second jaw 220' makes it possible, as in the transport unit 10, to maintain the first jaw 210' and the second jaw 220' axially opposite each other, regardless of the angular position of the first and second shuttles 100.1, 100.2.
[0085] Another variant of the transport unit 10 (not shown) consists of replacing the second deformable jaw 220 with a jaw identical to the first rigid jaw 210.
[0086] The operation of this other variant of the transport unit 10 is identical to that of the transport unit 10 except that the clamping of the bottle R is carried out without deformation of the first and second jaws. The sliding connection formed by the rod 203 between the first jaw and the second jaw makes it possible, as in the transport unit 10, to maintain the first jaw and the second jaw axially opposite each other, regardless of the angular position of the first and second shuttles 100.1, 100.2.
[0087] Of course, the invention is not limited to the embodiment described but encompasses any variant falling within the scope of the invention.
[0088] Although the first jaw 210 and the second jaw 220 here comprise two centering Vs 211.1, 211.2 and two clamping flanges 221.1, 221.2 to form two clamping levels, the first jaw 210 and / or the second jaw 220 may comprise one or more than two centering Vs and one or more than two clamping flanges so as to form one or more than two clamping levels.
[0089] The springs 225 may be replaced by any elastic return means capable of returning the sliding rod 223 to the extended position. For example, a spring may be mounted around the rod between the distal end of the rod and the base.
[0090] The sliding rod 223 can be replaced by any means allowing a sliding connection to be ensured between the first jaw 210, 210' and the second jaw 220, 220'.
[0091] The dimensions and shape of the various elements of the transport unit 10, 10' can be adapted to the dimensions and shape of the containers R to be transported, in particular those of the arms 202.1, 202.2, the centering Vs 211.1, 211.2, the links 224a, 224b, 224c, etc.
[0092] Although the link chains 224.1, 224.2 here comprise three links 224a, 224b, 224c, they may comprise a number of links less than or greater than three. The first jaw 210 and the second jaw 220 may be fixed on the first arm 202.1 and the second arm 202.2 respectively.
[0093] The first arm 202.1 and the second arm 202.2 can be fixed on the first jaw 210 and the second jaw 220 respectively.
[0094] The first shuttle 100.1 may be different from the second shuttle 100.2.
[0095] The first arm 202.1 may be different from the second arm 202.2.
[0096] Although the clamping axis X 220 , X 220 first and second jaws 210, 210', 220, 220', here perpendicular to the axes of rotation Z 202 articulation shafts 201, it can be, more generally, orthogonal to the axes of rotation Z 202 .
[0097] Although the centering Vs 211.1, 211.2 of the first jaw 210 and the clamping flanges 221.1, 221.2 of the second jaw 220 extend here in a horizontal plane, they can extend in a plane forming a non-zero angle with the horizontal plane so as to clamp a bottle R whose longitudinal axis is not vertical.
[0098] Although the conveyor track 2 here extends in a horizontal plane, it can extend in an inclined plane forming a non-zero angle with the horizontal plane.
[0099] Such inclinations of the conveyor track 2 and of the first and second jaws 210, 210', 220, 220' may in particular make it possible to have a different inclination of the longitudinal axis of the bottle R along the flat surface 3.1 and the flat surface 3.2 of the conveyor track 2. For example, when the conveyor track 2 is inclined at 45 degrees around its longitudinal axis and the first and second jaws 210, 210', 220, 220' are also inclined at 45 degrees relative to the plane in which the conveyor track 2 extends, the longitudinal axis of the bottle R is horizontal on one of the flat surfaces 3.1, 3.2 of the conveyor track 2 and vertical on the other of the flat surfaces 3.1, 3.2.
[0100] The positioning of the slide connection relative to the first and second jaws 210, 210', 220, 220' may be different from that illustrated. The slide connection may for example be arranged above or below the first and second jaws 210, 210', 220, 220'.
[0101] In order to improve the holding of the bottle R via the first and second jaws 210, 220, the centering Vs 211.1, 211.2 and the clamping flanges 221.1, 221.2 may be covered, at least in part, with an elastomer material so as to provide contact surfaces with a high coefficient of friction with the bottle R. For example, an elastomer profile may be inserted on the internal periphery of the centering Vs 211.1, 211.2 and an elastomer pellet may be clipped onto an external surface of the second 224b links of the first and second chains of links 224.1, 224.2.
[0102] The dimensions and shape of the various elements constituting the gripping device 200, 200' can be adapted to the dimensions and shape of different ranges of containers R to be transported.
Claims
CLAIMS 1. Gripping device (200, 200') for a container (R), comprising a first jaw (210, 210') and a second jaw (220, 220') connected to each other by a sliding connection along a translation axis (X203) to form the jaws of a clamp, at least one of the first jaw and the second jaw comprising at least one flexible clamping flange (221.1, 221.2) which extends in a plane parallel to the translation axis and which comprises a base (222) crossed by a rod (223) mounted to move in translation in the base along a longitudinal axis (X223) of the rod between an extended position and a retracted position, one end of the rod being coupled to the base by means of a first link chain (224.1) and a second link chain (224.2) extending on either side of the longitudinal axis of the rod, the first chain of links and the second chain of links comprising at least a first end link (224a) and a second end link (224b) coupled respectively to the base and to the end of the rod along articulation axes perpendicular to the plane.
2. Gripping device (200, 200') according to claim 1, in which the rod (223) is returned to its extended position by elastic return means (225).
3. Gripping device (200, 200') according to claim 2, wherein the elastic return means comprise a first spring (225) coupled to the first end link (224a) of the first chain of links (224.1) and to the base, and a second spring (225) coupled to the first end link (224a) of the second chain of links (224.2) and to the base.
4. Gripping device (200, 200') according to one of any of the preceding claims, wherein one of the first jaw and the second jaw (210, 210', 220, 220') comprises two flexible clamping flanges (221.1, 221.2) arranged one above the other.
5. Gripping device (200') according to any one of the preceding claims, wherein the first jaw (210') and the second jaw (220') are identical.
6. Gripping device (200) according to any one of claims 1 to 4, wherein the other of the first jaw (210) and the second jaw (220) is arranged to form at least one centering V (211.1, 211.2).
7. Gripping device (200) according to claim 6, wherein the centering V (211.1, 211.2) is rigid.
8. Gripping device (200) according to claim 6 or 7, wherein the other of the first jaw (210) and the second jaw (220) is arranged to form two centering Vs (211.1, 211.2) arranged one above the other.
9. Transport unit (10, 10') for conveyor (1, 1'), comprising a gripping device (200, 200') according to any one of the preceding claims.
10. Conveyor (1, 1') comprising at least one transport unit (10, 10') according to claim 9.