Gripper arrangement

Abstract

The present invention relates to a gripper arrangement (1) for handling kegs (3), the gripper arrangement at least comprising a gripper frame (10) on which a gripper head (6) is provided for gripping and / or holding the kegs (3), wherein the gripper head comprises at least a first and a second gripper jaw (7.1, 7.2) and a central wedge device (20) having at least a first and at least a second wedge element (21, 22), wherein the first and second gripper jaw (7.1, 7.2) can each be moved in a controlled manner between a position in which a keg (3) is gripped between the corresponding gripper jaw (7.1, 7.2) and the corresponding wedge element (21, 22) and a position in which the corresponding keg (3) is released, and wherein each of the at least one first and at least one second wedge element (21, 22) of the central wedge device (20) is designed to be displaced along a transverse axis (A1, A2) by a control element (30).

Description

[0001] Gripper arrangement

[0002] The invention relates to a gripper arrangement for handling kegs. Furthermore, the invention relates to a treatment system for treating kegs with such a gripper arrangement.

[0003] Items such as single-use or reusable containers, also known as kegs, keg barrels or keg containers, are well known in the beverage industry.

[0004] The kegs mentioned, with and without corrugations, are typically containers with a volume of 5 liters or more, for example, 5, 10, 30, or 50 liters. When referring to beverage containers, these are usually kegs filled with carbonated drinks, such as beer. Nowadays, after being filled and the beer consumed, kegs are generally returned to the brewery as part of a reusable system. There, they are cleaned and refilled.

[0005] Typically, kegs are handled industrially and automatically in processing stations at bottling plants. Fully automated processing systems with one or more stations for cleaning, filling, and palletizing the kegs are well-known examples. Such processing systems can also be referred to as processing devices. In particular, these systems for handling items such as kegs may include a manipulator, especially a robot, with a gripper assembly.

[0006] In the treatment devices or systems described above, KEGs are typically processed in large numbers and at high throughput, and are also palletized. During the treatment process, the KEGs pass through spatially separated, but fixed, treatment or handling stations in a defined sequence of movements.

[0007] Recently, there has been a trend towards smaller, independent breweries and beverage bottlers, such as craft brewers, who offer an increasingly larger and more diverse product range. In this context, more individualized handling of individual kegs, as well as different keg formats, is becoming increasingly important.

[0008] 12214 WO Therefore, there is also a need for gripper arrangements for handling KEGs with increased flexibility, also with regard to the formation of different layer arrangements, i.e., different layer patterns.

[0009] In more detail, conventional gripper arrangements known from the prior art incorporate either a "narrow wedge" or a "wide wedge" between the gripper jaws on the gripper head. With the "narrow wedge" design, the contact surface for the kegs, formed by the wedge, is located between the gripper jaws of the gripper head. The kegs are then gripped from the outside by the gripper jaws, which are adjustable along the gripper frame, and pressed against the contact surface formed by the wedge. This "narrow wedge" design is particularly suitable for gripping kegs that are very close together, sometimes even in contact. While the "wide wedge" design has the advantage of requiring fewer manipulator accesses per layer in typical layer configurations, it can only grip kegs that are positioned at a certain distance from each other.

[0010] A disadvantage in this context is that both concepts – the “narrow wedge” concept for gripping closely spaced kegs, and the “wide wedge” concept for gripping spaced-apart kegs – each have advantages when considered individually, but these cannot be realized with a single wedge; instead, they require a time-consuming reconfiguration of the gripper arrangement.

[0011] Based on this, the object of the invention is to demonstrate a gripper arrangement for handling KEGs that avoids these disadvantages and provides a gripper arrangement that can be used as flexibly as possible for both closely spaced and spaced-apart kegs in connection with the palletizing and depalletizing of kegs.

[0012] This problem is solved by a gripper arrangement for handling kegs, according to the features of independent claim 1. Furthermore, a treatment system according to claim 15 is proposed to solve the problem. The respective dependent claims relate to particularly advantageous embodiments of the invention.

[0013] 12214 WO According to a first aspect, the invention relates to a gripper arrangement for handling kegs, comprising at least a gripper frame on which a gripper head for gripping and / or holding the kegs is provided. The gripper head has at least one first and one second gripper jaw as well as a central wedge device with at least one first and at least one second wedge element, wherein the first and second gripper jaws are each controllably movable between a position gripping a keg with the corresponding gripper jaw and the corresponding wedge element and a position releasing the corresponding keg, and wherein the at least one first and at least one second wedge element of the central wedge device are each adjustable, in particular displaceable, along a transverse axis by means of an adjusting device.In particular, the KEG is gripped in the gripping position between the corresponding first and / or second gripper jaw and the corresponding wedge element that interacts with the gripper jaw.

[0014] The center wedge device can thus create both a "narrow wedge" and a "wide wedge," thereby enabling the palletizing and / or depalletizing of kegs in a wide variety of configurations with as few individual accesses as possible. The center wedge device according to the invention can therefore be used in palletizers, depalletizers, and combination machines. In other words, the center wedge device designed according to the invention can provide wedges of varying widths for handling kegs, including those of different keg sizes, without requiring any modifications to the gripper assembly, since the first and second wedge elements are movable to accommodate wedges of different widths.

[0015] According to an advantageous embodiment, the at least one first wedge element can be slidably guided along a first transverse axis of the central wedge device, and the at least one second wedge element can be guided along a second transverse axis of the central wedge device, wherein the first and second transverse axes are parallel and spaced apart from each other. This allows the wedge elements to overlap or superimpose at least in one wedge section, thus enabling the creation of a "narrow wedge".

[0016] 12214 WO According to an advantageous embodiment, the central wedge device may have a rail guide along which the at least one first and the at least one second wedge element are each displaceable by means of the adjusting device, preferably displaceable independently of each other.

[0017] In more detail, the rail guide can have two parallel or substantially parallel guide rails, and each wedge element can have a sliding carriage, allowing the corresponding wedge element to be adjusted by sliding along the rail guide. The at least one first wedge element can be guided by the rail guide along a first transverse axis of the central wedge device, and the at least one second wedge element can be guided by the rail guide along a second transverse axis of the central wedge device, with the first and second transverse axes of the central wedge device being parallel and spaced apart from each other. The independent displacement of the wedge elements along the rail guide allows the gripper arrangement to be adapted to different distances between the KEGs.This enables the handling of kegs in a variety of configurations, regardless of whether the kegs are arranged close together or at greater distances. Since the wedge elements can be positioned flexibly and independently, there is no need for mechanical retooling or the replacement of wedge elements when dealing with keg configurations at different spacings. This saves time and reduces production downtime, which is particularly advantageous in automated processes. Overall, the proposed design significantly improves the efficiency and flexibility of the gripper assembly by enabling the handling of a wide range of different keg configurations without additional retooling, while simultaneously simplifying maintenance and adjustment of the gripper assembly.

[0018] According to a further advantageous embodiment, the at least one first and at least one second wedge element can be slidably positioned between a first position and their respective second positions by means of the adjusting device. Furthermore, it is advantageously possible that at least one first and at least one second wedge element lie congruently on top of each other in at least one wedge section in the first position, and that in the second position, the at least one first wedge element is slid along with the at least one second wedge element.

[0019] 12214 WO is spaced apart along the respective transverse axis. By forming a congruent, overlapping wedge section in at least one wedge segment of the first and second wedge elements in the first position, a central wedge device is provided in the first position, forming a "narrow wedge" known from the prior art. The overlapping wedge segments of the first and second wedge elements result in a particularly compact position for the central wedge device, corresponding to the "narrow wedge." Thus, in the first position, the central wedge device is designed to grip closely spaced KEGs, even those in contact with each other. In the second position, however, the wedge elements are spaced apart along the transverse axis in their respective wedge segments, resulting in a greater distance compared to the first position, which the central wedge device realizes to form a "wide wedge."In other words, the first position forms a "narrow wedge" and the second position forms a "wide wedge".

[0020] This dual functionality allows the gripper assembly to adapt to different keg spacings without requiring any retooling. In summary, this design variant offers high flexibility and efficiency in handling kegs in various configurations, while simultaneously significantly improving process reliability and the adaptability of the gripper assembly.

[0021] According to a further advantageous embodiment, the respective wedge sections of the first and second wedge elements can be designed as acute-angled free end sections. Acute-angled end sections enable more precise positioning of the wedge elements when gripping the kegs. The pointed shape allows the respective wedge elements to be easily inserted into narrow spaces between the kegs, thus ensuring a secure and stable grip even with densely packed kegs. This increases the flexibility of the gripper arrangement, as it can adapt more easily to different stacking patterns.

[0022] According to a further advantageous embodiment, the respective second position of the at least one first and second wedge element can be designed to be adjustable, preferably continuously adjustable, by means of a stop element. In particular, the respective stop element can be continuously adjustable along the rail guide and in its respective

[0023] The 12214 WO position is detachable yet fixed, featuring a secure fastening element. Adjustable stop elements allow for fine-tuning of the wedge elements' exact position in the second position. This enables precise adaptation to specific spacing between kegs and ensures the gripper assembly can be optimally adjusted to various keg configurations. The stepless adjustment of the second position allows the gripper assembly to flexibly adapt to different keg sizes and formats. Overall, the design with adjustable stop elements offers significant advantages in terms of flexibility, efficiency, process reliability, and durability. These features make the gripper assembly a particularly powerful and adaptable tool for handling kegs in various industrial applications.

[0024] According to a further advantageous embodiment, the adjusting device can be integrated into the central wedge device. Integrating the adjusting device into the central wedge device results in a more compact design for the entire gripper assembly. This reduces the space requirement, which is particularly advantageous in confined work environments or with complex plant layouts. The compact design also facilitates the installation and use of the gripper assembly in various machines or systems.

[0025] According to a further advantageous embodiment, the positioning device can be provided with a first cylinder assembly for moving the at least one first wedge element and a second cylinder assembly for moving the at least one second wedge element, each along the corresponding transverse axis. The use of separate cylinder assemblies for the first and second wedge elements enables independent control of the movements. This means that the wedge elements can be individually positioned along the transverse axis to adapt to different distances between the kegs. This makes the gripper arrangement particularly flexible and able to efficiently handle a wide variety of keg configurations. With two independent cylinder assemblies, the gripper arrangement can be quickly adapted to different keg formats or distances without manual adjustments.This significantly reduces setup times and increases the efficiency of the handling process. Costs are also reduced, as fewer format parts are needed, or in particular, no format parts are required.

[0026] 12214 WO eliminates the need for separate wide and narrow wedges. It also saves on storage space for the format parts and their respective sensors. By controlling the pressure of the cylinder units, the gripping force exerted on the kegs can be optimally distributed. This prevents uneven loading of the kegs and reduces the risk of damage, especially with delicate or lightweight kegs. Overall, equipping the positioning device with a first and a second cylinder unit significantly improves the functionality, flexibility, and reliability of the gripper assembly. This design allows the gripper assembly to be efficiently adapted to different requirements and ensures safe, precise, and fast handling of kegs in a wide variety of applications.

[0027] According to a further advantageous embodiment, the first and / or second cylinder assembly can be designed as a pneumatic or electric cylinder assembly. The cylinder assembly can be a pneumatic cylinder with check valves, or an electric cylinder assembly with holding brakes. This ensures that the position of the wedge elements remains stable even in the event of a pressure drop or power failure. This self-locking mechanism prevents the wedge elements from slipping unintentionally and ensures that the KEGs are held securely, significantly increasing process reliability. In many cases, the self-locking mechanism reduces energy consumption, as the position of the wedge elements can be maintained without a constant energy supply. This leads to more efficient operation of the gripper assembly and lowers operating costs.Alternatively, the cylinder unit can be designed as an electric cylinder unit with a holding brake or a servo motor with a permanent brake to fix the wedge elements in their position, even if the power supply is interrupted. This is particularly important to prevent unwanted movement or slippage of the kegs, thus improving both operational safety and the protection of the goods being handled and the operator. The use of a servo motor enables extremely precise control of the wedge elements. The permanent brake ensures that the position of the wedge elements is maintained exactly, even during extended periods of inactivity. This results in high repeatability in positioning, which is particularly advantageous in automated processes. Overall, the cylinder units are available with self-locking mechanisms, holding brakes, or servo motors.

[0028] The 12214 WO permanent brake significantly increases the safety, precision, and energy efficiency of the gripper assembly. These features make the gripper assembly particularly suitable for demanding and safety-critical applications in keg handling.

[0029] According to a further advantageous embodiment, at least one first and at least one second wedge element can each be designed as a format part that is fixedly but detachably attached to the rail guide without tools. By designing the wedge elements as format parts that are detachably attached to the rail guide, they can be replaced quickly and easily as needed. Furthermore, only the wedge elements—that is, only the tips of the wedge—need to be replaced, and not the entire wedge, resulting in a significant weight reduction during replacement. This is particularly advantageous when handling different keg formats, as the wedge elements can simply be replaced with other format parts adapted to the specific requirements.This solution offers high flexibility, as the gripper assembly can be quickly reconfigured for different keg formats or geometries by simply exchanging the format parts. This significantly reduces changeover times and allows for rapid adaptation to changing production requirements. Although the wedge elements are detachably attached to the rail guide, they ensure a firm and stable connection when fixed in place. This is crucial for applying the necessary force to the kegs during the handling process without the risk of the wedge elements loosening or slipping. The modular design, achieved through detachable format parts, supports flexible gripper assembly configuration. This modularity makes it easy to adapt or further develop the gripper assembly to new requirements simply by exchanging or adjusting the format parts.Overall, the design of the wedge elements as detachable format parts offers significant advantages in terms of the flexibility, ease of maintenance, and adaptability of the gripper assembly. These features make the gripper assembly particularly suitable for applications requiring high variability and rapid adjustments, while simultaneously contributing to reduced operating costs and improved production quality.

[0030] 12214 WO According to a further advantageous embodiment, the first and second wedge elements, each designed as a format part, can be fastened to the rail guide by means of a quick-fastening device, particularly without tools. Advantageously, the quick-fastening device can be designed as a snap-fit ​​coupling system, quick-release clamp system, clip system, or spring-loaded bolt system. The quick-fastening device enables tool-free fastening of the wedge elements to the rail guide. This significantly reduces the time and effort required for attaching or removing the wedge elements. It can also be provided that the corresponding sliding carriage of the first and / or second wedge element incorporates the quick-fastening device.

[0031] Tool-free systems such as snap couplings, quick-release fasteners, clips, and spring-loaded bolts offer fast and easy assembly and disassembly of the wedge elements, minimizing changeover times for different keg formats. Snap coupling systems provide simple and reliable fastening through locking mechanisms. They are easy to use and ensure a secure connection. A quick-release fastener system allows for fast and precise fastening using mechanical clamping devices that provide strong holding force. Clip-on devices offer a user-friendly solution where the wedge elements are secured by simply snapping or clipping them into place, while a spring-loaded bolt system provides reliable and stable fastening through spring-loaded mechanisms that ensure firm and secure positioning of the wedge elements.

[0032] According to a further advantageous embodiment, several first and several second wedge elements can be provided, each guided along its respective transverse axis by means of the rail guide. Distributing the gripping force across multiple wedge elements ensures a more even distribution of the load on the kegs. This increases stability and prevents the kegs from slipping or warping during handling. The even load distribution reduces the risk of damage to or improper handling of the kegs.

[0033] According to a further advantageous embodiment, the gripper arrangement can be provided with a detection device for the optical detection of the KEGs. In particular, the processing system can include a control unit.

[0034] 12214 WO, which is configured to control the gripper arrangement based on the image data supplied by the detection device. In particular, the detection device can be configured as a camera, preferably mounted stationary next to the manipulator, optically capturing the individual gripping steps of the gripper head. Alternatively, the optical detection device can also be carried on the gripper frame or the robot arm, for example, mounted on the gripper frame. The optical detection of the KEGs enables precise determination of the position, size, shape, and orientation (position of the fitting) of the KEGs. This leads to improved accuracy in gripping and handling operations. The image data supplied by the detection device can provide precise information about the orientation and position of the KEGs, which is then used by the control unit to precisely control the gripper arrangement.Precise control based on image data helps to shorten the cycle times of the gripping and handling process, as adjustments can be made in real time if necessary. The control unit's rapid response to image data enables optimized and swift execution of the handling processes.

[0035] According to a further aspect, the present invention comprises a treatment system for treating kegs, including at least one treatment module and at least one manipulator, wherein the at least one treatment module is arranged in a grasping area of ​​the manipulator, characterized in that the manipulator of the treatment system has at least one gripper arrangement for handling kegs according to the preceding description. The gripper arrangement enables automated handling of kegs within the treatment system. This reduces manual effort and increases the efficiency of the treatment process. By integrating the described gripper arrangement, the manipulator is enabled to precisely grip and move kegs of different formats and configurations.

[0036] Further developments, advantages and application possibilities of the invention also result from the following description of exemplary embodiments and from the figures.

[0037] The invention will be explained in more detail below with reference to exemplary embodiments shown in the figures. The figures show:

[0038] 12214 WO Fig. 1 a highly simplified functional representation of a

[0039] Treatment system for treating KEGs with a gripper arrangement according to the invention on a manipulator,

[0040] Fig. 2 is a highly simplified and only schematically exemplary sketch of a

[0041] A variant embodiment of a manipulator with a gripper arrangement according to the invention arranged thereon,

[0042] Figs. 3a and 3b show an exemplary embodiment of a gripper arrangement according to the invention in perspective and top views.

[0043] Fig. 4 shows a highly simplified perspective view of the center wedge device in a first position and

[0044] Fig. 5 shows a highly simplified perspective view of the center wedge device in a second position.

[0045] For identical or similarly functioning elements of the invention, identical reference numerals are used in the figures. Furthermore, for the sake of clarity, only those reference numerals necessary for describing the respective figure are shown in the individual figures. The invention is also presented in the figures only as a schematic view to illustrate its operation. In particular, the illustrations in the figures serve only to explain the fundamental principle of the invention. For the sake of clarity, not all components of the device are shown.

[0046] The treatment system, generally designated 100 in the figures, serves to treat KEGs 3, in particular KeyKegs. More specifically, the treatment system 100 can be configured for cleaning, filling, printing, inspecting, palletizing, cap removal, cap application, corrective turning, and / or depalletizing KEGs 3. The KEGs 3 comprise, in a known manner, a

[0047] 12214 WO top 3a and a bottom 3b, wherein a KEG fitting 2 may be provided on the top 3a.

[0048] The cleaning and filling of the KEGs 3 can be carried out using a treatment system 100 with several treatment modules 30a-c, as illustrated by example in Figure 1. For this purpose, the KEGs 3 are fed into the treatment system 100 at a KEG inlet, for example, as indicated by arrow A. The treated KEGs 3 are then palletized, pre-palletized, or individually removed from the treatment system 100 at a KEG outlet, as indicated by arrow B. In more detail, a large number of KEGs 3 arranged in several rows and layers can be temporarily stored on the pallet P.

[0049] The KEG inlet marked with arrow A forms a feed area for the still unfilled KEGs 3, which may include, for example, a transport device such as a conveyor belt, while the KEG outlet marked with arrow B forms a discharge area where the treated KEGs 3, and in particular those filled with a liquid material, can be picked up on the pallet P and conveyed or transported away with another transport device such as a discharge conveyor belt.

[0050] As shown in Figure 1, the treatment system 100 has several treatment modules 30 ad for treating one or more kegs 3, wherein the treatment modules 30 ac each comprise at least one treatment head 32a-c for filling and / or internally cleaning the kegs 3. The treatment modules 30a-c thus each have a treatment head 32a-c configured to perform a cleaning and / or filling process in order to clean the interior of the kegs 3 and / or fill them with liquid material. The treatment module 30d can be a palletizing module by means of which the already treated kegs 3 are temporarily stored on a pallet P.

[0051] However, the essence of the invention is expressly not limited to the number of treatment modules 30a-d of a treatment system 100 shown in Figure 1, for example, four. Rather, the treatment system 100 can also have a different number of treatment modules 30a-d, such as two, three, five, six, seven, eight, nine, or ten, wherein the treatment modules 30a-d can also be arranged in the

[0052] 12214 WO The treatment modules 30a-30d can be arranged essentially in a circle or circularly around a central loading robot 40, as shown in the embodiment of Figure 1. Furthermore, the treatment modules 30a-30d of the treatment system 100 can also be arranged linearly, i.e., along a straight line. For this purpose, the treatment system 100 can have at least one loading robot 40, and the treatment modules 30a-30d, as well as the KEG inlet A and the KEG outlet B, can be arranged within a detection area EB of the loading robot 40.

[0053] As can be seen in Figure 1, the treatment system 100 is equipped with at least one manipulator 40. The manipulator 40, shown in more detail in Figure 2, is preferably designed as a palletizing robot, in particular as a 4-, 5-, or 6-axis palletizing robot, and has a base body 41 rotatable about a vertical axis z, which carries a gripper arm 42 movable by several degrees of freedom.The gripper arm 42 comprises a first arm section 42a for attachment to the base body 41 of the manipulator 40, a second arm section 42b pivotally arranged on the first arm section 42a, and a gripper assembly 1 according to the invention pivotally arranged at the free end of the second arm section 42b. This gripper assembly is particularly capable of grasping and / or holding one or more kegs 3 from a keg inlet A and feeding them to each of the treatment modules 20a-d, as well as removing them from the treatment modules and feeding them to a keg outlet B, from which the treated, in particular cleaned and filled, kegs 3 are transported away. The gripper assembly 1 may include a detection device 60 for optically detecting the kegs 3.

[0054] Preferably, the gripper arrangement 1 can have a coupling device 43 by means of which the gripper arrangement 1 is detachably arranged on the manipulator 40, in particular its second arm section 42b. The gripper arrangement 1 can thus be attached to and detached from the manipulator 40 by means of the coupling device 43.

[0055] In more detail, the gripper arrangement 1 according to the invention is designed for handling kegs 3 and for this purpose has at least one gripper frame 10 on which a gripper head 6 is provided for gripping and / or holding the kegs 3. As can be seen, for example, in Figure 2, the gripper arrangement 1 can be attached to a manipulator 40 by means of a mounting plate 18 arranged on the gripper frame 10. For this purpose, the mounting plate 18 can, for example, be screwed to the manipulator 40, or alternatively, the coupling device 43 can be attached to the mounting plate 18.

[0056] 12214 WO is provided for, and the gripper arrangement 1 is fixedly, but detachably, attached to the manipulator 40 by means of the coupling device 43. The coupling device 43 can be fully automatic and thus enable a fully automatic head change.

[0057] The gripper head 6 therefore further comprises at least one first and one second gripper jaw 7.1, 7.2, as well as a central wedge device 20 with at least one first and at least one second wedge element 21, 22. The first and second gripper jaw 7.1, 7.2 can each be moved in a controlled manner between a position gripping a KEG 3 with the corresponding gripper jaw 7.1, 7.2 and the corresponding wedge element 21, 22, and a position releasing the corresponding KEG 3. In more detail, in the gripping position, a KEG 3 can be gripped between the first gripper jaw 7.1 and the first wedge element 21, and another KEG 3 can be gripped between the second gripper jaw 7.2 and the second wedge element 22.

[0058] By means of an adjusting device 14, preferably a pneumatic cylinder assembly, the two gripper jaws 7.1 and 7.2 can be adjusted independently of each other between the gripping position and the releasing position of the kegs 3. The adjustability or displacement of the two gripper jaws 7.1 and 7.2 on both sides is indicated by the double arrows V2 and V3.

[0059] In more detail, the two gripper jaws 7.1 and 7.2 each have a contact element 15.1, 15.2, which can, for example, be designed as a contact roller. In the gripping position, the respective contact element 15.1, 15.2 comes into contact with the outer surface of the corresponding keg 3. For this purpose, the first gripper jaw 7.1 has the first contact element 15.1 and the second gripper jaw 7.2 has the second contact element 15.2.

[0060] As can be seen from Figures 3a and 3b, the central wedge device 20 can be provided on the base frame 10 between the two gripper jaws 7.1, 7.2. In particular, the central wedge device 20 can be arranged, and especially attached, to the base frame 10 by means of a retaining plate 11.

[0061] Furthermore, at least one first and at least one second wedge element 21, 22 of the central wedge device 20 is each moved along a by means of an adjusting device 30.

[0062] 12214 WO Transverse axis A1, A2 is designed to be adjustable. In more detail, at least one first wedge element 21 can be slidably guided along a first transverse axis A1 of the central wedge device 20, and at least one second wedge element 22 can be guided along a second transverse axis A2 of the central wedge device 20. The first and second transverse axes A1, A2 are designed to be parallel and spaced apart from each other. The central wedge device 20 shown in the figures represents an embodiment with several, namely by way of example two first and several, namely by way of example two second wedge elements 21, 22, which are each guided by means of the rail guide 31 along the respective transverse axis A1, A2.

[0063] The central wedge device 20 has a rail guide 31 along which the at least one first and the at least one second wedge element 21, 22 are each slidably arranged by means of the adjusting device 30, preferably independently of each other. The at least one first and the at least one second wedge element 21, 22 can each be designed as a format part that is detachably, but firmly, arranged on the rail guide 31.

[0064] The first and second wedge elements 21 and 22, each designed as a format part, can also be attached to the rail guide 31, particularly without tools, by means of a quick-fastening device 28, which is only roughly schematically indicated in the figures. In more detail, the rail guide 31 can have two parallel or substantially parallel guide rails 33, and each wedge element 21 and 22 can have a sliding carriage S, so that the respective wedge element 21 and 22 can be adjusted by sliding along the rail guide 31. In particular, the respective first and second wedge elements 21 and 22 are arranged on the rail guide 31 via a corresponding sliding carriage S and guided along the rail guide 31 by the sliding carriage S. It can also be provided that the corresponding sliding carriage S has the quick-fastening device 28.

[0065] As can be clearly seen from a comparison of Figures 4 and 5, at least one first and at least one second wedge element 21 , 22 is designed to be displaceable between a first position P1 and a second position P2 by means of the adjusting device 30.

[0066] 12214 WO In more detail, the at least one first and at least one second wedge element 21, 22 lie congruently one above the other in the first position P1 at least in a wedge section 21.1, 22.2 (see Figure 4), while the at least one first wedge element 21 is spaced apart from the at least one second wedge element 22 in the second position P2 along the respective transverse axis A1, A2 (see Figure 5). The respective wedge section 21.1, 22.1 of the first and second wedge elements 21, 22 is designed as an acute-angled free end section. The respective second position P2 of the at least one first and second wedge elements 21, 22 can each be adjustable, preferably continuously adjustable, by means of a stop element 27, which is only roughly schematically indicated in the figures. In particular, the stop element 27 can be designed to be infinitely adjustable and detachable, yet firmly, along the rail guide 31.

[0067] The actuating device 30 integrated in the central wedge device 20 has a first cylinder assembly 25 for displacing the at least one first wedge element 21 and a second cylinder assembly 26 for displacing the at least one second wedge element 22, each along the corresponding transverse axis A1, A2. The first and / or second cylinder assembly 25, 26 can be designed as a pneumatic cylinder assembly or an electric cylinder assembly.

[0068] The invention has been described above using exemplary embodiments. It is understood that numerous modifications or adaptations are possible without departing from the underlying inventive concept.

[0069] 12214 WO

Claims

Patent claims 1. Gripper arrangement (1) for handling kegs (3), comprising at least a gripper frame (10) on which a gripper head (6) for gripping and / or holding the kegs (3) is formed, wherein the gripper head (6) has at least one first and one second gripper jaw (7.1, 7.2) and a central wedge device (20) with at least one first and at least one second wedge element (21, 22), wherein the first and second gripper jaw (7.1, 7.2) are each controllably movable between a position gripping a keg (3) with the corresponding gripper jaw (7.1, 7.2) and the corresponding wedge element (21, 22) and a position releasing the corresponding keg (3), and wherein the at least one first and at least one second wedge element (21, 22) of the central wedge device (20) are each moved along a The transverse axis (A1, A2) is designed to be adjustable.

2. Gripper arrangement (1) according to claim 1, characterized in that the at least one first wedge element (21) is slidably guided along a first transverse axis (A1) of the central wedge device (20) and the at least one second wedge element (22) is slidably guided along a second transverse axis (A2) of the central wedge device (20), wherein the first and second transverse axes (A1, A2) are formed parallel and spaced apart from each other.

3. Gripper arrangement (1 ) according to claim 1 or 2, characterized in that the central wedge device (20) has a rail guide (31 ) along which the at least one first and the at least one second wedge element (21 , 22) are each displaceable by means of the adjusting device (30), preferably displaceable independently of each other.

4. Gripper arrangement (1 ) according to one of the preceding claims, characterized in that the at least one first and the at least one second wedge element (21 , 22) is designed to be displaceable between a first position (P1 ) and a second position (P2) by means of the adjusting device (30).

5. Gripper arrangement (1) according to claim 4, characterized in that the at least one first and the at least one second wedge element (21, 22) are congruently aligned in the first position (P1) at least in one wedge section (21.1, 22.2) and in the second position (P2) the at least one first wedge element 12214 WO (21 ) to which at least a second wedge element (22) is spaced apart along the respective transverse axis (A1 , A2).

6. Gripper arrangement (1 ) according to claim 5, characterized in that the respective wedge section (21.1 , 22.1 ) of the first and second wedge element (21 , 22) is designed as an acute-angled free end section.

7. Gripper arrangement (1 ) according to one of the preceding claims, characterized in that the respective second position (P2) of the at least one first and second wedge element (21 , 22) is adjustable, preferably continuously adjustable, by means of a stop element (27).

8. Gripper arrangement (1 ) according to one of the preceding claims, characterized in that the adjusting device (30) is integrated into the central wedge device (20).

9. Gripper arrangement (1 ) according to one of the preceding claims, characterized in that the positioning device (30) has a first cylinder arrangement (25) for displacing the at least one first wedge element (21 ) and a second cylinder arrangement (26) for displacing the at least one second wedge element (22) each along the corresponding transverse axis (A1 , A2).

10. Gripper arrangement (1 ) according to claim 9, characterized in that the first and / or second cylinder assembly (25, 26) is designed as a pneumatic cylinder assembly or an electric cylinder assembly.

11. Gripper arrangement (1 ) according to one of the preceding claims 3 to 10, characterized in that the at least one first and the at least one second wedge element (21 , 22) are each designed as a format part which is detachably, but firmly, arranged on the rail guide (31 ).

12. Gripper arrangement (1 ) according to one of the preceding claims 3 to 10, characterized in that the first and second wedge element (21 , 22), each preferably designed as a format part, can each be fastened to the rail guide (31 ) by means of a quick fastening device (28), in particular without tools. 12214 WO 13. Gripper arrangement (1 ) according to one of the preceding claims, characterized in that several first and several second wedge elements (21 , 22) are provided, each of which is guided by means of the rail guide (31 ) along the respective transverse axis (A1 , A2).

14. Gripper arrangement (1) according to one of the preceding claims, characterized by a detection device (60) for optically detecting the KEGs (3).

15. Treatment system (100) for treating KEGs, comprising at least one Treatment module (30a-d) and at least one manipulator (40), wherein the at least one treatment module (30a-d) is arranged in a detection area (EB) of the manipulator (40), characterized in that the manipulator (40) of the treatment system (100) has at least one gripper arrangement (1) for handling KEGs (3) according to one of the preceding claims 1 to 13. 12214 where

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