Gripper for gripping hollow bodies with a detachable arm

Abstract

The present invention relates to a gripper (21) for gripping hollow bodies, the gripper (21) comprising two arm supports (32) rotatably mounted on a gripper head (34) and two arms (36) each equipped, at one of the ends thereof, referred to as the distal end, with a jaw (38) that is intended to bear on a portion of the hollow body and, at the opposite end thereof, referred to as the proximal end, with an attachment portion (40) that is intended to removably secure each of the arms (36) to the arm supports (32), characterized in that the attachment portion (40) of each arm (36) comprises at least one means (41), referred to as positioning means, for positioning the arm relative to the arm support, the positioning means (41) comprising at least one male part (42) or a female portion (44) that is able to cooperate with a female portion (44) or a male part (42) of the arm support (32), and at least one attachment means (59) that is intended to clamp the male part (42) in the female portion (44).

Description

Hollow body gripper with detachable arm

[0001] The present invention relates to a transfer device comprising an improved gripping clamp.

[0002] The present invention relates more particularly to a device for transferring objects, such as preforms or containers or in general hollow bodies, comprising on the one hand a neck in its final shape provided with a drinking spout delimiting an opening and at least one annular collar extending radially in projection and, on the other hand, a hollow body extending axially, in the opposite direction to that of the opening of the neck, from a junction section adjacent to the collar to a bottom.

[0003] The hollow body transfer device includes at least one gripping clamp which has two limb supports mounted for rotation on a clamp head and two limbs each equipped, at one of its ends, called distal end, with a jaw which is intended to bear against a part of the hollow body and, at its opposite end called proximal end, with a fixing portion which is intended to removably secure each of the limbs to the limb supports, said fixing portion allowing for rapid assembly and / or disassembly of the clamp limbs. State of the art

[0004] The state of the art is known of transfer devices of this type which generally include a wheel which is driven in continuous rotation around a vertical axis of rotation.

[0005] The rotating wheel of such a transfer device includes at least one transfer arm which has, at one of its free ends, at least one gripping clamp capable of grasping an object having a neck and having a radial collar, such as in particular a preform or a container.

[0006] Such transfer devices are used in blow molding or stretch blow molding plant manufacturing facilities that produce containers from preforms, particularly for the manufacture of bottles, flasks, etc., forming hollow bodies. A "hollow body" is defined as a container preform, a final container, or possibly an intermediate container; that is, any type of hollow body consisting of a body from which a tubular neck extends.

[0007] The same installation must be suitable for manufacturing containers of different models, and in particular of different capacities. A given preform model may be suitable for several container models, but not all.

[0008] Preforms are distinguished not only by the shapes (and sizes) of their bodies but also by different neck diameters.

[0009] It is therefore easy to understand that it is then necessary to replace each clamp with another, with a jaw diameter adapted to the new model of preform and bottles to be transferred into the installation.

[0010] This type of installation has a large number of grippers, for example around forty grippers for the largest container manufacturing installations.

[0011] Furthermore, the use of this type of clamp is not limited solely to the blow molding machine for container manufacturing; it can also be used on a production line including filling, labeling, etc.

[0012] However, the process of dismantling and reassembling a set of grippers to adapt to a given format remains quite lengthy. Indeed, for a format change, it is necessary to dismantle all the grippers on the container manufacturing line and then install the grippers adapted to the new format. Consequently, for a container blow molding line with forty grippers, it takes an experienced operator two hours to perform this changeover. Disclosure of the invention

[0013] One of the aims of the invention is to overcome this drawback by providing a gripping clamp of simple and inexpensive design allowing for simple and quick assembly and / or disassembly of branches.

[0014] To this end, and in accordance with the invention, a hollow body grasping clamp is proposed comprising two arm supports mounted for rotation on a clamp head and two arms, each equipped at one of its ends, called the distal end, with a jaw intended to bear against a part of the hollow body and, at its opposite end, called the proximal end, with a fixing portion intended to removably secure each of the arms to the arm supports, remarkable in that said fixing portion of each arm comprises at least one means called for positioning said arm relative to said arm support, said positioning means comprising at least one male part or a female portion capable of cooperating with a female portion or a male part of said arm support, and at least one fixing means intended to clamp said male part in said female portion.

[0015] According to another aspect of the invention, said male part of said positioning means consists of a gib suitable for being inserted into a groove of corresponding shape to the gib, said groove forming the female portion of said positioning means.

[0016] According to another aspect of the invention, said positioning means comprises a base positioned on an upper face of said branch and on which the gib is mounted.

[0017] According to another aspect of the invention, the large base of the bacon extends to the right of said base.

[0018] According to another aspect of the invention, the small base of the bacon extends to the right of said base.

[0019] According to another aspect of the invention, said lardon has a hole suitable for receiving a rod extending from the upper face of the base.

[0020] According to another aspect of the invention, said gib has a tapped hole suitable for receiving a screw extending through a through hole made in the base.

[0021] According to another aspect of the invention, said base comprises, at the level of the outer lateral edge of the branch, a finger adapted to bear against a shoulder made at the entrance of the groove of the branch support.

[0022] Another object of the invention relates to a branch of a gripping clamp being equipped at one of its ends, called the distal end, with a jaw intended to bear against a part of the hollow body and, at its opposite end called the proximal end, with a fastening portion being able to removably secure said branch to a branch support characterized in that said branch comprises a fastening portion including a male part intended to cooperate with a female part of said branch support, at least one means of positioning said branch relative to said branch support, and at least one fastening means intended to clamp said male part and said female part against each other.

[0023] A final object of the invention relates to a branch support of a hollow body gripper, said branch support being able to be mounted removably on a branch characterized in that said branch support comprises at least one means said for positioning said branch relative to said branch support, said positioning means comprising at least one male part or a female portion able to cooperate with a female portion or a male part of said branch support, and at least one fastening means intended to clamp said male part in said female portion.

[0024] Other advantages and features will become clearer from the following description of several embodiments, given by way of non-limiting examples, of the gripping clamp according to the invention, based on the following drawings:

[0025] is a schematic overview of a container production facility seen from above;

[0026] is a detailed view of a preform;

[0027] is an overall view of a gripping clamp in the open position suitable for grasping a hollow body according to the invention;

[0028] This is a detailed view of a gripper arm support.

[0029] are detailed views of a branch of a clamp;

[0030] is a partial view of the branch attached to the branch support;

[0031] is a cross-sectional view of the;

[0032] is a partial cross-sectional view of the branch and branch support with a variant of the positioning means;

[0033] ,ets are the different phases of mounting a branch on the branch support; Method of embodying the invention

[0034] In the following description, elements with an identical structure or analogous functions will be designated by the same reference.

[0035] The longitudinal, vertical and transverse orientations will be adopted without limitation in reference to the trihedron (L, V, T) represented in the figures.

[0036] By convention, the longitudinal and transverse directions are fixed relative to the molding devices so that the open or closed position occupied has no bearing on said orientations.

[0037] The terms "front" and "rear" will also be used, without limitation, in reference to longitudinal orientation, as well as "upper" and "lower" in reference to vertical orientation, and finally "left" or "right" and "inside" or "outside" in reference to transverse orientation.

[0038] A schematic representation is shown in Figure 1 of a mass production installation of containers 2 made of thermoplastic material from preforms 4.

[0039] In the following description, the preforms 4 and the containers 2 move through the production facility along a circulation path from upstream to downstream.

[0040] Without limitation, containers 2 here are bottles. The thermoplastic material is, for example, polyethylene terephthalate, hereafter referred to by its acronym "PET".

[0041] An example of such a preform 4 is shown in Figure 4. Preform 4 has a principal axis "X" shown vertically in the figure. It has a cylindrical body 6 with a tubular wall closed at one of its axial ends by a bottom 8, and which is open at its other end by a neck 10, also tubular. The neck 10 is delimited downwards by a collar 12 and upwards by an upper end edge called the rim 14.

[0042] The neck 10 generally presents its final shape while the body 6 of the preform 4 is intended to undergo a relatively large deformation to form the final container 2 during a forming step.

[0043] The neck 10 has a thread to allow the container to be closed later with a screw cap. It is also generally provided with an annular groove 13, which is axially delimited by the collar 12 and a ridge (not shown). This groove 13 is designed to later receive a tamper-evident ring attached to the cap in a separable manner to guarantee the integrity of the container (bottles, flasks, etc.) to the consumer upon purchase.

[0044] In this description, the expression "hollow body" refers to the container preform 4, or the final container 2, or possibly an intermediate container.

[0045] As shown in the figure, the container manufacturing facility includes at least one heat conditioning unit 16 and one forming unit 18.

[0046] The heat treatment unit 16, also called an oven, heats a series of preforms 4 to a reference temperature. The preforms 4 are moved in a line along a heating path by conveyors (not detailed). The reference temperature is chosen so that the body 6 of each preform 4 exiting the heat treatment unit 16 is in a malleable state, allowing the heated preform body 6 to be deformed to form the container 2 in the forming unit 18. The reference temperature is between the glass transition temperature and the crystallization temperature of the plastic material of the preform 4. In the case of PET, the reference temperature is, for example, close to 110°C. The reference temperature value may vary depending on the product with which the container 2 will be filled or the container filling technique.Thus, the reference temperature is different for hot filling or for a carbonated product, for example.

[0047] According to the embodiment shown in the figure, the heat conditioning unit 16 is a conveyor oven, in which the preforms 4 are conveyed to be exposed to a plurality of heat radiation sources 22.

[0048] For this purpose, the thermal conditioning unit 16 includes a means of conveying preforms 4 through the thermal conditioning unit 16 along a heating path extending between an inlet and an outlet of the thermal conditioning unit 16.

[0049] As shown in the figure, the conveying means 24 comprises a succession of gripping devices, each capable of supporting a preform 4, mounted on a chain, moving along the heating path in the thermal conditioning unit 16.

[0050] The thermal conditioning unit 16 also includes a heating cavity which comprises two side walls facing each other and at least one of these walls being the one which supports several sources 22 of radiation arranged one above the other and one beside the other opposite the preforms 4.

[0051] In other words, the heat conditioning unit 16 comprises a plurality of radiation sources 22 distributed along the heating path and at a height substantially corresponding to the height of the preforms, such that the entire height of the body 6 of each preform is exposed to the radiation sources 22 along the preform's path within the heat conditioning unit 16. By rotating the preforms about their principal axis X, the body 6 of the preforms is uniformly exposed to the radiation sources 22. In this particular embodiment, the radiation sources 22 are distributed on only one side of this path, and a reflective wall 23 is arranged on the other side of the heating path to reflect the heat back to the preforms.

[0052] In another embodiment not shown, the radiation sources 22 can be distributed on either side of the heating path without going out of the scope of the invention.

[0053] It should also be noted that the radiation sources 22 are arranged, where applicable, so as not to expose the neck 10 to the heat emitted by the radiation sources 22. Indeed, as previously stated, only the body 6 of the preform is formed to produce the container 2. Therefore, the neck 10 must not be deformed during forming and must not be heated. To prevent heating of the neck 10, the furnace 16 may include a ventilation device positioned at the necks to remove the heat that could be absorbed by the necks.

[0054] Each 22 source of radiation is formed by an incandescent lamp emitting infrared radiation.

[0055] In another embodiment, each radiation source 22 is a laser diode emitting infrared radiation.

[0056] In other words, each 22 source of radiation is a laser (e.g. laser diodes) emitting in the infrared and arranged by juxtaposition and / or superposition to form one or more matrices.

[0057] In another embodiment, each radiation source 22 is a microwave generator.

[0058] Then, once the preform 4 has been thermally conditioned in the thermal conditioning unit 16, it is transferred to the forming unit 18 by a transfer device to be formed there.

[0059] This type of transfer device typically includes a wheel that is driven in continuous rotation around a vertical axis of rotation.

[0060] This transfer device includes the wheel on which is fixed at its periphery at least one transfer arm which has, at one of its free ends, at least one gripping clamp capable of grasping a hollow body at the level of its neck.

[0061] The unit for forming containers 2 from preforms 4 consists of a forming wheel 28 rotating a plurality of forming stations from an inlet to an outlet, at which a succession of containers 4 are formed from the preforms 4 and extracted, as shown in the figure. The axis of rotation of the forming wheel 28 is, for example, substantially parallel to the principal axis X of the preforms 4 when they are conveyed by the forming wheel 28.

[0062] Each blowing station includes a mold 30 forming a molding cavity having the shape of the container 2 to be formed and arranged to receive a preform 4 so that the body 6 of the preform extends into the molding cavity.

[0063] Then, once container 4 has been formed in the forming unit 18, it is extracted by another transfer device to undergo further possible processing such as filling, labeling…

[0064] This type of transfer device typically includes a wheel that is driven in continuous rotation around a vertical axis of rotation.

[0065] The wheel of this transfer device has at its periphery at least one transfer arm which has, at one of its free ends, at least one gripping clamp capable of grasping a hollow body by its neck.

[0066] Figure 1 represents a general view of a gripper 21 in the open position, suitable for grasping a hollow body. This gripper 21 is attached to the end of a transfer arm 19 positioned on the periphery of a rotating wheel (not shown in this figure).

[0067] The clamp 21 comprises two limb supports 32 mounted for rotation on a clamp head 34 by means of, in particular, a ball bearing, the outer ring of which is fixed to the head 34 and the limb support 32 is fixed to an inner ring. These rings are movable relative to each other within a cage containing balls.

[0068] It is quite clear that the ball bearing can be substituted by any other equivalent means of rotational guidance well known to a person skilled in the art without departing from the scope of the invention.

[0069] On the upper part of the head 34 is positioned a notch 35 allowing the transfer arm 19 to be secured and positioned to the gripping clamp 21.

[0070] In a longitudinal direction, the two branches 36 are each equipped, at one of its ends, called distal end, with a bit 38 intended to bear against a part of the hollow body to be grasped, in particular the neck and more particularly at the level of an annular groove 13 and, at its opposite end called proximal end, with a fixing portion 40 intended to removably secure each of the branches 36 to the branch supports 32.

[0071] As shown in this figure, when the gripper is in the open position, the two arms 36 are spread apart to accommodate the hollow body to be grasped. Conversely, when the gripper is in the closed position, the two arms 36 are brought together to hold the hollow body during its movement within the installation or production line.

[0072] Furthermore, the clamp head 34 is positioned opposite each of the branch supports 32, which is mounted above each of the branches 36. In addition, the assembly formed by the branch support 32 and the branch 36 pivots around an axis located at the level of the proximal part of the branch and which is orthogonal to a plane defined by the rotation of the branches 36 and parallel to the axis of the hollow body gripped by the jaws.

[0073] Figure 32 represents a detailed view of a branch support according to the invention. The positioning means 41 for the branch support 32 comprises a female portion 44 surmounted by an annular section 46 having an internal housing 48 for a ball bearing positioned between the annular section 48 and the clamp head 34. The outer wall of the annular section 46 is fixed to a vertical orienting piece 47 used to control the pivoting of the branch support 32 and thus the opening and closing of the clamp.

[0074] In an alternative not shown, the positioning means 41 of the branch support 32 includes a male piece surmounted by the annular section 46 having inside a housing accommodating a means of connection between the annular section 46 and the clamp head 34.

[0075] The female portion 44 includes at least one groove suitable for receiving the male part 42 positioned on the branch.

[0076] As shown in the figure, the female portion 44 includes two superimposed grooves suitable for receiving complementary male parts of the branch detailed a little further on.

[0077] The first groove 43 is of trapezoidal section, through or not.

[0078] The second groove 45 has a rectangular cross-section and is positioned directly below the first groove, the second groove being wider than the first groove. This groove may or may not be through.

[0079] The first groove 43 and the second groove 45 are thus parallel and separated by a groove 47 forming two so-called upper shoulders 49a corresponding to the bottom of the first groove 43 and two lower shoulders 49b corresponding to the bottom of the second groove 45.

[0080] Figure 1 represents a detailed view of a clamp arm 36 according to the invention. The length of the arm defines and provides the orientation of the longitudinal direction. The arm 36 comprises at one of its ends, called the distal end, a jaw 38 intended to bear against a part of the hollow body, for example, against the groove 13 of the preform 4 or the container 2, and, at its opposite end, called the proximal end, the fixing portion 40 intended to removably secure each of the arms 36 to the arm supports 32.

[0081] As shown in the figure, the positioning means 41 comprises a parallelepiped-shaped base 50 positioned on the upper face of the arm 36 and oriented transversely with respect to the longitudinal direction of the arm. The base 50 and the arm form a single piece. In other words, the arm and the base form a single piece that can be machined.

[0082] It goes without saying that the base 50 and the branch 36 can be two separate pieces assembled by any appropriate means well known to a person skilled in the art without going out of the scope of the invention.

[0083] At the outer lateral edge of the base 50, a finger 52 is formed, notably by machining. The finger is designed to bear against a shoulder formed at the entrance of the groove in the branch support 32. The finger 52 ensures the correct positioning of the branch 36 in the branch support on a horizontal plane when the finger and the shoulder are in contact.

[0084] The upper face of the base 50 serves as a reference during the phase of mounting the branch in the grooves of the branch support 32.

[0085] As shown in the figure, the positioning means also includes a 54mm tang.

[0086] The gib is mounted freely and allows translational movement on the upper face of the base, thus defining a clearance 55 used during assembly. The gib 54 is designed to be inserted into a complementary groove in the branch support.

[0087] The 55mm gap allows the gib to be inserted into the first complementary groove 43 of the branch support, as well as the base to be inserted into the second complementary groove 45. This 55mm gap disappears when the branch is secured to the branch support.

[0088] The 54th piece is trapezoidal in section, the larger base 64 extending to the right and opposite the base 50.

[0089] Alternatively, in another embodiment, the small base of the bacon 54 extends to the right of said base 50.

[0090] In another variant, the 54-gauge can take any shape provided that it is complementary to that of a groove.

[0091] In this embodiment, the base 50 and the gib 54 are positioned transversely with respect to the longitudinal direction defined by the branch 36.

[0092] In an unrepresented variant, the base 50 and the gib 54 are positioned longitudinally with respect to the longitudinal direction defined by the branch 36.

[0093] The gib 54 has a hole 56 suitable for receiving a rod, not visible in the figures, extending from the upper face of the base 50 in order to prevent the rotation of the gib 54 relative to the support 32.

[0094] Hole 56 is orthogonal to the plane defined by the large base 66 of the giblet 54.

[0095] The gib 54 also has a tapped hole 58 suitable for receiving a screw 60 extending through a through hole 62 made in the base 50. The screw 60 allows the large base 64 of the gib 54 to be tightened against the upper shoulders 49a and the upper face of the base 50 against the lower shoulders 49b.

[0096] Generally speaking, it is understood that the mounting portion 40 of each branch may include at least one positioning means 41 for the branch 36 relative to the branch support 32. This positioning means comprises at least one male part 42 or a female portion 44 capable of cooperating with a female portion 44 or a male part 42 of said branch support, and at least one fastening means for clamping said male part into said female portion.

[0097] Figure 36 represents a partial view of the arm. In this figure, the gib 54 rests on the upper face of the base 50 by its mass. Consequently, the clearance 55 for mounting the arm 36 with the arm support 32 is not present. In this configuration, the gib 54 is free to move until it is mounted, where it will be clamped in the first groove 43.

[0098] Figure 36 represents a partial view of the branch attached to the branch support 32. The attachment portion 40 of the branch 36 includes at least one positioning means 41 for the branch 36 relative to the branch support 32. The positioning means 41 comprises at least one male part 42 or a female portion 44 adapted to cooperate with a female portion or a male part of said branch support, and at least one fastening means for clamping said male part into said female portion.

[0099] In this case, in the example embodiment shown in the figure, the positioning means 41 located at the level of the fixing portion 40 of the branch 36 includes the gib 54 and the base 50.

[0100] The gib 54 is positioned in the first groove 43 and the base is positioned in the second groove 45 of the positioning means 41 of the branch support 32. The positioning of the gib 54 and the base 50 in these grooves 43 and 45 provides correct alignment of the branch 36 with respect to the branch support 32.

[0101] The fastening means (not shown in this figure) exerts a clamping force on the upper shoulders 49a and lower shoulders 49b. In other words, the gib 54 and the base 50 exert a clamping force on both sides of the surfaces of the upper shoulders 49a and lower shoulders 49b via the screw 60.

[0102] Figure 1 represents a partial cross-sectional view of branch 36 and branch support 32. This cross-section is taken in the longitudinal direction of branch 36 at the level of the tapped hole 58.

[0103] As shown on the figure, the 54th piece has a trapezoidal cross-section whose larger base 66 extends to the right of the base 50.

[0104] The gib 54 is positioned transversely with respect to the longitudinal direction defined by the branch 36.

[0105] The gib 54 includes a fixing means 59 in the form of a tapped hole 58 receiving a screw 60 extending through a bore 62 made in the fixing portion of the arm 36, i.e., in the arm 32 and the base 50.

[0106] The arm 36 also has a recess 63 in its underside into which a screw head is fitted. This recess provides access to the screw head to allow the screw 60 to be screwed into the tapped hole 58 in the gib 54.

[0107] The screwing action allows for clamping force to be applied to the gib 54 and the base 50 against the upper shoulders 49a and lower shoulders 49b, thus securing the arm 36 to the arm support 32. This securing is, of course, reversible, allowing the arm 36 to be detached from the arm support 32.

[0108] Figure 1 represents a partial cross-sectional view of the branch 36 and the branch support 32 with a variant of the positioning means. The cross-section is also taken in the longitudinal direction of the branch 36 at the tapped hole 58.

[0109] As shown in this figure and unlike the previous figure, the orientation of the 54 rib has been reversed, that is to say that the small base 66 of the 54 rib extends to the right and opposite the upper face of the base 50.

[0110] The gib 54 is positioned transversely with respect to the longitudinal direction defined by the branch 36.

[0111] The gib 54 has a tapped hole 58 receiving a screw 60 extending through a bore 62 made in the fixing portion 40 of the arm 36, that is to say, both in the base 50 and the arm 36.

[0112] The arm 36 also has a recess in its underside into which a screw head is inserted. This recess provides access to the screw head to allow the screw 60 to be screwed into the tapped hole 58 in the gib 54.

[0113] The screwing operation exerts a clamping force on the gib 54 against the walls of the first complementary groove 43 of the branch support 32, thus securing the branch 36 to the branch support 32. This connection is, of course, reversible, allowing the branch 36 to be detached from the branch support 32. To do this, the screw 60 is unscrewed from the tapped hole 58.

[0114] More specifically, it is the lateral sides of the trapezoidal section gib 54 that exert a force on the lateral sides of the first groove 43 of the branch support 32 which also has a trapezoidal section.

[0115] Figures 10 to 12 represent the different phases of mounting a branch 36 on a respective branch support 32.

[0116] The illustration shows a gripping clamp 21 where a left arm 36a is already mounted on its respective arm support 32 and a right arm 36b is about to be inserted on its respective arm support 32.

[0117] The insertion movement of the right-hand branch 36b relative to the branch support 32 is symbolized in this figure by an arrow describing a transverse direction relative to the longitudinal direction defined by the branch 36b. In other words, the movement to insert the positioning means of the branch 36b into the positioning means of the branch support 32 is a transverse movement.

[0118] To do this, the branch positioning means 36b is aligned with the branch support positioning means 32 before performing the insertion.

[0119] In other words, the branch positioning means 36b comprising the gib 54 and the base 50 is aligned with the branch support positioning means 32, i.e., the first 43 and the second 45 groove, before being inserted into each other.

[0120] Laillustre a gripping clamp where a left arm 36b is already mounted on its respective arm support 32 and a right arm 36a whose gib 54 and base 50 are half inserted into the complementary grooves, that is, the first and second groove 43, 45 of the arm support.

[0121] The illustration shows a gripper in the closed position, of which a left arm 36b is already mounted on its respective arm support 32 and a right arm 36a mounted on its respective support 32, the finger 52 of which rests on a shoulder 68 made at the entrance of the second groove 45 of the arm support 32, thus ensuring that the arm 36a is properly positioned in support relative to the arm support 32 before tightening the fastening means, i.e., the screw 60, to finalize the securing of the arm 36a with the arm support 32.

[0122] For a container blow molding machine with forty grippers, it took an experienced operator two hours to change them. Now, with the gripper according to the invention, the operator only needs 30 minutes to change all the grippers.

Claims

1. A hollow body gripper (21) comprising two arm supports (32) rotatably mounted on a gripper head (34) and two arms (36), each equipped at one of its ends, referred to as the distal end, with a jaw (38) for bearing against a portion of the hollow body and, at its opposite end, referred to as the proximal end, with a fastening portion (40) for removably securing each of the arms (36) to the arm supports (32), characterized in that said fastening portion (40) of each arm (36) comprises at least one positioning means (41) for said arm relative to said arm support, said positioning means (41) comprising at least one male part (42) or a female portion (44) capable of cooperating with a female portion (44) or a male part (42) of said arm support (32), and at least one fastening means (59) for clamping said male part (42) in said female portion (44).

2. Gripping clamp (21) according to the preceding claim characterized in that the male part (42) of said positioning means (41) consists of a gib (54) suitable for being inserted into a groove (43) of a shape corresponding to the gib (54), said groove (43) forming the female portion (44) of said positioning means (41).

3. Gripping clamp according to the preceding claim characterized in that said positioning means (41) comprises a base (50) positioned on an upper face of said arm (36) and on which the gib (54) is mounted.

4. Gripping clamp (21) according to claim 3 characterized in that the large base (64) of the gib (54) extends to the right of said base (50).

5. Gripping clamp according to claim 3 characterized in that the small base (66) of the gib (54) extends to the right of said base (50).

6. Gripping clamp according to any one of claims 3 to 5 characterized in that said gib (54) has a hole (56) suitable for receiving a rod extending from the upper face of the base (50).

7. Gripping clamp according to any one of claims 3 to 6 characterized in that said gib (54) has a tapped hole (58) suitable for receiving a screw (60) extending through a through hole made in the base (50).

8. Gripping clamp according to any one of claims 3 to 7 characterized in that said base (50) comprises, at the level of the outer lateral edge of the arm, a finger (52) capable of bearing on a shoulder (53) made at the entrance of the groove (45) of the support (32) of the arm.

9. Branch (36) of a hollow body gripper (21), said branch being equipped at one of its ends, called distal end, with a jaw (38) intended to bear against a part of the hollow body and, at its opposite end called proximal end, with a fastening portion (40) being able to removably secure said branch (36) to a branch support (32) characterized in that said branch (36) comprises a fastening portion (40) comprising a male part (42) intended to cooperate with a female part (44) of said branch support (32), at least one positioning means (41) of said branch (36) relative to said branch support (32), and at least one fastening means (59) intended to clamp said male part (42) and said female part (44) against each other.

10. Branch support (32) of a hollow body gripper, said branch support (32) being able to be removably mounted on a branch (36) characterized in that said branch support (32) comprises at least one positioning means (41) of said branch relative to said branch support, said positioning means (41) comprising at least one male part (42) or a female portion (44) able to cooperate with a female portion (44) or a male part (42) of said branch support, and at least one fastening means (59) intended to clamp said male part in said female portion.

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