Patent ID: 11865694
Assignee: DÜRR SOMAC GMBH
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 8:
9. A rotary driving tool for handling a closure element on a container, the rotary driving tool configured for attachment to a robot arm that, in operation, is displaceable between a home position and a use position, the rotary driving tool comprising:
a base;
a drive motor supported above the base and comprising a rotatable output shaft;
a first wheel arranged below the base and connected to the rotatable output shaft of the drive motor;
a gripper supported below the base and attached to a hollow shaft, the gripper comprising:
a plurality of jaws movable between a gripping position and a non-gripping position, wherein in the gripping position the jaws are configured for engaging a groove in the closure element;
a driver for controlling movement of the plurality of jaws, wherein the driver comprises a plurality of pneumatic lines disposed in the hollow shaft; and
a mechanical drive for controlling rotational movement of the plurality of jaws about a first central longitudinal axis of the gripper, wherein the mechanical drive comprises a second wheel arranged below the base, the second wheel being coupled to the first wheel by a belt; and

a first compensator movable in an X-Y plane and a second compensator movable in a Z direction, wherein both the first compensator and the second compensator are located above the base and positioned along a second central longitudinal axis.