Abstract: A work machine includes a vehicle body and a work implement attached to the vehicle body. A system calibrates the work machine by using an external measurement apparatus. The system includes an attitude sensor, a positional sensor attached to the vehicle body, a storage device, an input device and a processor. The attitude sensor outputs attitude data indicative of an attitude of the vehicle body. The storage device stores machine data indicative of a position of the positional sensor in a vehicle body coordinate system. The input device receives an input of calibration data including a position of a predetermined measurement point on the work machine measured by the external measurement apparatus, and a position of the positional sensor measured by the external measurement apparatus. The processor calibrates the machine data based on the calibration data and the attitude data.

Abstract: The invention relates to a method (19) of operating a hydraulic arrangement (1) including a mounting base (5), a boom (3) that is pivotably arranged on the mounting base (5), and a Z-kinematics (2) that is arranged on the boom (3). The Z-kinematics (2) tilts a tool attachment device (10), that is pivotably arranged on the boom (3). The boom (3) is moved by a lifting hydraulic piston (7) that is connected to the boom (3) and to the mounting base (5). The Z-kinematics (2) is moved by at least a tilting hydraulic piston (11) that is connected to a lever of the Z-kinematics (2) and to the mounting base (5). On application of an input control command for changing the position of the lifting hydraulic piston (7), a compensation command is automatically generated and applied to the tilting hydraulic piston (11), to essentially maintain the attitude of the tool attachment device (10).

Abstract: A method and a system for automatically securing the operation of a robot system and corresponding components of the system, wherein operation is controlled by a mobile operating device. The robot system receives presence signals transmitted from a mobile operating device via a short-range first signal connection and an operating signal transmitted via a second signal connection designed to be independent of the first signal connection. The operating signal contains a safety-relevant control command for the robot system. The control command is released for execution by the robot system only if a presence check has ascertained that the last received presence signal satisfies a presence criterion specified with respect to the determination of a spatial proximity of the operating device to the robot system. A configuration signal derived from the result of the presence check is transmitted back to the operating device for configuration based on the result.

Abstract: A handling device having a holder for gripping web-shaped packaging material, which holder has a curvature in the longitudinal direction of the holder. When the packaging material is gripped by the handling device, a free end section of the packaging material is arched in the transverse direction of the packaging material and projects out from the handling device to be inserted into a processing station of a packaging machine.

Abstract: A milling machine may have a frame, first and second ground engagement members connected through respective, vertically adjustable leg columns to a front end of the frame, and third and fourth ground engagement members connected through respective, vertically adjustable leg columns to a rear end of the frame. Each vertically adjustable leg column includes a hydraulic cylinder connecting the frame and the associated ground engagement member. A milling drum is attached to the frame between the front and rear ends. At least one pair of the leg columns connected to the front end of the frame or the leg columns connected to the rear end of the frame includes an accumulator associated with each of the at least one pair of leg columns, a fluid conduit fluidly connecting a bore end of each of the hydraulic cylinders to the associated accumulator, and a control valve disposed in the fluid conduit and configured to control a flow of fluid between the hydraulic cylinders and the associated accumulators.

Abstract: To accurately present guide information which expresses the shape and height of a hoisting load and an object located near the hoisting load. A guide information display device is equipped with: a data acquisition unit provided with a camera for capturing an image of a hoisting load region which includes at least a hoisting load and the ground surface below the hoisting load from above the hoisting load, and a laser scanner for obtaining a data point group in the hoisting load region; a data processing unit for estimating the top surface of the hoisting weight, the ground surface, and the top surfaces of objects, on the basis of the obtained data point group, and generating guide frames which surround the top surfaces of the hoisting weight and objects; and a data display unit which displays guide information obtained by overlapping the generated guide frames and the captured image with one another.

Abstract: A fall arresting device including a device housing, a shaft within the housing, a rotor assembly rotatably connected to the shaft that includes a drum and a disc having at least one region of a ferromagnetic material, an extendable lifeline connected to the drum, a magnetic sensor positioned stationary relative to the device housing and adjacent to the disc, and a that includes a hard-magnetic material. The magnet positioned stationary relative the device housing and the magnetic sensor, where the magnetic sensor is configured to detect a change in a magnetic field produced by the magnet when the disc rotates about the shaft, the change in the magnetic field induced by the at least one region of the ferromagnetic material being brought within close proximity to the magnet as the disc rotates.

Abstract: A system and method of positioning a grapple of a skidder based on ground conditions and felled timber characteristics, or other material characteristics, such as conduit characteristics for pipe, being moved by the skidder. The vehicle includes a level sensor to determine slope of the vehicle based on ground slope and a traction device to determine a slip condition of the vehicle. Level sensors can include a gyroscope, an accelerometer, or a pitch/roll/yaw sensor. The grapple assembly is automatically positioned based on the vehicle slope, the slip condition, and the weight and/or the length of the felled timber being collected by the grapple.

Abstract: A driving apparatus includes a rotation body in which at least a lower portion is a cylindrical rotated portion, a housing including a top plate portion in which the rotated portion is inserted, a driving mechanism provided in the housing and configured to rotate the rotation body, and an exhaust unit. The top plate portion of the housing comprises a circular opening in which the rotated portion is inserted, and a groove portion provided to surround the opening and communicating with the opening. The groove portion comprises, at at least one point of the groove portion in a circumferential direction, a wide portion whose groove width in a radial direction of the opening is made large. The exhaust unit is provided to communicate with the wide portion and exhausts air in the groove portion.

Abstract: The invention provides a wheel loader front unit including a frame, the wheel loader front unit further including two hub supporting elements, each hub supporting element being arranged on opposite sides outside of the frame for supporting a respective hub unit, a lift arm for supporting an implement of the wheel loader, the lift arm being arranged to be pivoted around a pivot connection to the frame by a main hydraulic cylinder, and a tilting hydraulic cylinder arranged to actuate a tilting movement of the implement in relation to the lift arm, wherein the wheel loader front unit further includes a slave hydraulic cylinder hydraulically connected to the tilting hydraulic cylinder for controlling the tilting movement of the implement when the lift arm is pivoted by the main hydraulic cylinder, wherein the slave hydraulic cylinder extends between the lift arm and one of the hub supporting elements.

Abstract: A method of reducing the load of a rotor blade of a wind turbine during installation of the wind turbine, whereby the rotor blade includes an aerodynamic device such as a vortex generator or a noise reducer is provided. The method includes the steps of attaching a cover on the rotor blade for covering at least a part of the aerodynamic device before lifting the rotor blade to the top of the tower of the wind turbine, and detaching the cover subsequently. An arrangement including a rotor blade of a wind turbine and such a cover, is also provided.

Abstract: A modular lifting system, including an enclosable lifting device support structure. The enclosable lifting device support structure includes a deployable top, a plurality of lateral sides, a base coupled to the plurality of lateral sides, and a plurality of extension arms. The deployable top is configured to support a lifting device on a first side of the deployable top. The plurality of extension arms are configured to extend and support the deployable top when the deployable top is deployed.

Abstract: The present teachings provide a method of controlling a remote vehicle having an end effector and an image sensing device. The method includes obtaining an image of an object with the image sensing device, determining a ray from a focal point of the image to the object based on the obtained image, positioning the end effector of the remote vehicle to align with the determined ray, and moving the end effector along the determined ray to approach the object.

Abstract: A robot system according to embodiments includes a robot including an arm, and a work table. On the work table, an object used for work performed by the robot by using the arm is placed. The arm of the robot includes a first arm portion, a second arm portion, and a third arm portion. The first arm portion supports an end effector to be rotatable about a first rotation axis at a distal end thereof. The second arm portion supports a base end of the first arm portion to be swingable about a second rotation axis substantially perpendicular to the first rotation axis. The third arm portion supports a base end of the second arm portion to be swingable about a third rotation axis substantially perpendicular to the second rotation axis.

Abstract: A method of operating a working machine which includes a main structure and a working arm pivotally mounted at one end on the main structure. The working arm is raisable and lowerable relative to the main structure by a first actuator device, and is extendible relative to the main structure by a second actuator device. In use, the arm carries at another end a working implement which can carry a load. The machine further including a ground engaging drive structure by which the machine is drivable on the ground. The machine has a longitudinal load moment control system which automatically disables operation of the first and/or second actuator devices from increasing longitudinal instability in the event that a predetermined instability is sensed. When the machine senses a ground travelling speed above a threshold speed, the longitudinal load moment control system is disabled.

Abstract: A mobile manipulation system comprising: a base; at least one mobility component mounted to said base for rendering said base mobile; a platform; at least one robotic manipulator arm mounted to said platform; and an elevator mechanism movably supporting said platform on said base.

Abstract: An apparatus for transferring articles is disclosed herein. The apparatus includes a layer formation table. The apparatus also includes means for supplying articles to the layer formation table. At least one row of the articles is formed at a first end of the layer formation table. The apparatus also includes a programmable robot including an end of arm tool for transferring the at least one row of the articles towards a second end of the layer formation table. The programmable robot is configured to form a plurality of rows of articles on the layer formation table. Each of the rows comprises a plurality of articles in side by side contact creating a void between adjacent articles in each of the rows. The programmable robot is configured to nest the articles of one of the rows in the voids of an adjacent row. The end of arm tool includes a multiplicity of guides which form lanes. The rows of articles fill the lanes.

Abstract: A component aligning apparatus includes a component aligning jig, in which electronic components to be aligned have a rectangular parallelepiped shape whose length dimension is L, width dimension is W, and thickness dimension is T, the component aligning jig includes electronic component accommodating recesses opening on a surface, the depth Z of the accommodating recesses is shorter than the length L of the electronic components so that a single electronic component is held in each of the electronic component accommodating recesses while partially projecting upwards from each of the recesses with the WT surface on one side facing up, and letting s be the shortest separation that is larger than the thickness T and is the narrowest distance between opposing inside surfaces of each of the accommodating recesses when each of the accommodating recesses is seen in plan view, W>S>T.

Abstract: The present invention provides a configurable and variable counterweight system for a material handling machine comprising one or more planar paths, said planar paths containing any one or combinations of straight, curved or angled portions between at least a first and second end, said planar path having transferrable counterweights, said planar path or counterweights communicating with a control device and system, said control device and system comprising one or more drive unit and optionally one or more sensors, said counterweights being able to move along any curved, angled or straight portions of said planar path.

Abstract: A hydraulic system is disclosed. The hydraulic system may have a pump, a lift actuator, a lift valve arrangement, a tilt actuator, a tilt valve arrangement, and a tilt angle sensor configured to generate a first signal. The hydraulic system may further have at least one operator interface device movable to generate a second signal indicative of a desired lift velocity and a third signal indicative of desired tilt velocity, and a controller. The controller may be configured to command the lift valve arrangement to meter pressurized fluid based on the second signal, command the tilt valve arrangement to meter pressurized fluid based on the third signal and, when the first signal indicates that the actual tilt angle has entered a specified range of tilt angles during lifting, command the tilt valve arrangement to meter pressurized fluid based on the second signal as the actual tilt angle remains within the specified range.

Abstract: A machine includes a frame having ground engaging propulsion elements coupled therewith, and a hydraulically actuated implement system having a linkage, an implement coupled with the linkage, and a hydraulic actuator coupled with the linkage. The machine further includes a control system having an electronic control unit configured to receive an implement down force control command, and responsively adjust a pressure of hydraulic fluid in the hydraulic actuator such that the implement rests with controlled down force upon a substrate below the machine. The controlled down force may be less than a quiescent down force of the hydraulically actuated implement system. Related methodology is also disclosed.

Abstract: A robot tool for setting plugs (18) in industrial production has a robot attachment region (2) for attaching the robot tool (1) to an industrial robot. To further simplify or automate the setting of plugs in industrial production, in particular of motor vehicles, the robot tool (1) has a pushrod (42) that can be moved back and forth and with which a plug (18) can be picked up and advanced.

Abstract: A work vehicle is provided including at least one work tool and an open-center hydraulic circuit that supplies hydraulic fluid to operate the at least one work tool. The hydraulic circuit includes a variable displacement pump and a controller in electrical communication with the pump, the controller receiving an electrical input from the work vehicle to control the flow of hydraulic fluid from the pump.

Abstract: A lift arm structure for use on a power machine is disclosed. As disclosed, the lift arm structure includes an articulated knee portion pivotally attached to a main lift arm portion. The articulated knee portion is pivotally coupled to a distal end of the main lift arm portion at a bend angle. The bend angle can be fixed by a fixed length rod connected to the main lift arm portion and the articulated knee portion or adjustable through an actuator operably connected to the main lift arm portion and the articulated knee portion. In some applications, the actuator is a hydraulic cylinder connected to the lift arm portion and the articulated knee portion. A rod of the cylinder is extended and retracted to increase or decrease the bend angle of the articulated knee portion. The bend angle can be adjusted utilizing input from operator input devices or machine controlled utilizing pre-programmed bend angle parameters.

Abstract: A work vehicle is disclosed having a chassis, a work tool rotatably coupled to the chassis, and one or more hydraulic dampers. The hydraulic damper includes a moveable body that resists rotation in a hydraulic chamber to resist rotation of the work tool relative to the chassis.

Abstract: A method of automatically mounting a sheet from a cutting table onto a spacer frame of an insulating glass unit begins with identifying a position and orientation of a specified sheet on the cutting table and moving a robotic sheet pickup apparatus to a corresponding position to that identified for the sheet. An edge of the specified sheet is lifted off of the table, beginning with mechanical suction that brings a corner of the sheet to within proximity of a primary vacuum suction of the pickup apparatus. In particular, the pickup apparatus may have a substantially planar platen with a set of channels coupled to a vacuum source. Once the sheet is fully picked up by vacuum suction, the sheet is laid upon a top surface of a tilt table, which can be simply the platen inverted. The table (or platen) is tilted to bring a corner of the sheet to abut against physical fences. Once the position and orientation of the sheet is so known, the sheet is oriented to correspond to a frame, and attached thereto.

Abstract: A crane tool includes: a hook portion for hanging a work, attached to one arm section in a first robot arm having a base, a plurality of arm sections connected to the base in series, and a plurality of joints adapted to swing the arm sections, respectively, the crane tool; a counterweight portion; and a joint portion connecting the hook portion to the counterweight portion. The counterweight portion is located such that a joint swinging the arm section to which the hook portion is attached is interposed between the hook portion and the counterweight portion in substantially a horizontal direction.

Abstract: An actuator system for a machine includes a linear hydraulic actuator connected to a dipper of the machine, and a hydraulic system fluidly connected to the actuator and configured to selectively direct fluid to the actuator. A component of the hydraulic system is mounted on the dipper. The system also includes an overcenter link coupled to a door of the dipper and biased to maintain the door in a closed position. A piston assembly of the actuator is configured to move the overcenter link in a first direction, via contact between the piston assembly and the overcenter link, thereby transitioning the door from the closed position to an open position.

Abstract: A work vehicle including a hydraulic circuit having a cooled return line with a cooler, a bypass return line that bypasses the cooler on the cooled return line, and a controller that electronically controls the flow of hydraulic fluid between the cooled return line and the bypass return line.

Abstract: In a work machine having a frame with a lift boom and a stick boom supporting an implement pivotally connected to the opposite end of the stick boom by a pivot pin. A controller determines the position of the pivot pin, detects a motion command signal from an operator control, determines an ending position of the pivot pin based on the motion command signal, and causes the lift boom and stick boom to rotate to orientation angles that will place the pivot pin at the ending position. When operating on a slope, the frame orientation with respect to gravity is determined so that horizontal and vertical motion commands cause the pivot pin and implement to move horizontally and vertically with respect to gravity regardless of the frame orientation. The implement can be maintained at a target orientation as the pivot pin moves by evaluating an orientation angle of the implement.

Abstract: A method for operating an assembly tool includes deposing a first component on an assembly surface with a first tool tip of a manipulator having a range of motion defined by a plane and an axis that is substantially normal to the plane, deposing a second component on the assembly surface, changing an orientation of the assembly surface relative to the axis from a first orientation to a second orientation, lifting the first component from the assembly surface with a second tool tip of the manipulator, and deposing the first component on the second component.

Abstract: A robot system includes a suction hand and a multi-articular robot. The suction hand is configured to hold a flexible sheet workpiece. The multi-articular robot includes an arm to which the suction hand is mounted. The multi-articular robot is configured to press the suction hand against the flexible sheet workpiece and make the suction hand suck the flexible sheet workpiece, and is configured to move the arm of the multi-articular robot while turning the suction hand relative to a surface on which the flexible sheet workpiece is placed in advance, so as to remove the flexible sheet workpiece from the surface and hold the flexible sheet workpiece.

Abstract: A method and apparatus for handling a wheel of large mass from a storage position to enable its mounting onto the hub of a vehicle, wherein the method includes placing a tire in a handling device having two ends which are of substantially equal length, the length being longer than the perimeter of the wheel, between two ends of the handling device, bringing together the ends of the handling device so as to imprison the wheel within the handling device, and hooking the ends of the handling device into a handling and lifting device.

Abstract: A bucket for a machine, such as a wheel loader or track loader is disclosed. The bucket includes a bottom section connected to a top section by a middle section. The top, bottom and middle sections are connected to a pair of side walls. The bottom section includes a bottom distal edge and the top section includes a top distal edge. A rear side of the bucket includes a lower ear for receiving a lower pin. The lower pin connects the lower ear and the bucket to a lower linkage. A first distance between the lower pin and the bottom distal edge has a first length and a second distance between the lower pin and the top distal edge has a second length. A ratio of the first and second length, referred to as a loading index (LI) ranges from greater than 0.83 to less than 0.95.

Abstract: A work vehicle includes a frame including generally upwardly extending laterally spaced side members. A boom structure includes a pair of arms pivotably connecting the boom structure to the frame. A pressurized fluid system is operably associated with the boom structure for raising and lowering jointly each of the arms along a path of travel adjacent a corresponding side member. A stop member selectably extends outwardly from at least one of the side members between a locking position and a retracted position, the locking position extending at least a portion of the stop member into the path of travel of a corresponding arm of the boom structure to prevent a lowering movement of the boom structure beyond a predetermined height. A boom lock system prevents the fluid system from applying a fluid force to lower the boom structure when the stop member is in the locking position.

Abstract: A method and apparatus for locating an individual's mouth and using a feeding device to transfer food to the individual. For example, the apparatus includes a facial recognition sensor that approximates the location of the individual's mouth. Based in part on the output of the facial recognition sensor a feed arm assembly delivers or transfers food to the individual's mouth. In addition to a facial recognition sensor, distance or proximity sensors can also be used to determine the location of the individual's mouth.

Abstract: An excavation machine includes a chassis, a tool movably coupled to the chassis, an input device, and a controller operative to control movement of the tool to move earth at the job site. The controller may control movement of the tool along a predetermined path based on a tool motion sequence programmed at the controller. The controller may control a velocity of the tool along the predetermined path based on a position of the input device.

Abstract: The present invention relates to a micro-gripper comprising tweezers, designed to be used for the harvesting of fragile sub-millimeter samples from their production or storage medium. The tweezers may be equipped with removable soft ending elements to prevent the deterioration of the sample. When coupled to a robotic arm, this micro-gripper allows automated flow of operations in a continuous and automated process, from harvesting to sample preparation and analysis. The present invention is particularly used in X-ray crystallography.

Abstract: A lift arm assembly includes a first arm casting including a first end, a second arm casting including a first end, and a tubular cross member attached to the first arm casting and the second arm casting. The lift arm assembly also includes a first arm tubular member including a first end attached to the first end of the first arm casting. The lift arm assembly further includes a second arm tubular member including a first end attached to the first end of the second arm casting such that the second arm tubular member is generally parallel to the first arm tubular member. At least one of the tubular cross member, the first arm tubular member, or the second arm tubular member has a continuous periphery, a maximum of one seam, and a substantially constant cross-section along substantially an entire length of the respective member.

Abstract: A method for lifting an asymmetric integral construction is provided, including the steps of determining proper lifting points on a construction to be lifted according to the position relationship between the construction and a base supporter, setting a dragging point on the bottom of the construction, the dragging point being located on the extension line of the connection between the gravity center of construction and the centroid of the lifting points, determining a projection point of the dragging point on the ground, arranging a dragging device between the dragging point and the projection point, installing a lifting system at a proper position, conducting lifting operation by means of the lifting system cooperated with the dragging device, and rectifying and fixing the construction after it is in place.

Abstract: An apparatus for the automated removal of workpieces arranged in a container comprising a first object recognition device for detecting the workpieces and a first gripper for picking and removing the workpieces from the container; and a control for evaluating the data of the first object recognition device, for track planning and for controlling the first gripper; wherein an intermediate station on which the first gripper places the workpiece after the removal from the container; and a positioning apparatus which positions the workpieces more accurately starting from the intermediate station and/or singularizes them.

Abstract: A tractor having a front end loader has a bucket with tines attached to the underside of the bucket. The front end loader is used to raise/lower and tilt the bucket in a conventional fashion in order to position the tines where they can gather trash by driving the tractor forwardly towards the trash. The trash can be picked up by first tipping the front end of the bucket up, which tips the bottom of the tines up as well. Secondly, the bucket, tines and trash can then be lifted using the front end loader. Thirdly, the tractor can then be driven to a place where the trash is to be dumped and fourthly, the bucket can be tipped so the front end of the bucket and thereby the bottom of the tines are tipped backwardly and upwardly to cause the trash to fall out of the tines.

Abstract: A device for facilitating handling of a wind turbine blade is provided. The device includes an inflatable member adapted to be arranged at the wind turbine blade such that the inflatable member covers at least a part of the wind turbine blade, wherein, when the inflatable member is arranged at the wind turbine blade and inflated, an aerodynamic drag coefficient of the wind turbine blade with the arranged inflatable member is less than an aerodynamic drag coefficient of the wind turbine blade. Further, there is described a system for handling a wind turbine blade, and a method of facilitating handling of a wind turbine blade.

Abstract: A tubular handling device includes a first arm movable along, and pivotable about, a first axis, and a first gripper to engage a first tubular member, the first gripper being coupled to the first arm and rotatable, relative to the first arm, about a second axis that is perpendicular to the first axis. According to another aspect, a method includes providing a first gripper; coupling a first arm to the first gripper, moving the first arm, pivoting the first arm, and rotating the first gripper, relative to the first arm. According to another aspect, an apparatus includes a drilling tower, and a tubular handling device to position one or more tubular members proximate the drilling tower, the tubular handling device including a first gripper to engage a first tubular member, and a first arm coupled to the first gripper.

Abstract: A lifting device includes a housing movably securable to a support structure extending along a predetermined path corresponding to a portion of the support structure. The housing includes a motorized lifting machine movable with the housing. The housing includes an engagement device movable with the housing, the engagement device operably engaging the portion of the support structure to move the housing.

Abstract: A method and apparatus for using an excavator having a boom as a lifting apparatus. The apparatus includes a metal plate having a first face and a second face. An excavator bucket quick connect coupling is secured to the first face of the plate, whereby the plate is connected to the boom of the excavator. An arm is provided having a first end and a second end. The first end of the arm is fixed to the second face of the plate and the second end has a coupling for attaching a lifting line.

Abstract: A machine including an implement system pivotably mounted on the machine, a thumb member mounted on an arm of the implement system for free dampened back and forth pivotable movement, the thumb member being controllably pivotable into selectable pivot positions via controlled pivoting of one or the other or both of the arm and a bucket member, a dampener being interconnected between the thumb member and the arm in an arrangement where the dampener dampens free pivoting movement of the thumb member.

Abstract: A load guide for securing a load relative to a boom includes a base secured to the boom and a retractable arm assembly attached to the base. The base presents a front portion that is proximate a load supported by the boom. The arm assembly includes a pair of load-securing arms movably connected to the load guide base, each of the arms being movable between an operative position and a retracted position, wherein moving the arms from the operative position to the retracted position includes rotating each of the arms toward the other arm, and further includes translational movement of each of the arms away from the front portion of the load guide base.

Abstract: A mining shovel including a base, a boom, a first member moveably coupled to the boom, a bucket, and a pivot actuator. The base includes a hoist drum for paying out and reeling in a hoist rope. The boom includes a first end coupled to the base and a second end opposite the first end. The hoist rope extends over the second end of the boom. The first member includes a first end and a second end. The bucket is pivotably coupled to the second end of the first member. The pivot actuator moves the bucket relative to the second end of the first member, and the pivot actuator includes a first end coupled to the first member.

Abstract: The invention aims to provide a device and a method for retrieving efficiently a capsule from a receptacle of a beverage production apparatus. In particular, the device allows retrieving a used capsule in safe conditions and without waiting time. The beverage production apparatus comprises a receptacle (1) with a cover (3) for receiving a capsule (2) containing beverage ingredient. The device comprises capsule extracting and guiding means consisting of a clamp (6) having members (6?, 6?) arranged on each lateral side of the cover (3) of the receptacle. The capsule (2) is provided with a rim (8) around its upper edge which is directed upwards when the capsule is inserted in the receptacle (1). At opening of the cover of the receptacle, the clamp (6) is activated in such a way to position its members under the rim (8) of the capsule which is lifted thanks to a spring (4) at the bottom of the capsule.