DE102015122901B4 - Device and method for gripping and transporting RSC cartons - Google Patents

Abstract

Method for gripping and handling at least one paperboard sleeve (100) open on both sides in the axial direction (10), by means of (a) gripping elements (1a-f, 1A-F) of a tool punch (1) axially into an open side (101, 102) of the cardboard sleeve (100), b) for gripping a base body (2) of the tool punch (1), on which the gripping elements (1a - f, 1A - F) are movably mounted, is positioned axially outside the cardboard sleeve (100), while the Gripping elements (1a-f, 1A-F) are moved apart transversely to the axial direction (10), c) wherein for moving the gripping elements (1a-f, 1A-F) relative to the base body (2) transversely to the axial direction (10) towards the inner surface (103) of the cardboard sleeve (100) - either the gripping elements (1a - f, 1A - F) perform a linear movement transverse to the axial direction (10) - or the gripping elements (1a - f, 1A - F) a pivoting movement around a transverse to the axial direction (10) pivot axis (17) perform. characterized in thatd) within the cardboard sleeve (100), the at least three gripping elements (1a - f, 1A - F) are moved apart from their starting position in both transverse directions (11a, b) to the axial direction (10) until they are in one transverse direction The end position on the inner surfaces (103) frictionally rest so tightly that subsequently the tool punch (1) can lift and transport the at least one cardboard sleeve (100) from the ground, e) wherein the gripping elements (1a-f, 1A-F) are force-controlled or path-controlled transversely to the axial direction (10) are moved, f) in weggesteuertem method, the gripping elements (1a - f, 1A - F) transverse to the axial direction (10) are controlled so that their end position to each other the system to a desired inner cross section of the cardboard sleeve (100).

Description

field of use

The invention relates to the handling of sleeve-shaped so-called RSC (regular slotted card) cartons, which consist of a polygonal in cross-section, initially quadrangular, initially open on both sides, sleeve and delivered in flat folded, then 2-ply, state. For further handling, in particular the one-sided closing of the floor by gluing, the sleeves must be handled by machine.

II. Technical background

For the purposes of the present invention, RSC cartons are used, regardless of whether the sleeve is actually a paperboard material or any other material, be it plastic or textile material.

So far, such boxes were raised in a first step from the flat folded, 2-ply, shape of the sleeve to a polygonal cross section by mostly sucked from two opposite sides in the transverse direction suction and pulled the cardboard sleeve to the desired polygonal cross-section , wherein the two end faces of the sleeve-shaped carton were still open.

In a second step, an internally attacking gripping tool was then introduced from one of the open end faces into the interior of the sleeve, ie the sleeve-shaped carton, which gripper elements radially extended to the axial direction, ie the direction extending from one to the other open side of the sleeve direction until they apply with a sufficiently strong contact pressure on the inner surfaces of the sleeve to lift the sleeve from the ground and transport for further processing to another location and there, for example to be able to take off.

The problem arises that the manufacturing tolerances in such RSC boxes are relatively large, so after making the sleeve in the overlapping region of the ends of the original blank, the distance between the two overlapping end edges - depending on the size of the carton - by up to 10 and more Millimeters can vary. Most importantly, these edges may be non-parallel, but at an angle to one another, although a sleeve-shaped carton having a constant cross-section over the length is desired.

The extension of the gripping elements from the base of the tool punch must be able to bridge these manufacturing tolerances, but on the other hand, the extension of the gripping elements by the inner cross section of the sleeve-shaped box to be handled, so the sleeve limited.

Thus, such a tool punch is essentially format-dependent, because it can handle only sleeves with slightly different inner and inner diameters, but as soon as the inner cross-sections differ in diameter by a factor of 1.5 or even 2.0 and more, is a correspondingly adapted new Gripping tool necessary.

This causes long stoppage and thus downtime of the system in a format change and beyond the need to provide several different tools.

From the DE 41 22 953 A1 is a transfer device, especially for boxes or closed, cuboid boxes, known, in which the gripping elements abut mostly on the outer sides of the products, but in a design from the inside, but then by means of hook-shaped grippers, which in corresponding openings of the wall Intervene box.

For this purpose, the shape, dimensioning and positioning of the hook must of course be adapted to the respective openings of the box.

From the US 2013/0068591 A1 a transfer device is known in which rods, both of which are longitudinally separable halves can be changed in their distance, are moved horizontally for receiving and holding toilet paper rolls in the opening and clamped by moving apart of the two halves on it. Only one such bar enters a roll.

From the DE 600 13 438 2 - Represents the next leading state of the art in terms of the device - shows a similar Umsetzvorrichtung, in which the bars with the expandable halves, however, engage in empty tubes to be filled and clamp them.

Again, the gripping element is adapted to the inner cross section of the male product, and can not accommodate other product cross sections.

From the US 3,465,499 - Represents the closest prior art in terms of the process - is a device for the complete opening of bags is known in which two variable in their distance plates are inserted from above into the partially opened bag and spread apart by spreading them completely.

Again, the panels are sized and positioned with respect to the fully openable bag, and can not properly open bags of other dimensions.

III. Presentation of the invention

Technical task

It is therefore the object of the invention to provide a handling device and a handling method which avoids the disadvantages described.

Solution of the task

This object is solved by the features of claims 1 and 14. Advantageous embodiments will be apparent from the dependent claims.

With regard to the method, this object is achieved in that, in contrast to the prior art, not the entire tool punch including the base body and attached gripping elements is retracted into the interior of the open cardboard sleeve for gripping, but only the gripping elements, while the main body to which the gripping elements are fixed while remaining positioned outside the cardboard sleeve.

The advantage of this approach is that so that the base body is not limited in size to the inner free cross-section of the cardboard sleeve, but can be much larger. Consequently, the gripping elements can change their position on the base body in a wide frame and thereby carton sleeves of very different dimensions, so from very small to very large inner cross-sections, are taken from the same tool die.

If - as in the prior art - the base body, however, introduced into the interior of the cardboard sleeve whose extension is limited in the cross-sectional plane of the cardboard sleeve and thus but also - if the gripping elements in this cross-sectional plane out lying out of the body - their extension length, and thus only cardboard sleeves with limited different cross-section can be taken with it.

In general - matched to a particular cardboard sleeve to be taken with a certain free inner cross section - first the positions of the gripping elements on the body to a certain initial position, matching the free inner cross section of the cardboard box to be taken, adjusted and after Introducing the gripping elements in the cardboard sleeve, the gripping elements - or at least some of the inserted into the cardboard sleeve gripping elements - moved into an end position in which the gripping elements, in particular all gripping elements, rest against the inner surface of the cardboard sleeve and hold force-locking, so that it can be lifted from the tool punch and transported away.

Preferably, it is rectangular in cross-section cardboard sleeves, and it is then preferably four gripping elements axially inserted into the inner corners of the cardboard sleeve.

To move from the starting position to the end position, the gripping elements relative to the main body either - as for taking the initial position - transverse to the axial direction, ie preferably in the main plane of the body, linear in at least one, preferably both transverse directions, the two directions of the main plane of the body, or proceed relative to the main body pivotal movement about a transverse axis to the pivot axis.

In the former case, at least half of the gripping elements introduced in the cardboard sleeve to be gripped will be moved in two transverse directions, in particular perpendicular to one another, while the remaining gripping elements are moved in at least one of these transverse directions.

This ensures that thereafter in the end position preferably all located in the cardboard sleeve gripping elements abut the inner surface of the cardboard sleeve and with appropriate contact pressure, the cardboard sleeve is not only held securely to it, but also occupies a shape by the predetermined end position , which largely corresponds to the intended target shape, ie the desired inner cross-section of the gripped sleeve.

For this purpose, the gripping elements are just transversely to the axial direction controlled so that their end position relative to each other corresponds to a system on the desired inner cross section of the sleeve or in other words, all the gripping elements that are to be inserted later in a cardboard sleeve, before, in the starting position, lie within a predetermined target area, which is in particular equal to or slightly smaller than the desired inner cross section of the cardboard sleeve to be handled.

How far the gripping elements are moved from the starting position to the end position can be controlled by force or path:

In a force control, this movement is performed until at each gripping element a predetermined contact force is reached, which can be measured, for example, on the basis of Current consumption of the gripper element moving electric motor.

In the case of path control, the direction and distance that the gripping element travels from the starting position to the end position are predetermined. However, if the inner cross-sections of the cardboard sleeves deviate greatly from the desired inner cross-section due to low dimensional stability when producing the cardboard sleeves, there is a risk that the cardboard sleeves will tear.

Preferably, the gripping elements are axially retracted so far into the sleeve, that they reach with their front free end, the lower free end of the sleeve body, so the cardboard sleeve, without the still existing on the front pages swivel plates, which later form the bottom almost reach.

On the one hand, this achieves the result that the gripping elements preferably exert on these an inner cross-sectional shaping effect over the entire axial extent of the sleeve body, and on the other hand, this makes it easier to close and glue the bottom:

Because the bottom of a quadrangular, initially still open on both sides, cardboard sleeve is indeed closed by the fact that at each of the four side walls at the front end ever an existing pivoting flap are folded into a transverse plane of the sleeve body and there glued against each other.

This bonding is improved by the splices are under or exclusively below the free-ending end face of the gripping elements, and after turning the overlapping and axially adjacent to each other swivel tabs are pressed together with the adhesive between them in the axial direction against each other by from the inside Press the gripping elements with their end faces against the inside of the floor, and the outside of the floor is supported on the ground or a counter-holder.

If the cross section of the cardboard sleeve has more than four corners, for example, six or eight corners, a corresponding number of gripping elements is usually introduced into the cardboard sleeve, because usually the gripping elements on the inner corners of the cardboard Put on the sleeve.

However, if more than the required for gripping a sleeve number of gripping elements, so in particular more than four, are present on a body, up to three rectangular cardboard tubes can be taken simultaneously by a tool punch, for example, twelve gripping elements, if the body sufficient it is great that it can extend over all three cardboard sleeves next to each other, that is over their cross-sectional areas.

Then - in the setting for such a multi-line operation - the gripping elements are set to such initial positions that each provided for gripping a cardboard sleeve group of gripping elements can be retracted axially into the intended one of several juxtaposed cardboard sleeves by the entire base body, which carries the plurality of groups of gripping elements, moves axially toward the open end faces of the cardboard cores arranged side by side.

In contrast, if the number of cardboard cores to be taken simultaneously remains the same and only the dimension and / or shape of the inner cross section changes, the group assignment to the individual cardboard sleeves or their inner cross sections remains the same, only the starting positions of the individual gripping elements be tuned to the new dimension of the new inner cross-section.

In this way, carton sleeves can be taken with very small internal cross-section, the limitation lies in how closely the gripping elements are mutually approached to each other for taking a starting position, or it can be a single cardboard sleeve with a much larger free inner section are limited and limited only by the range of movement of the gripping elements within the base of the body, so that such a cardboard sleeve can have a cross section to approximately the extent of the body in its main plane.

So that the gripping elements can be moved axially into the free inner cross-section of the cardboard sleeve for gripping the cardboard sleeve, the cardboard sleeves, which are delivered as two-ply flat-folded sleeves without significant free inner cross-section, first to open cardboard sleeves, So be opened with a free inner cross section corresponding approximately to the desired cross section.

According to the invention this is achieved by a first side wall by means of a nipple or a suction unit, which contains a plurality of suction cups, taken and thus the flat folded cardboard sleeve is removed from a supply stack. Already during this removal movement or subsequently in a separate working position at a standstill, the one adjacent to this first side wall and in the flat folded position in the same plane lying second side wall in an angled position, preferably a rectangular position, pivoted to the first side wall, so folded, are, whereby the cardboard sleeve is in the open state.

After gripping according to the invention, the cardboard sleeve is usually moved to a closing station, in which the bottom is closed as described above.

According to the invention, the pivoting of the pivoting plates in the transverse plane is carried out so that already in the transport direction extending in the transport direction, opposing pivot plates of a cardboard sleeve with a rectangular cross-section are moved over a stationary or even moving guide, thereby characterized this first pair of Swing tabs is folded in the transverse plane.

Then - if necessary, also already during the movement - the two swivel plates of the other pair of swivel plates also folded in the transverse plane and previously or adhesive introduced between the then two superimposed layers of swivel plates, because each pair of opposing swivel plates covered - placed in the transverse plane - Preferably the entire inner free cross-section of the previously open on both sides cardboard sleeve.

That the splices in the corners or under the cross-sectional areas of the gripping elements are then pressed by means of this, has already been stated.

The advantage of this procedure is - especially in a multi-line operation - is that the transport direction is that direction in which the several simultaneously to be taken cardboard sleeves for gripping are arranged one behind the other, so usually the first transverse direction of the body of tool punch.

As a result, the plurality of carton sleeves gripped and held by the same tool punch can be closed very quickly one behind the other in one operation, as explained in detail later.

It may also be advantageous under certain circumstances, when working with not only one, but for example two or more tool dies, so that during the closing of the bottoms of currently held by a first tool punches cardboard sleeves another tool punch already a new set of cardboard sleeves.

• - einem Werkzeugstempel, der einen Grundkörper und daran beweglich befestigte mehrere Greifelemente umfasst, sowie
• - einer Steuerung, die den Werkzeugstempel steuert, indem die Greifelemente eine Haupterstreckungsrichtung besitzen, die quer zur Hauptebene des Grundkörpers verläuft und
• - von diesem aus sich die Greifelemente, insbesondere alle Greifelemente, zur selben Seite hin erstrecken.

With regard to the device, this object is achieved in that in a generic handling device with

• - A tool punch, which comprises a base body and movably attached thereto a plurality of gripping elements, as well as
• - A controller that controls the tool punch by the gripping elements have a main extension direction which is transverse to the main plane of the body and
• - From this, the gripping elements, in particular all gripping elements, extend to the same side.

As a rule, during operation of the device, the main plane of the main body is oriented horizontally and the gripping elements extend in the vertical direction, specifically from the main body, preferably downwards.

The main plane of the main body, namely the plane in which the main body has its greatest areal extent, is generally horizontal in operation.

The main extension direction of the gripping elements preferably extends perpendicular to this main plane, but at least primarily perpendicular to the main plane, so that at a main plane extending obliquely to the main plane whose largest directional component is the vertical to the main plane.

In a preferred embodiment, the gripping elements are straight bars or straight tubes, preferably with closed front, in particular lower, free end.

Also preferably, the gripping elements have at least over part of their extent a polygonal, in particular rectangular, in particular square outer periphery transversely to their main extension direction.

This makes it possible that for gripping the cardboard sleeves of the tool punches the gripping elements in the direction of their main extension, in particular in the vertical to the main plane of the body, the axial direction in which an open side of the one or more cardboard sleeves to be taken, and this grips the carton sleeve while the body remains outside of the carton sleeves.

Preferably, the base body in at least one, preferably in both directions of its main plane, so the transverse directions to the axial direction, a greater extent than the range of motion, in which the Tool dies in the main plane of the body can move.

Preferably, this extension of the body in one or both directions of its main plane is also greater than the inner free cross-section of the largest manageable by the tool punch cardboard sleeve.

The main body has guides that extend in two intersecting directions of its main plane, preferably the two perpendicular transverse directions, along which the gripping elements - preferably individually and independently, or at least in pairs independently - are movable.

The first transverse direction, in which the main body has the greatest extension in its main plane, is referred to for short as the X direction, the other transverse direction of the main plane standing perpendicular to it being the Y direction.

Preferably, a first group of gripping elements along a first X-guide, which extends in the X direction, movable and a second group of gripping elements along a second, parallel thereto, X-guide controlled movable.

The X-guides are - preferably with each of its two ends - in each case in a Y-direction extending Y-guide movable, and thereby adjustable in their distance from one another.

Preferably, the two groups each comprise an equal number of gripping elements, and each one gripping element of one row is connected to a respective gripping element of the other row, in particular the exactly opposite gripping element, via a cross-beam, so that each pair of gripping elements only together in X- Direction can be moved and their relative position in the X position to each other can not be changed, in particular the two gripping elements of each pair of gripping elements is in each case in the same X position. In the latter case, the cross-beam runs exactly in the Y direction.

In the Y direction, the two gripping elements of a pair can change their distance from each other due to the change in distance of the two X-guides to each other, where the two gripping elements of the pair are performed.

In the X direction, at least each crossbeam, preferably each individual gripping element, has an X drive, with which the crossbeam or the individual gripping element can be moved controlled in the X direction.

The advantage is that only one drive is necessary for the movement in the X-direction per pair, the disadvantage is that the two gripping elements of a pair can not change their distance in the X-direction to each other. Thus, such a solution with coupled pairs of gripping elements is preferably suitable for cardboard sleeves with a rectangular inner cross section.

If other cross-sectional shapes should also be manageable, the individual gripping elements are preferably movable independently of one another in both transverse directions, and then the particular rod-shaped gripping elements are also pivotable about a transverse direction to the main plane, in particular their main extension direction and / or the axial direction, and in their pivotal position adjustable.

A particularly suitable outer peripheral shape of the gripping elements would then be a triangular peripheral shape, in particular in the form of an equilateral triangle or a rectangular triangle.

Preferably, between the two gripping elements of a pair, which are connected to one another via the cross member, there is a further cross member spaced apart in the axial direction, which can be adjusted in the axial direction, in the Z direction, to the first cross member.

Since the gripping elements are preferably as long in their main extension direction as the longest manageable sleeve body can be, these gripping elements have a considerable axial extent, so that considerable torques occur at their end attachment point relative to the main body.

At least in the gripping of cardboard sleeves, which have a much shorter axial length compared to the other hand, the two gripping elements of a pair can be stiffened against each other by the movable crossbar when gripping or even before reaching into an axial position close to the cardboard sleeve approached becomes.

The former cross-member, and / or the second-mentioned crossbeam, in its longitudinal extent, usually the Y-direction, be formed telescopically in the region between the two connected gripping elements of a pair, and if these crossbeams not on the space between the two Go beyond gripping elements, the at least one or the two transverse members can also be positioned inside the cardboard sleeve when gripping.

Often, however, the first cross-beam is on both sides beyond the distance of the two gripping elements coupled thereto, and the cross-beam is guided at its ends in additional traverse guides in the X direction, in addition to guiding the individual gripping elements at their respective X-guides.

This X-drive preferably consists of a threaded rod and a screwed thereto spindle nut, preferably the motor 6a of the drive drives the spindle nut and the threaded rod extends in the X direction, and in particular may be one of the two X-guides.

The distance adjustment of the two X-guides in the Y direction by means of another, preferably central, motor, wherein preferably the Verfahrung done so that always both X-guides are moved in opposite directions to the main body, ie the longitudinal center of the body both X-guides always occupy the same distance, which simplifies the control. If the gripping elements are rod-shaped or tubular, they are with their outer periphery when gripping preferably directly on the inner surface of the cardboard sleeve with the necessary investment force to hold them and lift it.

In a preferred embodiment, however, at least one contact element on the outer side may be attached to the gripping elements in such a way that only these contact elements rest on the inner surface of the sleeve when gripping a cardboard sleeve. The contact element can in particular be pivoted, preferably freely pivotable or adjustably pivotable, - depending on the application - be attached to any spatial direction on the gripping element.

Preferably, the position of the at least one contact element along the running direction of the gripping element can be adjustable, depending on the shape and size of the cardboard sleeve to be taken.

These contact elements can also be detachable, in particular be slidable or removable from the free end of the rod-shaped contact element, for example, as a sleeve.

The advantage of such contact elements is that they can be adapted very well to material, surface texture, cross-sectional shape or other parameters of the cardboard sleeve to be taken.

The motors, which move the gripping elements or the cross members in the X and Y direction, are either force-controlled or controlled with regard to their travel path from the starting position or controlled with regard to reaching the end position.

The controller, which controls the tool punch, is able to position the gripping elements - depending on the predetermined position and shape and size of the cardboard sleeve to be gripped so that they are arranged in groups, in particular in groups of four, so that each Group is able to retract axially into one of the carton sleeves to be taken.

For cardboard cores of rectangular or even square cross-section to be gripped, these will usually be groups of four.

Depending on the size of the inner cross section of the cardboard sleeves to extend the body in the main plane and in particular the size of the range of movement of the gripping elements along this main plane not only a cardboard sleeve, but several can be taken simultaneously by means of the gripping elements of the body. These are then usually arranged along the main extension direction, in particular along the longitudinal center of the base body, when the gripping elements are retracted into the cardboard sleeves.

If, for example, the base body comprises six pairs of gripping elements, three cardboard tubes, which are rectangular in cross-section, can be grasped simultaneously by the controller combining two pairs each into a group. If, due to the size of the inner cross-section, only two rectangular cardboard sleeves are gripped side by side at the same time, each group may also comprise only two pairs of gripping elements, if it is possible for the other two pairs to grip outside the two cardboard sleeves, ie in FIG a deactivated position.

The groups for the two cardboard tubes can then also each comprise three pairs of gripping elements, wherein the gripping elements of the two outer pairs are moved to gripping respectively in the inner corners of the cardboard sleeve, the middle pair, however, at most loosely on the insides of the rectangular Carton sleeve rests, however, may generally exert no pressure to the outside against them, as this would deform the cardboard sleeve inadmissible to the outside.

In order to move the gripping elements from the starting position in which they are introduced into the interior of the cardboard sleeve in the end position in which they rest with the necessary force on the inner surface of the cardboard sleeve, the gripping elements can also be parallel to the Main plane of the main body be running pivot axis, in particular, if the gripping elements, the aforementioned contact elements are present, which are then preferably also pivotable at least about a likewise parallel to the main plane of the body pivot axis.

Preferably, for the retraction of the gripping elements into the interior of the cardboard sleeve, the tool punch is moved into the stationary cardboard sleeve.

Then, the device comprises a moving device capable of moving the tool punch by means of a lifting device at least in the axial direction or in an approximately axial direction.

Preferably, the movement device can move the tool punch in at least one, preferably two intersecting directions of the main plane of the main body, in particular the two perpendicular transverse directions, the X and Y direction.

Preferably, therefore, the movement device is designed so that it can move the tool punch in all three spatial directions relative to the machine frame.

The movement in the Y direction can take place via at least one telescopic and thus extendable vertical strut between the base frame of the machine and the tool punch, or, for example, by a scissors linkage.

The attachment to the machine frame is preferably not fixed, but takes place on a carriage, which is relative to the machine frame along a guide, preferably along rails, in at least one of the transverse directions, preferably in the direction of the main extension direction of the body extending transverse direction, relative to the machine frame ,

As a result, the tool punch can not only lift the cardboard sleeves held and held by it, but also move in an off-hook state in at least one transverse direction, for example moving from the position for gripping to another processing station, for example a bottom-closing device one of the two open end faces of the cardboard sleeve, namely the end face opposite the main body of the tool punch, is closed.

However, the moving device that moves the tool punch may instead also be a robot arm.

In both cases, it has proven to be useful for a very high variability of the device, the tool punch and / or the lifting device and / or the carriage controlled rotatable about the axial direction or another transverse to the main plane of the body extending direction.

The process of gripping the cardboard tubes, so the gripping station is usually embedded in a process flow that includes other operations.

Mention has already been made of the downstream closing of the floor in a floor closing device.

This can for example be designed so that initially two in the first transverse direction (11a) extending, in particular fixed, guide elements (23) are provided, which are shaped and arranged so that by contacting it move along from the tool die (100) held cardboard sleeves (100) one behind the other in a folding in this in the transverse direction (11a) extending pivoting flaps (105 a, b) in a transverse plane (11 ') to the axial direction (10) is achieved.

Further, at least one movable, controlled driven, Umlege-element (24) is present, which for folding the in this in the second transverse direction (11b) extending swivel plates (105 c, d) also in the transverse plane (11 ') to the axial direction ( 10) and applying to the underside of the already folded first two pivoting flaps (105 a, b), and also performs this operation successively on each of the tool punches passed over by the plurality of held cardboard sleeves (100).

Furthermore, a Beleimer (22) is present, which applies an adhesive (25) between these two processes, ie between the two layers of folded, successive, pivoting plates (105 a, b, c, d).

So that in the axial direction the two layers of mutually to be glued swivel plates with sufficient pressure can be pressed against each other, in the first transverse direction (11a) extending counter-holder (21) for placing or pressing the bottoms (106) of the tool die (100) held cardboard sleeves (100) available.

Against this opponent holder (21), the bottoms (106) are preferably pressed over a sufficiently long period of time by means of the free lower ends of the gripping bars (a, A, b, B) still in the cardboard sleeve (100), and to this Purpose the carton sleeves (100) either very slowly along the counter-holder (21) or kept pressed for a sufficient time to stand still on the counter-holder (21).

The gripping station is usually preceded by the process of opening the carton and a corresponding carton opener, because the carton sleeves are usually not in the open state, so with a polygonal free inner cross-section, delivered, but for reasons of space in a flat folded state in which of the example four side walls of the cardboard sleeve are each arranged in two mutually parallel, closely adjacent and contacting layers.

A carton opener removes one of the flat folded cardboard tubes from a supply stack of such flat folded cardboard tubes and pulls the carton sleeve in the open state, so with polygonal free inner cross section according to the desired later cross sectional shape of the carton apart by first the gripping elements of Tool punch can then be moved into the still usually open on both sides cardboard sleeve.

It is known that for this purpose a suction unit, which comprises one or more individual suckers, acts on one of the outside of one of the side walls of the flat-folded cardboard sleeve, sucks them and lifts them off the supply stack.

Heretofore, it has been customary for another teat unit to engage one side surface of the other layer on the outer surface and for the flat folded carton sleeve to pull apart transversely to its axial direction into the open state. For this purpose, the two suction units not only have to change their distance from each other, but also be moved in the transverse direction relative to each other controlled.

According to the invention, however, the opening of the cardboard sleeve instead of the further suction unit is effected by an either fixed opening guide element or a movable opening flap.

A fixed opening-guide element is arranged so that when removing the flat-folded sleeve from the supply stack of this guide automatically adjoins the side wall gripped side wall automatically in the correct angular position to the seized from the suction side wall in the open state of the cardboard sleeve.

If, instead of the stationary guide element, an opening flap is used which is pivotable relative to one of the edges of the later opened cardboard sleeve, the pivot axis extending parallel, the active flap can move the opening flap to the adjacent side wall which is gripped by the sucker.

The structural complexity is greater, but it can also be opened cardboard sleeves that should have different cross-sectional shapes in the open state, while a fixed guide element is only suitable for a cross-sectional shape and a cross-sectional size and otherwise needs to be rebuilt.

list of figures

• 1a, b: den Werkzeugstempel in perspektivischer Ansicht und in der Aufsicht,
• 2a-c: den Werkzeugstempel in unterschiedlichen Funktionsstellungen jeweils in der Seitenansicht und in Stirnansicht,
• 3a-c: unterschiedliche Greifelemente und Kartonhülsen-Formen im Horizontalschnitt,
• 4a, b: die gesamte Handhabungs-Vorrichtung in verschiedenen Funktionsstellungen,
• 5a, b: die Handhabungs-Vorrichtung in der Funktionsstellung der 4a in Seitenansicht und Stirnansicht,
• 6a, b. eine Funktionsstellung ähnlich derjenigen der 4b in Seitenansicht und Stirnansicht,
• 6c: eine vergrößerte Detaildarstellung aus 6b,
• 7a: unterschiedliche Funktionsstellungen des Kartonöffners,
• 7b, c: die unterschiedlichen Funktionsstellungen gemäß 7a einzeln in der Stirnansicht der Vorrichtung.

Embodiments according to the invention are described in more detail below by way of example. Show it:

• 1a, b : the tool post in perspective view and in the top view,
• 2a-c : the tool stamp in different functional positions in each case in the side view and in front view,
• 3a-c : different gripping elements and cardboard tube shapes in horizontal section,
• 4a, b the entire handling device in different functional positions,
• 5a, b : the handling device in the functional position of the 4a in side view and front view,
• 6a, b , a functional position similar to that of the 4b in side view and front view,
• 6c : an enlarged detail 6b .
• 7a : different functional positions of the carton opener,
• 7b, c : the different functional positions according to 7a single in the front view of the device.

The 1a to 3c show the tool stamp 1 alone, partly with and partly without the cardboard tubes which are open with regard to their cross-section 100 ,

From the 1a , b becomes clear that the tool stamp 1 from a frame-shaped basic body 2 whose largest planar extension is the main plane 2 ' - as in the 2a-c drawn - defined. At this body 2 is an even number, in this case 12 , of gripping bars 1a to 1f, 1A to 1F, movable so attached that these are in the main level 2 ' relative to the main body 2 in a range of motion 1 ", as in 1b drawn, can move.

These gripping bars 1a to 1f, 1A to 1F extend perpendicular to the main plane 2 ' in the axial direction 10 , the Z-direction. The transverse directions 11a, 11b for this purpose, the X-direction and Y-direction, which are the main plane 2 ' span, are defined so that the first transverse direction 11a or X-direction is the direction in which the main body 2 its greatest longitudinal extent overall, but especially in the main plane 2 ' , having. Stretched from this first transverse direction 11a and the axial direction 10 runs perpendicular to the main level 2 ' standing longitudinal center plane 2 ' in the middle of the extension of the body 2 in the second transverse direction 11 b, the Y direction. Except for the later described Y-drive 8 is the main body 2 , preferably the entire tool punch 1 , mirror image of this longest middle plane 2 ' educated.

The applications described are the main level 2 ' of the basic body 2 usually horizontal, while the main extension direction 1 'of the gripping elements or gripping bars and also the longitudinal center plane 2 ' stand vertically.

Accordingly, there is the frame-shaped body 2 from two in the first transverse direction 11a parallel and spaced longitudinal struts 15a , which at their respective analog free ends via a respective cross strut 15b connected together in a rectangle, parallel to the main plane 2 ' lies.

In addition to the longitudinal struts 15a are - in the supervision of 1b considered with respect to the median longitudinal plane 2 ' outside the longitudinal struts 15a , - on both sides in each case one of two truss guides 13a . b present, which also run in the X direction and with their ends also each with one of the cross struts 15b are firmly connected.

Between these two truss guides 13a . b , so at right angles to this, run several, in this case six, crossbars 5 , each with one of its ends on one of the truss guides 13a . b are guided.

These crossbeams are driven 5 each one X-drive 6, which is on the top of each crossbar 5 is arranged, in the area between the two longitudinal struts 15a , under which the cross members 5 extend at a small distance away to the farther outward truss guides 13a . b ,

Each X-drive 6 includes a motor 6a as well as one of the engine 6a driven spindle nut 7a in one on the crossbeam 5 fixed bearing block is rotatably mounted.

The spindle nuts 7a all crossbeams 5 rotate around the same axis of rotation, which is parallel to the first transverse direction 11a runs. Along this axis of rotation extends a non-rotatable, with their ends in the cross braces 15b attached, threaded rod 7b that with the spindle nuts 7a engaged, so by controlled drive of the individual motors 6a the X-drives 6 each cross-beam 5 independently of the others - except for the fact that a mutual overtaking in the X direction is not possible - in the X direction is movable back and forth within the range of motion 1" ,

From each of the crossbars 5 two gripping bars, for example 1f, 1F, extend downwards, ie in the axial direction, spaced apart in the Y direction 10 , the Z-direction.

The two gripping bars 1f, 1f per cross-beam 5 are movable in the X-direction relative to each other, but in this case not independently, but in opposite synchronous motion, so they always the same distance, only on different sides, to the longitudinal center plane 2 "of the body 2 taking.

For this purpose, each of the gripping bars 1f, 1f is at its upper end to a guide sleeve 9 fixed in the Y direction relative to the crossbar 5 is mobile.

Each of the guide sleeves 9 has a through hole extending in the X direction, and in each end portion of the cross members 5 , so spaced in the Y direction and parallel to each other, but still within the longitudinal struts 15a , runs in each case an X-guide 3a, b in the form of a rod which passes through the passage opening in the guide sleeves 9 passes through and fits into it exactly, so each guide sleeve 9 along one of the X-guides 3a, b is displaceable. The X-guides 3a, b are in this case round rods and the through holes of the guide sleeves 9 also have a matching round cross-section. The X-guides 3a, b are with their free ends in the transverse struts 15d of the body 2 fixed, but only in the X direction fixed, in the Y direction along each of a Y-guide 4a, b, each of which in or on one of the cross struts 15b is accommodated, movable against each other.

The counter-synchronous change in distance of these X-guides 3a, b is effected by a Y-axis Drive 8, which is approximately in the longitudinal center of the body 2 is attached and a motor 8a includes that of the engine 8a in or slightly obliquely to the X direction on both sides in each case one of two abstrebenden cardan shafts 14a . b controlled in rotation, with its other end in each of the cross struts 15b end and there causes the gegensynchrone displacement of the X-guides 3a, b in the Y direction.

This can be done, for example, at the end of each of the cardan shafts 14a . b a rotatable around the X-direction pinion is arranged, which meshes both on the top and on the bottom with a respective Y-direction extending rack, at the outer end of each of the X-guides 3a, b is attached.

The twelve gripping bars in this case are thus on two shifting groups 1.1 . 1.2 divided up:

One half of the gripping bars 1a-1f is the shifting group 1.1 which is arranged on the respectively identical Y-position and in one end region of their respective transverse struts 5 while the other half of the gripper bars 1A to 1F are a shift group spaced therefrom 1.2 , within the shift group 1.2 however, matching other Y-position on the opposite side of the longitudinal center plane 2 "and takes these gripping bars 1A to 1F in the other end region of their respective crossbars 5 are located.

The Y-distance of these two shift groups 1a to 1f and 1A to 1F of gripper bars is controlled centrally via the Y-drive 8, the X-distance of the crossbars 5 and thus pairs of eg 1f, 1f of gripper bars to each other is individually controlled by the individual X-drives 6. Both the X-drives 6 and the Y-drive 8 are of a - usually in accordance with 5b . 6b housed in the overall device - control 30 'driven, depending on the type of cardboard sleeves to be gripped 100 as based on the 2a-c recognizable:

By means of in the axial direction 10 , here the vertical, extending grab bars should be in the axial direction 10 , so above and below, open, also axially extending cardboard sleeves 100 , one of which is in 4c enlarged perspective shown is taken by starting from the in the 2a-c illustrated state of the entire tool punch 1 is lowered and thereby each a certain gripping group of gripper bars in a cardboard sleeve 100 is introduced and then by moving the individual gripping bars in the X and Y direction along the body 2 of the tool stamp 1 with respect to the cross-section center of the respective cardboard sleeve 100 the cardboard sleeve 100 to a free inner cross section 100 ' spans, in particular by the gripping bars of the gripping group in the inner corners of the cross section 100 ' the cardboard sleeve 100 in the main level 2 ' be extended until with such a contact force on the inner surface 103 the cardboard sleeve 100 abut that the cardboard sleeve is frictionally held on this gripping group of gripper bars and by moving, in particular start-up and moving to the side, the entire tool punch 1 the one or more cardboard sleeves held thereon 100 can be taken and transported.

Due to the mobility of the gripper bars, one or more cardboard sleeves 100 to be taken simultaneously:

To grasp a cardboard sleeve 100 with a rectangular cross-section - as in 3a only one gripping group consisting of four gripping bars 1a, 1A, 1b, 1B arranged in a rectangle is required, so that by means of the existing twelve gripping bars 1a to 1f, 1A to 1F, which are arranged in two displacement groups 1.1 . 1.2 are arranged, at the same time up to three cardboard tubes 100 can be handled with rectangular cross-section, provided that their cross-sections are small enough to these three vertically extending cardboard tubes 100 next to each other, ie in a row extending in the X direction, within the range of motion 1" to be able to arrange below the gripper bars.

Starting from the known position, in which then the three cardboard sleeves 100a, b, c in the gripping station 50 the handling device 30 - such as in 4a to recognize - the tool stamp 1 are presented before lowering the gripping groups of the gripping bars in the cardboard sleeves 100 the gripping bars within their respective gripping group, here z. B. 1a, b, 1A, B, as well as the individual gripping groups to each other on an initial position in the body 2 of the tool stamp 1 set and the tool stamp 1 positioned over the cardboard sleeves so that by subsequently lowering the tool punch 1 in the Z-direction, usually in the vertical direction, each a gripping group of gripping elements in each case a free inner cross-section 100 ' one each of the open cardboard tubes 100 is retracted.

Such an open cardboard sleeve - as in 4c shown - has on the one hand a sleeve body 104 consisting of the four in the circumferential direction about the free cross-section adjoining and hinged side walls 100a d. At the bottom 104a of the sleeve body 104 closes - preferably in alignment with the respective side wall 100a-d of the sleeve body 104 , ie vertical - one lower each Pivoting lug 105a-d, from which later by pivoting inward and against each other gluing the floor 106 of the carton sleeve to be produced.

Likewise, usually closes every sidewall 100a -d also at the top of such a pivoting lug 105a-d, from which, however, later after filling the carton a closed top of the carton is created.

At the time of grasping in the gripping station 50 So has such an open cardboard sleeve 100 one from the upper open side 101 to the lower open side 102 continuous free inner cross section 100 ' , in which the gripping bars can be retracted from above, preferably until the lower free end of the gripping bars - which are preferably all in the Z direction at the same height - at the level of the lower end of the cardboard body 104 or just above it.

As in 3a on the right and besides the 3b and 3c shown in all other figures, the gripping bars have a rectangular, preferably square, cross-section, which carton sleeves 100 with a rectangular internal cross-section or with internal cross-sections, whose inner corners each have an internal angle of at least 90 °, in the main plane 2 ' can be stretched and grasped.

However, other cross sections are also conceivable:

As in 3a , Left half, the gripping bars could also have an outer cross section in the form of a right-angled triangle and then preferably be pivotable about its main extension direction 1 '.

This would have the advantage that then other than rectangular cross-sections of cardboard sleeves 100 be grasped, for example, hexagonal cross sections, as in 3b shown. Then, however, would have to either the individual crossbars 5 at least one gripper bar, regardless of the positions of the gripper bars on the other crossbeams 5 be adjustable and / or a third shift group of gripping elements to be present, for example by the crossbeams 5 each carry three gripping elements or cross members are also available with only one gripping element.

Instead of a rectangular outer cross section of the gripping bars, the shape of an equilateral triangle can be selected - as in 3b pictured above on the left - or a triangular shape in which the triangle angle is less than 60 ° at one corner of the triangle, resulting in even smaller internal angles in a cardboard sleeve 100 could be approached, as they can occur for example in a triangular cardboard sleeve.

As well as the axial extent of the cardboard sleeves to be taken 100 can be very different, the length of the gripper bars to the longest to be handled axial length of cardboard tubes 100 designed.

If, on the other hand, considerably shorter cardboard tubes are to be grasped and handled, then the gripping position is in the gripping position, ie if the lower ends of the gripping rods are close to or at the lower end of the sleeve body 104 located, the main body 2 at a relatively large distance above the upper end of the cardboard sleeves 100 ,

Since the gripper bars only at the top of the guide sleeves 9 are fixed, this is a relatively large torque from the gripper bars on the respective guide sleeve 9 exercised. For this reason it can be useful - as in 2 B and 3c shown - each on a crossbeam 5 fixed pair of gripping bars 1a, 1A below this cross-beam 5 over another, to the upper cross-beam 5 parallel, cross-beam 5 ' support one another, which is preferably displaceable in the Z-direction relative to the mutually supported gripping bars 1a, 1A.

If this additional crossbar 5 ' is located only in the free distance between the two gripping bars to be supported, this additional cross-beam 5 ' when gripping cardboard sleeves 100 also in the inner free cross section 100 ' the cardboard sleeve 100 be retracted into it. If, on the other hand, it protrudes sideways over the gripping bars to be supported against each other, as in 2 B , shown in the left half of the picture, it can only be just above the upper end of the cardboard sleeve to be taken 100 be positioned.

As for the change in distance between the on a cross-beam 5 attached two gripping bars eg 1a, 1A the additional cross-beam 5 ' length-variable, in particular telescopic must be, this telescoping should either be locked or on all existing additional crossbeams 5 ' , which must then each be at the same axial height, in turn, two extending in the X direction and in the distance in the Y direction adjustable and mutually fixable further X-guides may be present, which are not shown here.

The application of the in the cardboard sleeve 100 retracted gripping bars to the inner surface 103 the cardboard sleeve 100 may be alternative to the method the individual gripping bars in the X and Y direction along the body are also realized thereby - as in 3b , lower half shown - that the gripping bar at the top opposite the guide sleeve 9 around a pivot axis 17 is pivotable, which is parallel to the main plane 2 ' is in an adapted to the cross-sectional shape of the cardboard sleeve to be gripped angle to the X and Y direction, and preferably the gripping bar itself is pivotable about the Z-direction.

Since then swing outward usually only the lowest end of the straight gripping bar against the inner surface 103 the cardboard sleeve 100 presses, and this is possibly not desirable, can - in particular for this case - at least one point of the outer periphery of the gripper bar, a contact element 18 be arranged, which not only in the axial direction along the gripping bar movable, but also with respect to this about a preferably parallel to the pivot axis 17 at least one transverse to the Z-direction, preferably in the main plane 2 ' lying, further pivot axis 17 'be pivotable.

The contact element 18 has an outer contour which is adapted to be applied to the inner contour of the cardboard sleeve to be taken, preferably in one of its inner corners, preferably the shape of an angle profile, as in 3b shown lower left.

In this way, for example, round cardboard sleeves can be taken as in 3b shown on the right outside, by a gripping bar with polygonal, for example square, cross-section, a contact element 18 is pushed, which has an outer contour in the form of a circular segment whose radius of curvature is equal to or slightly smaller than the radius of curvature of the circular inner peripheral contour of the cardboard sleeve to be taken 100 is.

Opposite the 2a show the 2 B the case that at the same time two side by side arranged - again in cross section rectangular - cardboard sleeves of the tool punch 1 However, the dimensions of the cross section of this type of cardboard tubes is so large that in the first transverse direction 11a , the X direction of the tool punch 1, only two such cardboard sleeves 100 a, b within the range of motion 1" the gripping elements, so here the gripper bars, can be arranged.

Due to the rectangular shape of the inner free cross-section 100 ' also these two cardboard sleeves 100a . b For clamping and gripping, once again only one gripping group of four gripping bars would be sufficient per cardboard sleeve. The then remaining four gripping bars would then, however, either between the two cardboard sleeves to be taken 100a . b be arranged or before the first and after the second paperboard sleeve 100a, b.

However, the unneeded four gripper bars can also in pairs - for example, because there is not enough space for the above arrangement - inside the free cross section 100 ' one of each of the two cardboard sleeves 100a . b be arranged as in 2 B shown in the side view:

Then there is a gripping group for gripping the cardboard sleeve 100a from the six gripper bars eg 1a - 1c and 1A - 1C, but after immersion in the cardboard sleeve 100 a preferably only the four outer gripping bars 1a, 1A, 1c, 1C in the gripping position, ie outwardly in the inner corners of the rectangular cardboard tube 100 , are extended, while the two middle gripping bars 1b, B preferably remain in their initial position.

If the cardboard sleeves to be taken 100 are even larger from the cross section, so not even two side by side below the range of motion 1" can be accommodated, but only one - as in 2c shown in the free inner cross section 100 ' this cardboard sleeve 100 abzusenkende gripping group and all 12 gripping bars 1a-f, 1A - F include, wherein after lowering into the cardboard sleeve 100 only preferably turn in the X direction outer four gripping bars 1a, A, 1f, F in the gripping position, ie in the inner corners of the rectangular free cross-section 100 ' the cardboard sleeve 100 in the main level 2 ' be extended.

The following is based on the 4a - 7c the entire handling device for gripping, transporting and, if necessary, further processing of cardboard sleeves 100 is explained, in the context of which the tool die described 1 can be used:

It is in 4a the entire handling device 30 shown, including the supporting frame 34 consisting of the vertical posts 34a, which at the top by extending in both horizontal directions upper horizontal trusses 34b are connected, and at the bottom by preferably also extending in both horizontal directions lower horizontal trusses 34c ,

This frame 34 is for clarity in 4b , in which, however, a slightly different work situation is shown omitted.

That is why in 4b to better recognize which workstations the handling device 30 includes:

First, the carton opener 40 , which in each case the last from a supply stack 51 from flat folded boxes 99 takes - as based on the 7a - C explained - and at a defined gripping position in the open state, so as an open cardboard sleeve 100 , for gripping through the tool stamp 1 provides, as in the 2a - c shown.

• - Absenken jeweils einer Greif-Gruppe von Greifelementen in die obere offene Seite der offenen Kartonhülse 100 hinein,
• - Auseinanderfahren der Greifelemente einer Greif Gruppe gegen die Innenfläche 103 der Kartonhülse 100, bis diese kraftschlüssig an der Greif-Gruppe von Greifstangen gehalten ist und
• - Anheben des Werkzeugstempels 1 zusammen mit den daran gehaltenen Kartonhülsen 100.

Furthermore, the gripping station 50 in which the thus prepared open cardboard sleeves 100, in the case of 4a , b three each next to each other, are taken as based on the 2a - c explained, namely by

• - Lowering each one gripping group of gripping elements in the upper open side of the open cardboard sleeve 100 in,
• - Moving apart of the gripping elements of a gripping group against the inner surface 103 the cardboard sleeve 100 until it is frictionally held on the gripping group of gripper bars and
• - Lifting the tool punch 1 together with the cardboard sleeves held thereon 100 ,

Lifting the tool punch 1 takes place here by means of a lifting device 35 in the form of a scissors linkage 35 , which at its lower end on the main body 2 of the tool stamp 1 attacks, and with his upper end on a sled 32 is attached, which along guides 33 in the form of rails in the X direction, the first transverse direction 11a the main level 2 ' of the basic body 2 of the tool stamp 1 , is movable, so that of the tool post 1 held cardboard sleeves 100a - c by means of the tool punch 1 moved in the X direction and by means of the lifting device 35 raised and lowered, so for example, parked on the ground, can be.

In this X direction from the gripping station 50 spaced apart is the bottom closure device 20 shown in the bottoms of cardboard sleeves 100a - c successively, partly already during the movement of the sled 32 and thus the tool stamp 1 in the X direction, as will be described in greater detail below 6c explained.

A controller 30 ' controls all movements of all movable parts of the handling device 30 , as preferably including those of the tool punch 1 ,

While 4a the tool stamp 1 in waiting position shows, so that the carton erector 40 a new set of open, tangible cardboard tubes 100 provides shows 5a in the side view the state while lowering the tool punch 1 the gripping groups of gripping elements 1a-f , A - F just in the three side by side provided open cardboard tubes 100a - c are lowered.

4b shows one step further the movement of the tool punch 1 by means of the movement device 31 in the X direction with the attached, from the tool stamp 1 seized, three cardboard sleeves 100a - c.

6a shows how the tool stamp 1 the three cardboard sleeves 100a . b , c already over the beginning of the floor closing device 20 has moved away and on their rail-shaped counter-holder 21 touched down with their already closed floors 106 , and these are just glued.

In the process in the X-direction, the three cardboard tubes arranged one behind the other in this direction were used 100a - c in each case between the two - in 6c recognizable and in 6a only indicated - redirecting elements 23 passed through, whereby the extending in the X direction lower pivot plates 105a, b - see 4c - already in the horizontal position inside the free cross-section 100 ' the cardboard sleeve 100 were swiveled in and then by means of the Beleimers 22 were provided with glue on the underside.

After that were moved by - in 6a only indicated - deflecting elements 24 - The pivoting plates 105c, d extending in the Y direction against the underside of the two other pivoting plates 105a, b and there by the bottom closing device 20 applied glue 25 be deflected, and thus all four swivel tabs are glued against each other, such as in 6c to recognize.

To accelerate this bonding and to improve the adhesion of the bond, are in the adhesive position of the 6a, c in which the already created floor 106 on the counter-holder 21 rests, with the help of the lifting device 35 Preferably, the gripping elements 1a - 1F further moved in the Z direction down until they press on the top of the overhead swivel plates 105a, b and thus on the preferably below applied splices.

In the corresponding front view of 6b and in contrast enlarged in 6c and the local detail magnification, this is better to recognize.

The front view of the 5b shows the same situation as 5a in the viewing direction X, in which the gripping elements of the tool punch 1 straight into the cardboard sleeves 100a - retract c.

5b and 6b So show in the front view of the handling device 30 on the one hand, the gripping of the cardboard sleeves 100 and on the other hand forgiving their floors 106 ,

In the 5b . 6b . 6c It can be seen that in addition the lifting device 35, here in the form of the scissor linkage 35 , in Y direction along the carriage 32 controlled movable formed, and thus the carriage 1 not only in the X and Z direction, but also in the Y direction can be designed limited movable.

In these figures, further, the inclined surface 43 to recognize, usually to outside the frame 34 the handling device 30 extends, and on the supply stack 51 of substantially upright, abutting, flat folded cardboard sleeves 99 automatically slips in the direction of the carton opener 40 that enlarges in the 7a - c is shown in different functional positions:

It shows 7a in a representation in perspective both positions of the carton opener 40 :

Because in this case three cardboard sleeves 100a . b , c, side by side at the same time from the tool punch 1 to be grasped includes the carton opener 40 in this case three opening units 44 , which are displaceable and adjustable in the X direction along two guide rods 45a, b of an X guide 45 arranged one above the other at a distance from each other, so that they are in the in 7a top right docking position in each case at the right places on the first flat folded cardboard sleeves 99 of in 7c better recognizable supply stack 51 , which consists of three juxtaposed partial storage stacks, dock.

With each one taken flat folded cardboard sleeve 99 move the opening units 44 in the offer situation, in 7a shown on the left and slightly deeper by the X-guide 45 along a Y-guide 46 is moved.

At the same time, the sucker units 47 , which are in the docking position not quite vertical, but slightly inclined to the vertical according to the inclination of the lower edge of the inclined surface 43 seated flat folded cardboard sleeves 99 , pivoted into the vertical position, allowing the opening unit 44 held, now open cardboard sleeves 100 ac now stand vertically in the offer situation. The offer situation is already part of the gripping station 50 is, because in this tender position, the gripping bars from the top into the inner free cross section 100 ' the open carton sleeves 100 retracted.

For this purpose, the two vertical struts which connect the two guide rods 45a, b at the end and can be moved with their lower end in the Y-guide 46 are pivotable about a pivot axis extending parallel to the X-axis.

In the front view, so viewed in the X direction, the docking position are again in 7b left part and the offer situation again in 7 c clearly recognizable left part. The two superimposed suckers are also included 41 at each of the clean units 47 of each opening unit 44 to recognize.

Each sucker unit 47 consists of a plate, on the front of each other two or more suckers 41 located to seize on the outer surface facing one of the side walls 100.1.

In the docking position aligned next to it is the front surface of an opening flap 42 , By means of a mechanism not further explained from this to the plate of the mammal unit 47 aligned position of the docking position can be pivoted to a rectangular position in the offer position.

As a result, the adjoining side walls 100.1 and 100.2 are pressed in a right angle to each other, and the cardboard sleeve thereby receives a total now their open, rectangular free inner cross section 100 ' as he is for inserting the handrails in the gripping station 50 is needed.

LIST OF REFERENCE NUMBERS

1

tool punch

1.1, 1.2

Shifting group

1"

range of motion

1a-f, A-F

Gripping element, gripping bar

1

Main Erstreckungs direction

2

body

2 '

main level

2 '

Longitudinal center plane

3a, b

X guide

4a, b

Y guide

5.5 '

crossbeam

6

X drive

6a

engine

7a

spindle nut

7b

threaded rod

8th

Y drive

8a

engine

9

Support sleeve

10

axial direction, Z direction

11a, b

transversely

12

front free end

13a, b

Crosshead guide

14a, b

propeller shaft

15a

longitudinal strut

15b

crossmember

16

swivel axis

17

swivel axis

18

contact element

19

face

20

Ground-closing device

21

backstop

22

Beleimer

23

Leit element

24

Trans element

25

Glue

30

Handling device

30 '

control

31

mover

32

carriage

33

Guide, rail

34

frame

34a

Vertical Post

34b

upper horizontal crossbeam

34c

lower horizontal crossbar

35

Lifting device, scissors linkage

40

Carton Opener

41

sucker

42

Opening flap

43

sloping surface

44

Port unit

45

X guide

46

Y guide

47

Sucker unit

50

cross station

51

stockpile

99

flat folded cardboard sleeve

100, 100a

open cardboard sleeve

100.1-.4

Side wall

100 '

free inner cross section

101

upper open side

102

lower open side

103

palm

104

Sleeve body

104a

lower end

105a - d

swivel plate

106

ground

Claims (29)

Method for gripping and handling at least one cardboard sleeve (100) open on both sides in the axial direction (10), by a) gripping elements (1a - f, 1A - F) of a tool punch (1) axially into an open side (101, 102) of FIG B) for gripping a base body (2) of the tool punch (1), on which the gripping elements (1a - f, 1A - F) are movably mounted, is positioned axially outside the cardboard sleeve (100) during the gripper elements (1a-f, 1A-F) are moved apart transversely to the axial direction (10), c) transverse to the axial direction (10) for moving the gripper elements (1a-f, 1A-F) relative to the base body (2) ) in the direction of the inner surface (103) of the cardboard sleeve (100) - either the gripping elements (1a - f, 1A - F) perform a linear movement transversely to the axial direction (10) - or the gripping elements (1a - f, 1A - F) a Perform pivoting movement about a pivot axis (17) lying transversely to the axial direction (10). characterized in that d) within the cardboard sleeve (100) the at least three gripping elements (1a - f, 1A - F) are moved apart from their initial position in both transverse directions (11a, b) to the axial direction (10) until they are in an end position against the inner surfaces (103) frictionally fit so firmly that subsequently the tool punch (1) can lift and transport the at least one cardboard sleeve (100) from the ground, e) wherein the gripping elements (1a - f, 1A - F) force controlled or path-controlled transversely to the axial direction (10) are moved, f) in the path-controlled method, the gripping elements (1a-f, 1A-F) are controlled transversely to the axial direction (10) such that their end position corresponds to the abutment against a desired inner cross-section of the cardboard sleeve (100). Method according to Claim 1 , characterized in that in the end position, the gripping elements (1a - f, 1A - F) in the inner corners of the inner surface (103) of the cardboard sleeve (100) abut. Method according to one of the preceding claims, characterized in that when gripping at least half of the gripping elements (1a-n), in particular all gripping elements (1a-f, 1A-F), to the main body (2) in two mutually perpendicular transverse directions (11a , b) are moved to the axial direction (10), in particular the remaining gripping elements (1a - f, 1A - F) are moved in at least one of the transverse directions (11a, b). Method according to one of the preceding claims, characterized in that the gripping elements (1a-f, 1A-F) are axially retracted so far into the cardboard sleeve (100) that their front free ends of the lower free end (104a) of the cardboard sleeve body ( 104) of the cardboard sleeve (100) reach. Method according to one of the preceding claims, characterized in that - on a base body (2) more than the for gripping a cardboard sleeve (100) required number of gripping elements (1a - f, 1A - F), in particular more than four, is attached for simultaneously gripping a plurality of cardboard sleeves (100) side by side, the so-called multi-line operation, by moving all the gripping elements (1a-f, 1A-F) axially into the cardboard sleeves (100) to be gripped simultaneously by moving the base body (2), - In particular per cardboard sleeve (100) at least the number required for gripping, in particular four, gripping elements (1a, b, 1A, B) are retracted Method according to one of the preceding claims, characterized in that for switching to cardboard sleeves (100) with a different cross section, the starting position of the gripping elements (1a - f, 1A - F) on the base body (2) in at least one, in particular in only one, the transverse directions (11 a, b) is changed. Method according to one of the preceding claims, characterized in that - for switching to the simultaneous gripping of a different number of cardboard sleeves (100) than heretofore the number and starting position of the gripper elements (1a-f, 1A-1) to be simultaneously moved axially into a cardboard sleeve (100) F) is changed, and in particular - either the distribution of the total of the tool punch (1) existing number of gripping elements (1a - f, 1A - F) unlike previously on the same time to be taken in a gripping operation cardboard sleeves (100) is distributed and / or - for the simultaneous gripping of only one cardboard sleeve (100) for all gripping elements (1a - f, 1A - F) of the tool punch (1), the starting positions of the gripping elements (1a - n) are changed so that all the gripping elements (1a - f , 1A-F) in total in the axial direction (10) are distributed on a surface which is smaller than the inner free cross section (100 ') of the single K to be gripped simultaneously arton sleeve (100). Method according to one of the preceding claims, characterized in that for pulling apart the flat-folded cardboard sleeve (99) to a cardboard sleeve (100) which is open in cross-section - a first side wall (100.1) is grasped by means of a teat (41) and separated from a supply stack (51). flat folded cardboard sleeves (99) is removed and held and - the adjacent, in the same plane as the first side wall (100.1) in alignment second side wall (100.2) by means of an opening flap (42) in an angled position, in particular a rectangular Position, is pivoted to the first side wall (100.1). Method according to one of the preceding claims, characterized in that for closing the bottom (106) of the cardboard sleeve (100) - this is moved by means of the tool punch (1) in a first transverse direction (11a) via a guide element (23) arranged in this way in that the pivoting tongues (105a, b) extending in this first transverse direction (11a) are thereby transferred in a transverse plane (11 ') lying transversely to the axial direction, - subsequently by actuation of relocatable elements (11a) which can be moved in the first transverse direction (11a). 24), the other swivel plates (105c, d) are also folded into the transverse plane (11 ') in contact with the already folded swivel plates (105a, b) and between adhesive (25) is applied. Method according to one of the preceding claims, characterized in that - when gluing the bottom (106) the gripping elements (1a - f, 1A - F) with their free ends at the inside of the cardboard sleeve (100) from the bottom (106) axially against press the surface to apply pressure to the adhesive (25) applied between the two layers of swivel plates (105a-d). Method according to one of Claims 5 to 10 , characterized in that - in multi-line operation for closing the bottoms (106) all at the same time of the tool punch (1) held cardboard sleeves (100) in a single operation over the guide element (23) and the Umleg elements (24) are moved and the floors (106) are glued and - in particular meanwhile already with a second tool punch (1) the next set of carton sleeves (100) to be grasped is grasped. Device (30) for gripping and handling cardboard sleeves (100) open on both sides in the axial direction (10), comprising a) a controller (30 '), b) at least one tool punch (1) with a base body (2) and gripping elements (1a - f, 1A - F), which are movably mounted on the base body (2), wherein c) the base body (2) has its largest areal extent in its main plane (2 '), d) the gripping elements (1a - f, 1A - F) with their main extension direction (1 '), in which they have their largest dimension, transverse to the main plane (2') of the base body (2) and e), in particular all, gripping elements (1a - f, 1A - F) itself extend from the base body (2) to the same side. f) the gripping elements (1a - f, 1A - F) are straight bars or tubes. g) the gripping elements (1a-f, 1A-F) in both transverse directions (11a, b) of the main plane (2 ') of the base body (2) relative to the base body (2) are movable. characterized in that h) by means of the control (30 ') - the gripping elements (1a - f, 1A - F) within the cardboard sleeve (100) in both transverse directions (11a, b) apart from the axial direction (10) from its initial position until they abut firmly against the inner surfaces (103) in an end position so that subsequently the tool punch (1) can lift and transport the at least one cardboard sleeve (100) from the substrate, - the gripping elements (1a-f, 1A-1) F) can be moved in a force-controlled or path-controlled manner transversely to the axial direction (10), the gripping elements (1a-f, 1A-F) can be moved in controlled manner transversely to the axial direction (10) so that their end position relative to each other of the system on a Nominal inner cross-section of the cardboard sleeve (100) corresponds. Device after Claim 12 , characterized in that - the gripping elements (1a - f, 1A - F) at least over a part of their extension a polygonal, in particular rectangular, in particular square, outer periphery transversely to its main extension direction (1 '). Device after Claim 12 or 13 , characterized in that - the base body (2) in at least one of the transverse directions (11a, b) of the main plane (2 ') has a greater extent than the movement region (1 ") in which the tool punches (1) in the Main plane (2 ') and / or as the inner free cross-section (100') of the largest manageable cardboard sleeve (100), Device according to one of Claims 12 to 14 , characterized in that - a first row of the gripping elements (1a - f) as a first displacement group (1.1) along a first X-guide (3a) extending in the first transverse direction (11a) and a second row of gripping elements (11) 1A-F) can be moved in a controlled manner as a second displacement group (1.2) along a second, parallel X-guide (3b), and - at least one, in particular the two, X-guides (3a, b), preferably at their ends in each case in a Y-guide (4a, b), which in the second transverse direction (11b) extends, guided and controlled in their distance from one another are movable. Device after Claim 15 , characterized in that the two displacement groups (1.1, 1.2) each have the same number of gripping elements (1a - f, 1A - F) and one gripping element (1a) on the one X-guide (3a) with one opposite lying gripping element (1A) on the other X-guide (3b) via a crossbeam (5) fixed in the X direction and in the Y direction relative to each other is movably connected. Device after Claim 16 , characterized in that between the cross gripping (5) interconnected two gripping elements (1a, A) in the axial Z-direction, the perpendicular to the main plane (2 ') of the base body (2), spaced another cross-beam (5' ) is present, which is controlled in its distance in the axial direction, the Z-direction, the first cross-member (5) adjustable. Device after Claim 15 . 16 or 17 , characterized in that - each crosspiece (5) or each individual gripping element (1a - f, 1A - F) via an X-drive (6) independently of the other cross members (5) or gripping elements (1a - f, 1A - F ) is movable in the X direction, - in particular by means of a on the cross-beam (5) arranged by a motor (6a) driven, the spindle nut (7a) which engages with a threaded rod (7b) which is parallel to the X Guides (3a, b) extends and is secured against rotation with their ends in the base body (2). Device according to one of Claims 12 to 18 , characterized in that the two X-guides (3a, b) in their relative distance along the Y-guides (4a, b) by means of a Y-drive (8) with a central motor (8a) are moved, in particular in opposite synchronous to the main plane (2 ') lying longitudinal center plane (2 ") of the main body (2) , Device according to one of Claims 12 to 19 , characterized in that at least one contact element (18) for contacting the inner surface (103) of the cardboard sleeve (100) is arranged on the gripping elements (1a - f, 1A - F), which in particular pivotable, in particular about a transverse to the axial direction (10) lying pivot axis (17 '), on the gripping element (1a f, 1A - F) is fixed. Device according to one of Claims 12 to 20 , characterized in that the movements of the gripping elements (1a - f, 1A - F) against the inner surface (103) of the cardboard sleeve (100), in particular the driving motors (6a, 8a), are force-controlled and operated until a predetermined force by the corresponding motor (6a, 8a) is applied, in particular, the force is given in the form of a predetermined current. Device according to one of Claims 12 to 21 , characterized in that the controller (30 ') is capable of positioning the gripping elements (1a - f, 1A - F), in particular as a starting position, so that they form gripping groups, in particular groups of four, so that each gripper Group axially in one of the cardboard sleeves to be taken (100) is retractable. Device according to one of the Claims 12 to 22 , characterized in that the gripping elements (1a - f, 1A - F) are each pivotable about a pivot axis (17) lying transversely to the axial direction (10) relative to the base body (2). Device according to one of the Claims 12 to 23 , characterized in that a movement device (31) is provided which can move the at least one tool punch (1) in the axial direction (10) as well as in at least one of the transverse directions (11a, b). Device after Claim 24 , characterized in that the movement device (31) - a carriage (32) which comprises the base body (2) of the tool punch (1), and along along horizontally extending guides (33), in particular rails (33), is movable , in particular in one of the transverse directions (11a, b) and - a lifting device (35) between the carriage (32) and the tool punch (1), in particular the base body (2), is provided to the tool punch (1) in the axial Direction (10), in particular in the vertical, to move and - in particular the tool punch (1) on the carriage (32) in the other transverse direction (11b, a) is controlled movable. Device after Claim 24 or 25 , characterized in that the movement device (31) is a robot arm. Device according to one of the Claims 12 to 26 , characterized in that the device comprises a cardboard opener (40) for pulling apart the flat folded cardboard sleeves (99) to open in cross section cardboard sleeves (100). Device after Claim 27 characterized in that the carton opener (40) comprises a first sucker unit (47) having at least one sucker (41) capable of folding the flat folded carton sleeve (99) against a first sidewall (100.1). and to remove from a supply stack (51) of flat folded cardboard sleeves (99) and - an opening flap (42) adjacent to the suction unit (47), which in contrast is pivotable controlled about a pivot axis parallel to the edges the later paperboard sleeve (100) extends and is capable of, the second side wall (100.2) of the cardboard sleeve (100) adjacent to the first side wall (100.1) in the flat plane in the same plane in an angle to this, in particular right angle, fold over the top and thereby open the cardboard sleeve (100). Device according to one of the Claims 12 to 28 , characterized in that a bottom closure device (20) is present, which comprises - in the first transverse direction (11a) extending counter-holder (21) for placing or pressing the bottoms (106) held by the tool punch (100) cardboard sleeves (100 ), - in the first transverse direction (11a) extending, in particular fixed, guide elements (23) for turning in this in the transverse direction (11a) extending swivel plates (105 a, b) in a transverse plane (11 ') to the axial direction (10) by contacting along the guide elements (23), - at least one movable, controlled driven, Umlege element (24) for turning in the second transverse direction (11b) extending pivoting flaps (105 c, d) for folding the in this in the transverse direction (11b) extending swivel plates (105 c, d) in a transverse plane (11 ') to the axial direction (10) and applying to the underside of the already folded first two swivel plates (105 a, b) - a Beleimer (22 ) to the bringing an adhesive (25) between the two layers of folded, successive, pivoting flaps (105 a, b, c, d).

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