EP3187427B1 - Device and method for grabbing and transporting rsc packs - Google Patents

Description

I. Field of application

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.

Furthermore, from the WO 2007/057829 an erector according to the preamble of claim 1 is known.

III. Presentation of the invention a) Technical task

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

b) Solution of the task

This object is solved by the features of claims 1 and 11. 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 in the cross-sectional plane the carton sleeve limited and thus but also - if the gripping elements lying out in this cross-sectional plane lying out of the body - the 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 the 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 with its 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 ground, reach or almost reach.

On the one hand, this achieves the result that the gripping elements preferably exert on the latter an inner cross-sectional shaping effect over the entire axial extension of the sleeve body, and, on the other hand, the closing and gluing of the bottom can thereby be facilitated:
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 number of gripping elements required for gripping a sleeve, ie in particular more than four, are present on one main body, for example, twelve gripping elements can be up to three rectangular cardboard sleeves are taken simultaneously by a tool punch, if the base body is sufficiently large that it can extend over all three side by side located cardboard sleeves, so over their cross-sectional areas, away.

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.

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

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 second side wall adjoining this first side wall and lying in the flat folded position in the same plane can be pivoted into an angled position, preferably a right-angled position, to the first side wall, ie folded, be, 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 before 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 of the carton 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 comprising 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 punches can move in the main plane of the body.

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 the one row is each with a gripping element of the other row, in particular the exactly opposite Gripping element, connected via a cross-beam, so that each pair of gripping elements can only be moved together in the X direction and their relative position in X position can not be changed, in particular the two gripping elements of each pair of gripping elements each on the same X- Position is located. 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, wherein preferably the motor 6a the drive drives the spindle nut and the threaded rod extends in the X direction, and in particular can also 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 cardboard tubes, rectangular in cross section, are gripped next to each other 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 a deactivated position, are positioned.

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 Cardboard sleeve rests, but may generally exert no pressure to the outside against this, 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 extending pivot axis be pivotable, especially when 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 main 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 running in the first transverse direction, in particular fixed guide elements are present, which are shaped and arranged so that by contacting it move along held by the tool die cardboard tubes one behind the other, a folding in this in Transverse swivel plates extending in a transverse plane to the axial direction is achieved.

Further, at least one movable, controlled driven, Umlege-element is present, which also serves for folding in this running in the second transverse direction swivel pockets in the transverse plane to the axial direction and applying to the underside of the already folded first two swivel plates, and this process as well one by one on each of the tool punches passed over by the multiple held cardboard tubes.

Furthermore, a Beleimer is present, which applies an adhesive between these two processes, ie between the two layers of folded, lying on each other, pivoting plates.

Thus, in the axial direction, the two layers of against each other to be glued swivel plates with sufficient pressure can be pressed against each other, extending in the first transverse direction counter holder for placing or pressing the bottoms held by the tool punch cardboard sleeves is present.

Against this opponent holder, the bottoms are preferably pressed with the help of the free lower ends of the still present in the cardboard sleeve gripper bars over a sufficiently long period, and for this purpose, the cardboard sleeves either very slowly moved along the counter-holder or standing still for a sufficient Anhärtezeit on the Hold the counterholder pressed.

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 their distance Change to each other, but also 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.

c) embodiments

Fig. 1a, b:

den Werkzeugstempel in perspektivischer Ansicht und in der Aufsicht,

Fig. 2a-c:

den Werkzeugstempel in unterschiedlichen Funktionsstellungen jeweils in der Seitenansicht und in Stirnansicht,

Fig. 3a-c:

unterschiedliche Greifelemente und Kartonhülsen-Formen im Horizontalschnitt,

Fig. 4a, b:

die gesamte Handhabungs-Vorrichtung in verschiedenen Funktionsstellungen,

Fig. 5a, b:

die Handhabungs-Vorrichtung in der Funktionsstellung der Figur 4a in Seitenansicht und Stirnansicht,

Fig. 6a, b.

eine Funktionsstellung ähnlich derjenigen der Figur 4b in Seitenansicht und Stirnansicht,

Fig. 6c:

eine vergrößerte Detaildarstellung aus Figur 6b,

Fig. 7a:

unterschiedliche Funktionsstellungen des Kartonöffners,

Fig. 7b, c:

die unterschiedlichen Funktionsstellungen gemäß Figur 7a einzeln in der Stirnansicht der Vorrichtung.

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

Fig. 1a, b:

the tool temple in perspective view and in the supervision,

Fig. 2a-c:

the tool punch in different functional positions respectively in the side view and in front view,

Fig. 3a-c:

different gripping elements and cardboard tube shapes in horizontal section,

Fig. 4a, b:

the entire handling device in different functional positions,

Fig. 5a, b:

the handling device in the functional position of Figure 4a in side view and front view,

Fig. 6a, b.

a functional position similar to that of the FIG. 4b in side view and front view,

Fig. 6c:

an enlarged detail FIG. 6b .

Fig. 7a:

different functional positions of the carton opener,

Fig. 7b, c:

the different functional positions according to Figure 7a single in the front view of the device.

The FIGS. 1a to 3c show the tool punch 1 alone, partially with and partially without the to be taken, open in terms of their cross-section, cardboard sleeves 100th

From the FIGS. 1a , b it is clear that the tool punch 1 consists of a frame-shaped base body 2 here whose largest areal extent the main plane 2 '- as in the FIGS. 2a -c drawn - defined. On this main body 2, an even number, in this case 12, of gripping bars 1a to 1f, 1A to 1F, movably mounted so that they are in the main plane 2 'relative to the base body 2 in a range of motion 1 ", as in FIG. 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 thereto, the X direction and Y direction, which span the main plane 2 ', are defined such that the first transverse direction 11a or X direction is the direction in which the main body 2 has its greatest longitudinal extent, but in particular in the main plane 2 ', has. Situated Clamps From this first transverse direction 11a and the axial direction 10, the longitudinal median plane 2 "perpendicular to the main plane 2 'extends in the middle of the extent of the basic body 2 in the second transverse direction 11b, the Y direction, except for the Y-drive 8, which will be described later is the main body 2, preferably the entire tool punch 1, a mirror image of this longest center plane 2 "formed.

In the applications described, the main plane 2 'of the base body 2 is usually horizontal, while the main extension direction 1' of the gripping elements or gripping bars and also the longitudinal center plane 2 "are vertical.

Accordingly, the frame-shaped main body 2 consists of two in the first transverse direction 11a parallel and spaced apart longitudinal struts 15a, which are connected at their respective analog free ends via a respective transverse strut 15b together to form a rectangle, parallel to the main plane 2 '.

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

Between these two truss guides 13a, b, that is, at right angles thereto, extend a plurality, in this case six, crossbars 5, which are each guided with one of its ends on one of the truss guides 13a, b.

These crossbeams 5 are each driven by an X-drive 6, which is arranged on the upper side of each crossbeam 5, in the area between the two longitudinal struts 15a, under which the crossbeams 5 extend with a small distance away to the farther outward truss guides 13 a, b.

Each X-drive 6 comprises a motor 6a and a driven by the motor 6a spindle nut 7a, which is rotatably mounted in a mounted on the cross-beam 5 bearing block.

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

From each of the transverse members 5 extend - in the Y direction spaced from each other - two gripping bars, for example, 1f, 1F, down, so in the axial direction 10, the Z direction.

The two gripper bars 1f, 1f per cross-beam 5 are movable relative to each other in the X-direction, 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 main body 2 occupy.

For this purpose, each of the gripping bars 1f, 1f is secured at its upper end to a guide sleeve 9, which is movable in the Y direction relative to the transverse strut 5.

Each of the guide sleeves 9 has a through opening extending in the X direction, and in each end region of the transverse members 5, ie in the Y direction spaced and parallel to each other, but still within the longitudinal struts 15a, each extends an X-guide 3a, b in the form of a rod which passes through the through hole in the guide sleeves 9 and fits into this exactly, so that each guide sleeve 9 along a 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 fixed with their free ends in the transverse struts 15d of the base body 2, 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 transverse struts 15b is accommodated, movable against each other.

The counter-synchronous change in the distance of these X-guides 3a, b is effected by a Y-drive 8, which is fixed approximately in the longitudinal center of the base body 2 and a motor 8a, of the motor 8a in or slightly obliquely to the X direction on both sides controlled by one of two abstrebenden cardan shafts 14a, b in rotation, which ends with its other end in each one of the transverse struts 15b and there causes the gegensynchrone shift of the X-guides 3a, b in the Y direction.

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

The twelve gripper bars in this case are thus divided into two shift groups 1.1, 1.2:
One half of the gripping bars 1a-1f is the shifting group 1.1, which is arranged on the respectively identical Y position and is located in one end region of their respective transverse struts 5, while the other Half of the gripper bars 1A to 1F a spaced apart shift group 1.2, within the shift group 1.2 but matching, other Y position on the opposite side of the longitudinal center plane 2 "occupies and these gripping bars 1A to 1F in the other end 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 centrally controlled by the Y-drive 8, the X-distance of the cross members 5 and thus pairs of eg 1f, 1F of gripper bars to each other is individually by the individual X-drives 6 regulated. Both the X-drives 6 and the Y-drive 8 are of a - usually in accordance with Figure 5b, 6b housed in the overall device - control 30 'driven, depending on the type of cardboard sleeves 100 to be gripped, as based on FIGS. 2a -c recognizable:
By means of the in the axial direction 10, here the vertical, extending gripping bars in the axial direction 10, so above and below, open, also axially extending cardboard sleeves 100, one of which in Figure 4c enlarged perspective shown is taken by starting from the in the FIGS. 2a c shown state of the entire tool punch 1 is lowered and thereby each a certain gripping group of gripper bars is inserted into a cardboard sleeve 100 and then by moving the individual gripping bars in the X and Y directions along the base body 2 of the tool punch 1 with respect to the cross-section center the cardboard sleeve 100 spans the cardboard sleeve 100 into a free inner cross-section 100 'by, in particular, extending the gripping bars of the gripping group into the inner corners of the cross-section 100' of the cardboard sleeve 100 in the main plane 2 'until they bear against the inner surface with such a contact force 103 of the cardboard sleeve 100 abut that the cardboard sleeve is held non-positively on this gripping group of gripper bars and by moving, especially startup and moving to the side, the entire tool punch 1 held thereon one or more cardboard sleeves 100 can be grasped and transported.

Due to the mobility of the gripper bars, one or more cardboard sleeves 100 can be grasped simultaneously:
For gripping a cardboard sleeve 100 with a rectangular cross-section - as in FIG. 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 shifting groups 1.1, 1.2, at the same time until to three cardboard sleeves 100 can be handled with rectangular cross-section, provided that their cross-sections are small enough to order these three vertically extending cardboard sleeves 100 side by side, ie in a row extending in the X direction, within the range of motion 1 "below the gripper bars.

Starting from the known position, in which then the three cardboard sleeves 100a, b, c in the gripping station 50 of the handling device 30 - such as in FIG. 4a to recognize the tool punch 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 adjusted to an initial position in the base body 2 of the tool punch 1 and the tool punch 1 positioned over the cardboard sleeves that by subsequent lowering of the tool punch 1 in the Z direction, in The rule in the vertical direction, in each case a gripping group of gripper elements in each case a free inner cross section 100 'one of the open cardboard tubes 100 is retracted.

Such an open cardboard sleeve - as in Figure 4c shown - has on the one hand a sleeve body 104, consisting of the four in the circumferential direction around the free cross-section adjoining and hinged together side walls 100a-d. At the lower end 104a of the sleeve body 104 closes - preferably in alignment with the respective side wall 100a-d of the sleeve body 104, thus vertically extending - in each case a lower pivot lug 105a-d, from which later by pivoting inwardly and against each other bonding the bottom 106 of the cardboard sleeve to be produced by the carton is made.

Likewise, usually at the top of each side wall 100a-d at the top of each such a pivoting flap 105a-d, from which, however, only after filling the carton a closed top of the carton is created later.

At the time of gripping in the gripping station 50, such an open cardboard sleeve 100 thus has a free inner cross-section 100 'continuous from the upper open side 101 to the lower open side 102, into which the gripping bars can be retracted from above, preferably until the lower one 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.

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

However, other cross sections are also conceivable:
As in FIG. 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 would be tangible, such as hexagonal Cross sections, as in FIG. 3b shown. Then, however, at least one gripper bar would have to be adjustable at least one gripper bar independent of the positions of the gripper bars on the other crossbars 5 and / or a third displacement group of gripping elements would be present, for example by the crossbars 5 each carrying three gripping elements or crossbars 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 FIG. 3b top left - or a triangular shape, in which at one corner of the triangle, the angle of the triangle is less than 60 °, whereby even smaller internal angles could be approached in a cardboard sleeve 100, as may occur, for example, in a triangular cardboard sleeve.

Since the axial extent of the cardboard sleeves 100 to be gripped can also be very different, the length of the gripper rods is designed for the longest axial length of cardboard sleeves 100 to be handled.

If, on the other hand, substantially shorter cardboard tubes are to be gripped and handled, then, in the gripping position, ie when the lower ends of the gripper bars are located near or at the lower end of the sleeve body 104, the base body 2 is located at a relatively large distance above the upper end of the gripper body Cardboard sleeves 100.

Since the gripper bars are attached to the guide sleeves 9 only at the upper end, a relatively large torque is thereby exerted by the gripper bars on the respective guide sleeve 9. For this reason it can be useful - as in FIG. 2b and 3c shown - each mounted on a crossbeam 5 pair of gripping bars 1a, 1A below this crossbeam 5 via a further, parallel to the upper crossbeam 5, cross-beam 5 'against each support, preferably in the Z direction is displaceable relative to the mutually supported gripping bars 1a, 1A.

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

Since for the change in distance between the two gripping bars attached to a cross-beam 5, e.g. 1a, 1A, the additional crossbeam 5 'must be variable in length, in particular telescopable, this telescoping should either be locked or over all existing additional crossbars 5', which must then be at the same axial height, in turn, two extending in the X direction and in the distance adjustable in the Y direction and against each other fixable further X-guides may be present, which are not shown here.

The application of the retracted into the cardboard sleeve 100 gripping bars to the inner surface 103 of the cardboard sleeve 100 can also be realized as an alternative to the method of the individual gripper bars in the X and Y along the body - as in Fig. 3b , Lower half shown - that the gripping bar at the upper end relative to the guide sleeve 9 is pivotable about a pivot axis 17 which is parallel to the main plane 2 'in an adjusted 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 lowermost end of the straight gripping bar against the inner surface 103 of the cardboard sleeve 100th presses, and this is possibly not desirable, can be arranged at least at one point of the outer circumference of the gripper bar, a contact element 18, which is movable not only in the axial direction along the gripper bar, but also with respect to a preferably parallel to the pivot axis 17, at least about a 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 suitable for applying to the inner contour of the cardboard sleeve to be gripped, preferably in one of its inner corners, preferably the shape of an angle profile, as in FIG FIG. 3b shown lower left.

In this way, for example, round cardboard sleeves can be taken as in FIG. 3b shown on the right-hand side by pushing onto a gripping bar of polygonal, for example square, cross-section, a contact element 18 having 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 Innenumfangskonturder to be taken cardboard sleeve 100.

Opposite the Fig. 2a show the Fig. 2b the case that two cardboard tubes arranged side by side-again rectangular in cross-section-are gripped by the tool punch 1, the dimensions of the cross-section of this type of cardboard sleeves being however so great 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 "of the gripping elements, so here the gripper bars, can be arranged.

Due to the rectangular shape of the inner free cross-section 100 'of these two cardboard sleeves 100a, b would be for clamping and gripping per cardboard sleeve turn only a gripping group of four gripping bars already sufficient. The then remaining four gripping bars would, however, then have to be arranged either between the two cardboard sleeves 100a, b to be gripped or before the first and after the second cardboard sleeve 100a, b.

However, the unneeded four gripping bars can also be arranged in pairs - for example because not enough space is available for the aforementioned arrangement - in each case inside the free cross section 100 'of one of the two cardboard sleeves 100a, b, as in FIG Fig. 2b shown in the side view:
Then there is a gripping group for gripping the cardboard sleeve 100a of the six gripper bars, for example 1a - 1c and 1A - 1C, but after immersion in the cardboard sleeve 100a preferably only the four outer gripping bars 1a, 1A, 1c, 1C in the gripping position, ie outwardly into the inner corners of the rectangular cardboard sleeve 100, are extended, while the two central gripping bars 1b, B preferably remain in their initial position.

If the cardboard sleeves 100 to be gripped are even larger in cross-section, so that not even two can be accommodated next to each other below the movement region 1 ", but only a single one - as in FIG Fig. 2c The gripping group to be lowered into the free inner cross section 100 'of this cardboard sleeve 100 can also comprise all 12 gripper bars 1a-f, 1A-F, whereby after lowering into the cardboard sleeve 100, preferably only the four gripper bars 1a which are outside in the X direction, A, 1f, F in the gripping position, ie in the inner corners of the rectangular free cross section 100 'of the cardboard sleeve 100 in the main plane 2' are extended.

The following is based on the Fig. 4a - 7c the entire handling device for gripping, transporting and, if necessary, further processing of cardboard tubes 100 explained, in the context of which the tool die 1 described can be used:
It is in Fig. 4a the entire handling device 30 is shown, including the supporting frame 34 consisting of the vertical posts 34a which are connected at the upper end by upper horizontal trusses 34b extending in both horizontal directions and at the lower end by preferably also in both horizontally Directions extending lower horizontal trusses 34c.

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

That is why in Fig. 4b to better recognize which workstations the handling device 30 comprises:
On the one hand, the carton opener 40, which removes the last from a supply stack 51 of flat-folded boxes 99 - as based on the Fig. 7a - C explained - and at a defined gripping position in the open state, ie as an open cardboard sleeve 100, for grasping by the tool punch 1 is available, as in the Fig. 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.

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

• Lowering each of a gripping group of gripping elements into the upper open side of the open cardboard sleeve 100,
• Moving apart of the gripping elements of a gripping group against the inner surface 103 of 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 100 held thereon.

The lifting of the tool punch 1 takes place here by means of a lifting device 35 in the form of a scissors linkage 35, which engages at its lower end on the base body 2 of the tool punch 1, and is fastened with its upper end to a carriage 32, which along guides 33 in the form of Rails in the X direction, the first transverse direction 11a of the main plane 2 'of the base body 2 of the tool punch 1, is movable, so that held by the tool die 1 cardboard sleeves 100a - c method by means of the tool punch 1 in the X direction and raised by means of the lifting device 35 and lowered, so for example, parked on the ground, can be.

Spaced in this X-direction away from the gripping station 50 is the bottom closing device 20, in which the bottoms of the cardboard sleeves 100a-c are closed successively, in part already during the movement of the carriage 32 and thus of the tool punch 1 in the X direction , as described in more detail below with reference to Fig. 6c explained.

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

While Fig. 4a shows tool die 1 on hold so that carton erector 40 provides a new set of open, handleable carton sleeves 100 Fig. 5a in the side view of 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.

Fig. 4b shows a step further, the movement of the tool punch 1 by means of the movement device 31 in the X direction with the hanging thereon, taken from the tool die 1, three cardboard sleeves 100a - c.

Fig. 6a shows how the tool punch 1, the three cardboard sleeves 100a, b, c has already moved beyond the beginning of the bottom-closing device 20 away and on the rail-shaped counter-holder 21 touches with their already closed bottoms 106, and these are just glued.

In this case, in the process in the X-direction, the three cardboard tubes 100a-c arranged one behind the other in this direction were respectively between the two Fig. 6c recognizable and in FIG. 6a only hinted - Umlegelementen 23 driven through, whereby the extending in the X direction lower pivot plates 105a, b - see Figure 4c - were already pivoted into the horizontal position into the interior of the free cross section 100 'of the cardboard sleeve 100 and were then provided by means of the Beleimers 22 on the bottom with glue.

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

To accelerate this bonding and to improve the adhesion of the bond, are in the adhesive position of the Fig. 6a . c In which the base 106 has already been created rests on the counter-holder 21, with the aid of the lifting device 35, the gripping elements 1a preferably - 1F in the Z-direction further moved downwards until they press onto the top of the swivel tabs overhead 105a, b and thus the preferably applied below splices.

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

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

Fig. 5b and Fig. 6b Thus, 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, the award of their bottoms 106.

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

In these figures, further, the inclined surface 43 can be seen, which usually extends to the outside of the frame 34 of the handling device 30, and on which the supply stack 51 of substantially upright, abutting, flat folded cardboard sleeves 99 automatically slips in Direction of the carton opener 40 enlarged in the Fig. 7a - c is shown in different functional positions:
It shows Fig. 7a in a representation in perspective both positions of the box opener 40:
In this case, since three cardboard sleeves 100a, b, c are to be grasped next to each other simultaneously by the tool punch 1, the cardboard opener 40 in this case comprises three opening units 44 which are arranged along the X direction along two guide rods spaced above one another at a distance from each other 45a, b of an X-guide 45 are slidable and adjustable so that they are in the in Fig. 7a Top right above docking position in each case at the right spots on the first flat folded cardboard sleeves 99 of the in Fig. 7c better recognizable supply stack 51, which consists of three juxtaposed partial supply stacks can dock.

With the one flat folded cardboard sleeve 99, the opening units 44 move into the supply position, in FIG Fig. 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 nipple units 47, which are not quite vertical in the docking position but slightly inclined to the vertical, are pivoted into the vertical position in accordance with the inclination of the flat-folded cardboard sleeves 99 seated with their lower edge on the inclined surface 43 the now held by the opening unit 44, now open carton sleeves 100 a - c are now vertically standing in the offer location. The offer position is already part of the gripping station 50, because in this offer position the gripper bars are retracted from above into the inner free cross section 100 'of the open cardboard tubes 100.

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 Fig. 7b left part and the offer situation again in Fig. 7 c clearly recognizable left part. In this case, the two superposed suction cups 41 can be seen on each of the clean units 47 of each opening unit 44.

Each sucker unit 47 consists of a plate, on the front of which two or more suckers 41 are located one above the other in order to seize themselves 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, which by means of a mechanism not explained in detail this aligned to the plate of the mammal unit 47 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 into a rectangular position relative to one another, and the cardboard sleeve thus receives its open, rectangular, free inner cross section 100 ', as required for the insertion of the holding rods in the gripping station 50.

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 (21)

1. A method for gripping and handling at least one cardboard sleeve (100) that is open on both sides in an axial direction (10), wherein

   a) gripping elements (1a-f, 1A-F) of a tool plunger (1) are axially introduced into an open side (101, 102) of the sleeve (100),

   b) the gripping elements (1a-f, 1A-F) are moved apart from their starting positions transversal to the axial direction (10) until the gripping elements contact an inner surface (103), in particular at inner corners of the inner surface (103) in an end position, so that

   c) the tool plunger (1) is configured to lift and transport the at least one sleeve (100) from a base surface,
   characterized in that,
   the gripping is performed

   d) by positioning a base element (2) of the tool plunger (1) with the gripping elements (1a-f, 1A-F) movably attached thereon axially outside of the sleeve (100) while the gripping elements (1a-f, 1A-F) are being moved apart transversal to the axial direction (10).
2. The method according to claim 1
   characterized in that,
   moving the gripping elements (1a-f, 1A-F) relative to the base element (2) transversal to the axial direction (10) in a direction towards the inner surface (103) of the sleeve (100) is performed by

   - either the gripping elements (1a-f, 1A-F) performing a linear movement transversal to the axial direction (10), or

   - the gripping elements (1a-f, 1A-F) performing a pivot movement about a pivot axis (17) that is arranged transversal to the axial direction (10).
3. The method according to one of the preceding claims,
   characterized in that,

   - During gripping at least half the gripping elements (1a-n), in particular all gripping elements (1a-f, 1A-F) are moved relative to the base element (2) in two transversal directions (11a, b) relative to the axial direction (10) that are perpendicular to each other, in particular the remaining gripping elements (1a-f, 1A-F) are moved in at least one of the transversal directions (11a, b) and/or

   - the gripping elements (1a-f, 1A-F) are moved axially into the sleeve (100) far enough so that their free front ends reach the lower free end (104a) of a sleeve body (104) of the sleeve (100).
4. The method according to one of the preceding claims,
   characterized in that,

   - the gripping elements (1a-f, 1A-F) are controlled transversal to the axial direction (10) so that their end position relative to each other corresponds to a contact at a nominal inner cross section of the sleeve (100).
5. The method according to one of the preceding claims,
   characterized in that,

   - the gripping elements (1a-f, 1A-F) are moved transversal to the axial direction (10) by force control and/or travel distance control.
6. The method according to one of the preceding claims,
   characterized in that,

   - a number of gripping elements (1a-f, 1A-F) that exceeds a number of gripping elements (1a-f, 1A-F) that is required for gripping a sleeve (100), in particular more than four gripping elements are attached at a base element (2),

   - all gripping elements (1a-f, 1A-F) are inserted simultaneously axially into the sleeves (100) that are to be gripped simultaneously adjacent to each other by moving the base element (2),

   - in particular at least a number of gripping elements (1a, b, 1A, B) is inserted that required for the gripping, in particular four gripping elements.
7. The method according to one of the preceding claims,
   characterized in that,
   a starting position of the gripping elements (1a-f, 1A-F) at the base element (2) is adjusted in at least one, in particular in only one, of the transversal directions (11a, b) in order to adjust for sleeves (100) with a different cross section.
8. The method according to one of the preceding claims,
   characterized in that,

   - a number and starting position of gripping elements (1a-f, 1A-F) that is simultaneously axially inserted into the sleeve (100) is adjusted for simultaneously gripping a number of the sleeves (100) that differs from a previous number, and in particular

   - either a distribution of a total number of gripping elements (1a-f, 1A-F) at the tool plunger (1) is distributed over a total number of sleeves that has to be gripped during the gripping process differently from before,
   and/or

   - starting positions of the gripping elements (1a-n) are adjusted for all gripping elements (1a-f, 1A-F) of the tool plunger (1) for simultaneously gripping only one sleeve (100) simultaneously so that all gripping elements (1a-f, 1A-F) in total viewed in axial direction (10) are distributed over a surface area which is smaller than an inner free cross section (100') of a single sleeve (100) that has to be gripped simultaneously.
9. The method according to one of the preceding claims,
   characterized in that,
   in order to pull a flat folder cardboard sleeve (99) into a cardboard sleeve (100) that has an open cross section

   - a first side wall (100.1) is gripped by a suction cup (41) and removed from a storage stack (51) of flat folded cardboard sleeves (99) and held, and

   - an adjacent second side wall (100.2) that is aligned in a plane with the first side wall (100.1) is pivoted by an opening flap (42) into an angled position, in particular a rectangular position relative to the first side wall (100.1), and/or
   For closing a base (106) of the cardboard sleeve (100),

   - the cardboard sleeve is moved by the tool plunger (1) in a first transversal direction (11 a) by a guide element (23) that is arranged so that pivot lobes (105 a, b) that extend in this first transversal direction (11a) are flipped into a transversal plane (11') that is arranged transversal to the axial direction,

   - subsequently the other pivot lugs (105 c, d) are also flipped into the transversal direction (11') by actuating pivot elements (24) that are movable in the first transversal direction (11a), so that the other pivot lugs contact the pivot lugs (105 a, b) that have been flipped already and a glue (25) is applied there between.
10. The method according to one of the preceding claims,
    characterized in that,

    - during multiline operation in order to close the bases 106 all cardboard sleeves that are simultaneously retained by the tool plunger (1) are moved in one process step in sequence above the guide element (23) and the pivot elements (24) and the bases (106) are glued together thereafter, and

    - in particular during this time period a next set of sleeves (100) that is to be gripped is already gripped by a second tool plunger (1), and/or

    - during gluing the base (106) the gripping elements (1a-f, 1A-F) press with their free face ends from an interior of the sleeve 100 the base (106) axially against the ground in order to impart pressure upon the glue (25) that is applied between the two layers of pivot lobes (105 a-d).
11. A handling device (30) for gripping and handling cardboard sleeves (100) that are open in an axial direction (10) on both sides,
    the handling device comprising

    - a control (30'),

    - at least one tool plunger (1) with a base element (2) and gripping elements (1a-f, 1A-F), which are movably attached at the base element (2),

    - wherein the base element (2) has a maximum flat extension in a main plane (2'),

    characterized in that

    - the gripping elements (1a-f, 1A-F) have a main extension direction (1') in which they have the maximum dimension, wherein the main extension direction is oriented transversal to a main plane (2') of the base element (2), and

    - the gripping elements (1a-f, 1A-F), in particular all gripping elements, extend from the base element (2) to the same side, in particular downward.
12. The device according to claim 11,
    characterized in that

    - the gripping elements (1a-f, 1A-F) are straight rods or tubes, and/or

    - the gripping elements (1a-f, 1A-F) have a polygonal, in particular rectangular, in particular square outer circumference transversal to its direction of main direction (1') at least over a portion of its extension.
13. The device according to one of the preceding device claims,
    characterized in that

    - the base element (2) has a larger extension in at least one of the transversal directions (11a, b) of the main plane (2') than a movement portion (1") in which the tool plungers (1) can move in the main plane (2'), and/or then the inner free cross section (100') of a largest cardboard sleeve (100) that can be handled,
    and/or

    - the gripping elements (1a-f, 1A-F) are movable in both transversal directions (11a, b) of the main plane (2') of the base element (2) relative to the base element (2).
14. The device according to one of the preceding device claims,
    characterized in that

    - a first row of the gripping elements (1a-f) extends as a first linear movement group (1.1) along a first X-guide (3a) that extends in the first transversal direction (11a), and a second row of the gripping elements (1A-F) is movable in a controlled linear manner as a second movement group (1.2) is moved along a second X-guide (3b) that is parallel thereto, and

    - at least one, in particular both, X-supports (3a, b) extend advantageously at their ends respectively in a Y-support (4a, b) that extends in the second transversal direction (11b) and which are movable relative to each other in a controlled manner to adjust their distance to each other, and
    in particular

    - the two movement groups (1.1, 1.2) respectively have an identical number of gripping elements (1a-f, 1A-F) and a respective gripping element (1a) is fixed on a first X-support (3a) to an opposite gripping element (1A) on the other X-support (3b) by a transversal beam (5) in the X-direction, and connected movable relative to each other in the Y-direction.
15. The device according to one of the preceding device claims,
    characterized in that

    - between the two gripping elements (1a, A) that are fixed by a transversal beam 5 in the X-direction and movable relative to each other in the Y-direction another transversal beam (5') is provided offset in the axial Z-direction, the orthogonal to the main plane (2') of the base element (2), wherein the transversal beam is adjustable in a controlled manner with respect to its Z-distance from the transversal beam 5, and/or

    - the two X-supports (3a, b) are moved with respect to their relative distance along the Y-supports (4a, b) by a Y-drive (8) with a central motor (8a), in particular in opposite direction synchronous to the longitudinal center plane (2") of the base element (2) that is arranged in the main plane (2').
16. The device according to one of the preceding device claims,
    characterized in that

    - each transversal beam (5) or each individual gripping element (1a-f, 1A-F) is movable by an X-drive (6) independently from the other transversal beams (5) or gripping elements (1a-f, 1A-F) in the X-direction,

    - in particular by a spindle nut (7a) that is arranged on the transversal beam (5) and driven by a motor (6a) wherein the spindle nut engages a threaded rod (7b) that extends parallel to the X-guides (3a, b) and is attached torque proof with its ends in the base element (2).
17. The device according to one of the preceding device claims,
    characterized in that

    - at least one respective contact element (18) is arranged at the gripping element (1a-f, 1A-F) for contacting an inner surface (103) of the sleeve (100) wherein the gripping element is attached so that it is in particular pivotable, in particular pivotable about, a pivot axis (17') transversal to the axial direction (10), and/or

    - the movement of the gripping element (1a-f, 1A-F) towards an innersurface (103) of the sleeve (100) is force controlled in particular at the drive motors (6a, 8a) which are actuated until a predetermined force is applied by the corresponding motor (6a, 8a), wherein the force is in particular predetermined by a predetermined electrical current.
18. The device according to one of the preceding device claims,
    characterized in that

    - the control (30') is configured to position the gripping elements (1a-f) in particular in a starting position so that they form gripping groups in particular groups of four so that each gripping element group is axially insertable into one of the cardboard sleeves 100 that need to be gripped, and/or

    - the gripping element (1a-f, 1A-F) are pivotable in a controlled manner respectively about a pivot axis (17) that is transversal to the axial direction (10) wherein the pivoting performed relative to the base element (2).
19. The device according to one of the preceding device claims,
    characterized in that

    - a movement direction (31) is provided which moves the at least one tool plunger (1) in the axial direction (10) as well as in at least one of the transversal directions (11a, b), and in particular
    either the movement device (31)

    - includes a slide (32) that includes the base element (2) of the tool plunger (1) and that is movable along horizontally extending supports (33), in particular rails (33), in particular in one of the transversal directions (11a, b), and

    - a lifting device (35) is provided between the slide (32) and the tool plunger (1), in particular its base element (2) to move the tool plunger (1) in the axial direction (10), in particular in the vertical direction, and

    - in particular the tool plunger (1) is movable in a controlled manner at the slide (32) in the other transversal direction (11b, a).

    or
    the movement device (31) is a robotic arm.
20. The device according to one of the preceding device claims,
    characterized in that

    - the device includes a cardboard opener (40) configured to pull the flat folded cardboard sleeves 99 apart to form cardboard sleeves 100 with an open cross section, and in particular
    the cardboard opener (40)

    - includes a first suction unit (47) with at least one suction cup (41) which is configured to grip the flat folded cardboard sleeve (99) at a first sidewall (100.1) and to remove it from a supply stack (51) of flat folded cardboard sleeves (99),

    - an opening flap (42) that is adjacent to the suction unit (47) which is pivotable relative to the suction unit about a pivot axis which is oriented parallel to edges of a subsequent cardboard sleeve (100) and configured to flip a second side wall (100.2) of the cardboard sleeve (100) that is adjacent to the first side wall (100.1) and in an identical plane in folded condition into a position that is angled to the position in the plane, in particular at a right angle so that the cardboard sleeve (100) is opened.
21. The device according to one of the preceding device claims,
    characterized in that
    a base closure device (20) is provided,

    - an opposite support (21) that extends in the first transversal direction (11a), for applying or impressing the bases (106) of cardboard sleeves (100) that are supported by the tool plunger (1),
    two guide elements (23) that extend in the first transversal direction (11a) and which are in particular fixed in place for folding pivot lobes (105a, b) that extend in the transversal direction (11a) into a transversal plane (11') to the axial direction (10) by contacting and moving along the support element (23),

    - at least one movable controlled driven folding element (24) for folding the pivot lobes (105c,d) extending in the second transversal direction (11b) for flipping the pivot lobes (105c,d) that extend in the transversal direction (11b) into a transversal plane (11') relative to the axial direction (10) and applying them to a bottom side of the already folded first two pivot lobes (105 a, b),

    - a glue carrier (22) for applying a glue (25) between two layers of folded pivot lobes that sit on top of each other.

Images