EP3187427B2 - Device and method for grabbing and transporting rsc packs - Google Patents

Description

I. Area of application

The invention relates to the handling of sleeve-shaped so-called RSC (regular slotted card) boxes, which consist of a sleeve with a polygonal cross-section, usually square, initially open on both sides, and are delivered in a flat, then 2-layer, condition. For further handling, in particular closing the base on one side by gluing, the sleeves must be handled mechanically.

II. Technical background

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

Previously, such boxes were, in a first step, drawn from the flat-folded, 2-layer shape of the sleeve to a polygonal cross-section, usually by suction cups attacking from two opposite sides in the transverse direction and pulling the cardboard sleeve apart to the desired polygonal cross-section , with the two front sides of the sleeve-shaped box still open.

In a second step, an internally engaging gripping tool was then introduced from one of the open end faces into the interior of the sleeve, i.e. the sleeve-shaped cardboard, which extended gripping elements radially to the axial direction, i.e. the direction running from one open side of the sleeve to the other until they contact the inner surfaces of the sleeve with a sufficiently strong contact pressure to be able to lift the sleeve from the ground and transport it to another location for further processing and, for example, place it there.

The problem that arises is that the manufacturing tolerances for such RSC boxes are relatively large, so after producing the sleeve in the overlapping area of the ends of the original blank, the distance between the two overlapping end edges - depending on the size of the box - by up to 10 or more Millimeters can vary. Above all, these edges can run not parallel to one another, but at an angle to one another, although a sleeve-shaped cardboard with a constant cross-section over the length is desired.

The extension distance of the gripping elements from the base body of the tool stamp must be able to bridge these manufacturing tolerances, but on the other hand the extension length of the gripping elements is limited by the inner cross section of the sleeve-shaped cardboard to be handled, i.e. the sleeve.

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

When changing formats, this requires long downtimes and therefore downtimes for the system and also 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 according to the invention to create a handling device which avoids the disadvantages described.

b) Solution to the task

This task is solved by the features of claim 1. Advantageous embodiments result from the subclaims.

With regard to a method - which is not part of the invention - this object is achieved in that, in contrast to the prior art, not the entire tool stamp including the base body and gripping elements attached to it is moved into the interior of the open cardboard sleeve for gripping, but only the Gripping elements, while the base body to which the gripping elements are attached remains positioned outside the cardboard sleeve.

The advantage of this approach is that the size of the base body is not limited to the inner free cross section of the cardboard sleeve, but can be significantly larger. Consequently, the gripping elements can change their position on the base body within a wide range and thereby cardboard sleeves of very different dimensions, i.e. from very small to very large internal cross sections, can be gripped by one and the same tool stamp.

If - as in the prior art - the base body is introduced into the interior of the cardboard sleeve, its extension is limited in the cross-sectional plane of the cardboard sleeve and therefore also - if the gripping elements are moved out of the base body lying in this cross-sectional plane - their extension length, and therefore only cardboard tubes with a limited different cross-section can be gripped with it.

As a rule - matched to a specific cardboard tube to be taken with a specific free inner cross section - first set the positions of the gripping elements on the base body to a specific starting position, matching the free inner cross section of the cardboard sleeve to be gripped, and after inserting the gripping elements into the cardboard sleeve, the gripping elements - or at least some of them in the Gripping elements inserted into the cardboard sleeve - move into an end position in which the gripping elements, in particular all gripping elements, rest on the inner surface of the cardboard sleeve and hold it in a non-positive manner, so that it can be lifted up and transported away by the tool stamp.

These are preferably cardboard sleeves with a rectangular cross section, and four gripping elements are then preferably inserted axially into the inner corners of the cardboard sleeve.

To move from the starting position to the end position, the gripping elements can be positioned relative to the base body either - as for assuming the starting position - transversely to the axial direction, i.e. preferably in the main plane of the base body, linearly in at least one, preferably both transverse directions, the two directions of the main plane of the base body.

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

This ensures that, in the end position, all gripping elements located in the cardboard sleeve preferably rest against the inner surface of the cardboard sleeve and, with the appropriate contact pressure, the cardboard sleeve is not only securely held thereon, but also takes on a shape due to the predetermined end position , which largely corresponds to the intended target shape, i.e. the target internal cross section, of the gripped sleeve.

For this purpose, the gripping elements are controlled transversely to the axial direction in such a way that their end position relative to one another corresponds to a contact with the target internal cross section of the sleeve or, in other words, all gripping elements that are to be inserted later into a cardboard sleeve beforehand, in the starting position, lie within a predetermined target area, which is in particular equal to or slightly smaller than the target internal cross section of the cardboard tube to be handled.

How far the gripping elements are moved from the starting position to the end position can be controlled by force or distance:
With force control, this movement is carried out until a predetermined contact force is reached for each individual gripping element, which can be measured, for example, based on the current consumption of the electric motor moving the gripping element.

With path control, the direction and distance that the gripping element covers from the starting position to the end position is specified. However, if the internal cross-sections of the cardboard sleeves deviate significantly from the target internal cross-section due to poor dimensional accuracy when producing the cardboard sleeves, there is a risk that the cardboard sleeves will tear in the process.

Preferably, the gripping elements are retracted axially into the sleeve to such an extent that their front free end reaches the lower free end of the sleeve body, i.e. the cardboard sleeve, without the swivel tabs still present on the end faces, which later form the bottom almost reach.

On the one hand, this ensures that the gripping elements exert a shaping effect on the inner cross section of the sleeve body over the entire axial extent of the sleeve body, and on the other hand, this can make closing and gluing the base easier:
The bottom of a square cardboard sleeve, which is initially open on both sides, is closed by folding the swivel tabs on all four side walls at the front end into a transverse plane of the sleeve body and gluing them together there.

This bonding is improved in that the bonding points are located, among other things or exclusively, under the free-ending end face of the gripping elements, and after folding the overlapping pivot tabs that lie against one another in the axial direction with the adhesive in between are pressed against one another in the axial direction by coming from the inside The gripping elements press their front sides against the inside of the floor, and the outside of the floor is supported on the surface or a counter support.

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 will usually be inserted into the cardboard sleeve, because as a rule the gripping elements should be on the inside corners of the cardboard -Put on the sleeve.

However, if there are more gripping elements on a base body than the number required to grip a sleeve, i.e. in particular more than four, then with twelve gripping elements, for example, up to three rectangular cardboard sleeves can be gripped at the same time by a tool stamp, provided that the base body is sufficient is large in that it can extend over all three cardboard sleeves located next to each other, i.e. over their cross-sectional areas.

Then - when setting for such a multi-line operation - the gripping elements are set to such starting positions that the group of gripping elements intended for gripping a cardboard tube is axially retracted into the intended one of the several cardboard tubes arranged next to one another can be done by the entire base body, which carries the several groups of gripping elements, moving axially towards the open end faces of the cardboard tubes arranged next to one another.

If, on the other hand, the number of cardboard tubes to be gripped at the same time remains the same and only the dimensions and/or shape of their internal cross-section changes, the group assignment to the individual cardboard tubes or their internal cross-sections remains the same; only the initial positions of the individual gripping elements need to be determined be adapted to the new dimension of the new internal cross section.

In this way, cardboard tubes with a very small internal cross section can be gripped, the limitation being how closely the gripping elements can be moved towards one another in order to assume a starting position, or a single cardboard tube can be gripped with a much larger free one inner cross section are gripped and held, limited only by the range of movement of the gripping elements within the base area of the base body, so that such a cardboard sleeve can have a cross section up to approximately the extent of the base body in its main plane.

So that the gripping elements can be moved axially into the free inner cross section of the cardboard tube in order to grip the cardboard tube, the cardboard tubes, which are delivered as two-layer flat folded tubes without a significant free inner cross section, must first be converted into open cardboard tubes. i.e. with a free inner cross section corresponding approximately to the target cross section.

According to the invention, this is achieved by gripping a first side wall using a suction cup or a suction unit that contains several suction cups and thus removing the flat-folded cardboard sleeve from a storage stack. Already during this removal movement or subsequently in a separate working position while at a standstill, the second side wall, which is adjacent to this first side wall and lies in the same plane in the flat folded position, can be pivoted into an angled position, preferably a right-angled position, relative to the first side wall, i.e. folded. so that the cardboard tube is in the open state.

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

According to the invention, the pivoting tabs are pivoted into the transverse plane in such a way that, during the transport movement, the opposing pivoting tabs of a cardboard tube with a rectangular cross-section running in the transport direction are moved over a stationary or moving guide element in such a way that this first pair of Swivel brackets are folded into the transverse plane.

Then - if necessary also during the movement - the two swivel tabs of the other pair of swivel tabs are also folded into the transverse plane and before or at the same time glue is introduced between the then two layers of swivel tabs lying on top of each other, because each pair of swivel tabs that are opposite one another covers - folded over into the transverse plane - preferably the entire inner free cross section of the cardboard tube that was previously open on both sides.

It has already been explained that the adhesive points in the corners or under the cross-sectional areas of the gripping elements are then pressed firmly by means of them.

The advantage of this approach - especially in multi-line operation - is that the transport direction is the direction in which the several cardboard tubes to be gripped at the same time are arranged one behind the other for gripping, i.e. generally the first transverse direction of the base body of the tool stamp.

As a result, the several cardboard sleeves gripped and held by the same tool stamp can be closed very quickly one after the other in one operation, as explained in detail later.

It may also be advantageous under certain circumstances to work with not just one, but for example two or even more tool stamps, so that while the bottoms of the cardboard sleeves currently held by the first tool stamp are closed, another tool stamp is already producing a new set of cardboard tubes.

This task is solved by a handling device according to claim 1.

As a rule, during operation of the device, the main plane of the base body is aligned horizontally and the gripping elements extend vertically, preferably downwards from the base body.

The main plane of the base body, namely the plane in which the base body has its largest surface extent, is generally horizontal during operation.

The main direction of extension of the gripping elements extends perpendicular to this main plane, but at least primarily perpendicular to the main plane, so that if the main extension direction runs obliquely to the main plane, its largest directional component is the vertical one to the main plane.

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

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

This makes it possible for the tool stamp to grip the cardboard sleeves by moving the gripping elements in the direction of their main extension, in particular in the perpendicular to the main plane of the base body, the axial direction into which an open side of the one or more cardboard sleeves to be gripped leads. and this grips the cardboard sleeve while the base body remains outside the cardboard sleeve.

The base body preferably has a greater extent in at least one, preferably in both directions of its main plane, i.e. the transverse directions to the axial direction, than the range of movement in which the tool stamps can move in the main plane of the base body.

Preferably, this extension of the base body in one or both directions of its main plane is also larger than the inner free cross section of the largest cardboard sleeve that can be handled by the tool stamp.

The base body has guides which run in two intersecting directions of its main plane, the two transverse directions which are perpendicular to one another, along which the gripping elements can be moved - preferably individually and independently of one another, or at least in pairs independently of one another.

The first transverse direction in which the base body has the greatest extent in its main plane is briefly referred to as the

A first group of gripping elements can be moved along a first X-guide, which runs in the X direction, and a second group of gripping elements can be moved in a controlled manner along a second, parallel, X-guide.

The

The two groups each comprise an equal number of gripping elements, and one gripping element from one row is connected to one gripping element from the other row, in particular the gripping element located exactly opposite, via a crossbar, so that each pair of gripping elements can only be connected together in X Direction can be moved and their relative position in the X position to one another cannot be changed, in particular the two gripping elements of each pair of gripping elements are each in the same X position. In the latter case, the crossbar runs exactly in the Y direction.

In the Y direction, the two gripping elements of a pair can change their distance from one another due to the change in distance between the two X-guides on which the two gripping elements of the pair are guided.

In the X direction, at least each cross member, preferably each individual gripping element, has an

The advantage is that only one drive per pair is necessary for movement in the X direction. The disadvantage is that the two gripping elements of a pair cannot change their distance from one another in the X direction. Thus, such a solution with coupled pairs of gripping elements is preferably suitable for cardboard sleeves with a rectangular internal cross section.

If other cross-sectional shapes should also be manageable, the individual gripping elements can preferably be moved independently of one another in both transverse directions.

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 that are connected to one another via the crossbar, there is a further crossbar spaced apart in the axial direction, which can be adjusted in a controlled manner in the axial direction, in the Z direction, to the first crossbar.

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

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

The first-mentioned crossbar and/or the second-mentioned crossbar can have a longitudinal extension, usually in the Y direction, in the area between The two gripping elements of a pair connected thereby can be designed to be telescopic, and if these crossbars do not extend beyond the space between the two gripping elements, the at least one or the two crossbars can also be positioned inside the cardboard sleeve when gripping.

However, the first crossbar often protrudes on both sides beyond the distance between the two gripping elements coupled to one another and the crossbar is guided at its ends in additional crossbar guides in the X direction, in addition to the guidance of the individual gripping elements on their respective X-guides.

This X-drive preferably consists of a threaded rod and a spindle nut that can be screwed onto it, with the motor 6a of the drive preferably driving the spindle nut and the threaded rod running in the

The distance adjustment of the two occupy the same distance, which simplifies control. If the gripping elements are rod-shaped or tubular, their outer circumference preferably rests directly on the inner surface of the cardboard sleeve when gripped, with the necessary contact force to be able to hold and lift it.

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

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

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

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

The motors that move the gripping elements or the crossbars in the X and Y directions are either force-controlled or controlled in terms of their travel path from the starting position or controlled in terms of reaching the end position.

The control that controls the tool stamp is able to position the gripping elements - depending on the specified position and shape and size of the cardboard tube to be gripped - so that they are arranged in groups relative to one another, in particular in groups of four, so that each Group is able to move axially into one of the cardboard tubes to be gripped.

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

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

For example, if the base body comprises six pairs of gripping elements, three cardboard tubes with a rectangular cross-section can be gripped simultaneously by the control combining two pairs into a group. If, due to the size of the internal cross-section, only two cardboard tubes with a rectangular cross-section are gripped side by side at the same time, each group can also only include two pairs of gripping elements if it is possible for the other two pairs to grip outside the two cardboard tubes, i.e. in a deactivated position.

The groups for the two cardboard sleeves can then each include three pairs of gripping elements, with the gripping elements of the two outer pairs being moved into the inner corners of the cardboard sleeve for gripping, while the middle pair is at most loosely attached to the inside of the rectangular ones Cardboard sleeve is in contact, but as a rule no pressure should be exerted towards the outside, as this would cause the cardboard sleeve to be unacceptably deformed outwards.

To move the gripping elements into the interior of the cardboard sleeve, the tool stamp is preferably inserted into the stationary cardboard sleeve emotional.

The device then comprises a movement device which is able to move the tool stamp by means of a lifting device at least in the axial direction or an approximately axial direction.

Preferably, the movement device can also move the tool stamp in at least one, preferably two intersecting directions of the main plane of the base body, the two transverse directions perpendicular to one another, the X and Y directions.

The movement device is therefore preferably designed in such a way that it can move the tool stamp 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 therefore extendable vertical strut between the base frame of the machine and the tool stamp, or, for example, by a scissor linkage.

The attachment to the machine frame is preferably not stationary, but rather takes place on a carriage which can be moved relative to the machine frame along a guide, preferably along rails, in at least one of the transverse directions, preferably the transverse direction running in the direction of the main extension direction of the base body .

As a result, the tool stamp can not only lift the cardboard sleeves it has gripped and held, but can also move in at least one transverse direction when lifted from the ground, for example from the position for gripping to another processing station, for example a floor closing device one of the two open end faces of the cardboard sleeve, namely the end face opposite the base body of the tool stamp, is closed.

However, the movement device that moves the tool punch can also be a robot arm instead.

In both cases, it has proven to be useful to design the tool stamp and/or the lifting device and/or the slide to be rotatable in a controlled manner about the axial direction or another direction running transversely to the main plane of the base body, for a very high variability of the device.

The process of gripping the cardboard tubes, i.e. the gripping station, is usually embedded in a process that includes further processes.

The subsequent closing of the floor in a floor closing device has already been mentioned.

This can, for example, be designed in such a way that there are initially two, in particular fixed, guide elements running in the first transverse direction, which are shaped and arranged in such a way that the cardboard tubes held by the tool stamp are moved one behind the other by contacting them Transversely extending swivel tabs in a transverse plane to the axial direction is achieved.

Furthermore, there is at least one movable, controlled-driven folding element, which is used to fold the swivel tabs running in the second transverse direction into the transverse plane to the axial direction and to place them on the underside of the first two swivel tabs that have already been folded over, and this process too one after the other with each of the several cardboard tubes held by the tool stamp.

There is also a gluer that applies an adhesive between these two processes, i.e. between the two layers of swivel tabs that are folded over and lying on top of each other.

So that the two layers of swivel tabs to be glued together can be pressed against each other with sufficient pressure in the axial direction, there is a counterholder extending in the first transverse direction for placing or pressing on the bottoms of the cardboard tubes held by the tool stamp.

The floors are preferably pressed against this opponent holder over a sufficiently long period of time with the help of the free lower ends of the gripping rods that are still in the cardboard sleeve, and for this purpose the cardboard tubes are either moved very slowly along the counterholder or stand still on the counterholder for a sufficient hardening time Counterholder held pressed on.

Upstream of the gripping station is usually the process of opening the box and a corresponding box opener, because the box tubes are usually not delivered in the open state, i.e. with a polygon-shaped free inner cross section, but rather in for reasons of space a flat folded state in which, for example, two of the four side walls of the cardboard sleeve are arranged in two parallel, closely adjacent and mutually contacting layers.

A box opener removes one of the flat-folded cardboard tubes from a supply stack of such flat-folded cardboard tubes and pulls the cardboard tube apart into the open state, i.e. with a polygonal free inner cross section in accordance with the desired later cross-sectional shape of the box, by first pulling the gripping elements of the box apart Tool stamp can then be moved into the cardboard sleeve, which is usually open on both sides.

It is known that for this purpose a suction unit, which comprises one or more individual suction cups, engages one of the side walls of the flat-folded cardboard tube on the outside, sucks it in and lifts it off the supply stack.

Until now it was usual for another one Suction unit engages on a side surface of the other layer on the outer surface and pulls the flat folded cardboard sleeve apart transversely to its axial direction into the open state. To do this, the two suction units not only have to change their distance from one another, but also have to be moved in a controlled manner relative to one another in the transverse direction.

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

A fixed opening guide element is arranged in such a way that when the flat-folded sleeve is removed from the supply stack, this guide element automatically folds the side wall adjacent to the gripped side wall into the correct angular position relative to the side wall gripped by the suction unit in the open state of the cardboard sleeve.

If, instead of the fixed guide element, an opening flap is used, which can be pivoted to one of the edges of the subsequently opened cardboard sleeve with a pivot axis running parallel, the opening flap can, by active movement, fold over the side wall adjacent to the side wall gripped by the suction cup.

The construction effort is greater, but this also means that cardboard sleeves can be opened that should have different cross-sectional shapes when open, while a fixed guide element is only suitable for one cross-sectional shape and one cross-sectional size and otherwise has to be converted.

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 stamp in perspective view and top view,

Fig. 2a-c:

the tool stamp in different functional positions in the side view and in the 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 Figure 4a in side view and front view,

Fig. 6a, b.

a functional position similar to that of Figure 4b in side view and front view,

Fig. 6c:

an enlarged detailed view Figure 6b ,

Fig. 7a:

different functional positions of the box opener,

Fig. 7b, c:

the different functional positions Figure 7a individually in the front view of the device.

The Figures 1a to 3c show the tool stamp 1 alone, partly with and partly without the cardboard tubes 100 that are open in terms of their cross section and are to be gripped.

From the Figures 1a , b it becomes clear that the tool stamp 1 consists of a frame-shaped base body 2, the largest surface extent of which is the main plane 2 ' - as in the Figures 2a -c marked - defined. On this base body 2, an even number, in this case 12, of gripping rods 1a to 1f, 1A to 1F, are movably attached so that they are in the main plane 2 'relative to the base body 2 in a range of motion 1 ", as in Figure 1b drawn, can move.

These gripping rods 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, the X-direction and Y-direction, which span the main plane 2', are defined in such a way that the first transverse direction 11a or but especially in the main level 2 '. Spanned by this first transverse direction 11a and the axial direction 10, the longitudinal center plane 2" perpendicular to the main plane 2' runs in the middle of the extension of the base body 2 in the second transverse direction 11b, the Y direction. Except for the Y drive described later 8, the base body 2, preferably the entire tool stamp 1, is designed as a mirror image of this long center plane 2".

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

Accordingly, the frame-shaped base body 2 consists of two longitudinal struts 15a, which run parallel and at a distance from one another in the first transverse direction 11a and which are connected to one another at their respective analog free ends via a cross strut 15b to form a rectangle, lying parallel to the main plane 2 '.

In addition to the longitudinal struts 15a - in the supervision of the Figure 1b viewed with respect to the longitudinal center plane 2" outside the longitudinal struts 15a, - one of two traverse guides 13a, b is present on both sides, which also run in the X direction and are also firmly connected with their ends to one of the cross struts 15b.

Between these two traverse guides 13a, b, i.e. at right angles to them, several, in this case six, cross traverses 5 run, each of which has one of its ends guided on one of the traverse guides 13a, b.

These cross beams are driven by 5 each with an

Each

The spindle nuts 7a of all crossbars 5 rotate about the same axis of rotation, which runs parallel to the first transverse direction 11a. A non-rotatable threaded rod 7b, which is fastened with its ends in the cross struts 15b and is in engagement with the spindle nuts 7a, extends along this axis of rotation, so that each cross member 5 is independent of the others by controlled drive of the individual motors 6a of the X-drives 6 - except for the fact that mutual overtaking in the X direction is not possible - it can be moved back and forth in the X direction within the movement range 1".

Two gripping rods, for example 1f, 1F, extend from each of the crossbars 5 - spaced apart from one another in the Y direction - downwards, i.e. in the axial direction 10, the Z direction.

The two gripping rods 1f, 1F per crossbar 5 are movable relative to one another in the of the base body 2.

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

Each of the guide sleeves 9 has a through opening running in the a rod which runs through the through opening in the guide sleeves 9 and fits exactly into it, so that each guide sleeve 9 can be moved along one of the X-guides 3a, b. In this case, the X-guides 3a, b are round rods and the through openings of the guide sleeves 9 also have a matching round cross section. The X-guides 3a, b are fastened with their free ends in the cross struts 15d of the base body 2, but only fixed in the one of the cross struts 15b is housed, movable in counter-synchrony with one another.

The counter-synchronous change in distance of these one of two bracing cardan shafts 14a, b is rotated in a controlled manner, the other end of which ends in one of the cross struts 15b and there causes the counter-synchronous displacement of the X-guides 3a, b in the Y direction.

This can be done, for example, by arranging at the end of each of the cardan shafts 14a, b a pinion which can be rotated about the One end of each of the X-guides 3a, b is attached.

The twelve gripping rods in this case are thus divided into two displacement groups 1.1, 1.2: One half of the gripping rods 1a-1f is the displacement group 1.1 which is arranged in the identical Y position and is located in one end region of their respective Cross struts 5 are located, while the other half of the gripping rods 1A to 1F occupies a spaced-apart displacement group 1.2, but within the displacement group 1.2, a different Y position on the opposite side of the longitudinal center plane 2 "and these gripping rods 1A to 1F located in the other end region of their respective crossbars 5.

The Y-distance of these two displacement groups 1a to 1f and 1A to 1F of gripping bars is regulated centrally via the Y-drive 8, the individual X-drives 6 regulated. Both the X-drives 6 and the Y-drive 8 are operated by one - usually in accordance with Figures 5b, 6b Control 30 'located in the overall device is controlled, depending on the type of cardboard tubes 100 to be gripped, as shown in the Figures 2a-c recognizable:
By means of the gripping rods running in the axial direction 10, here the vertical, open, also axially extending cardboard tubes 100, one of which is in the axial direction 10, i.e. at the top and bottom Figure 4c is shown enlarged in perspective, can be taken by starting from that in the Figures 2a -c shown state, the entire tool stamp 1 is lowered and thereby a specific gripping group of gripping 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 stamp 1 with respect to the cross-sectional center of the respective cardboard sleeve 100, the cardboard sleeve 100 is clamped to a free inner cross section 100 ', in particular by extending the gripping rods 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 have such a contact force on the inner surface 103 of the cardboard sleeve 100 rests so that the cardboard sleeve has a force fit on this gripping group is held by gripping rods and by moving, in particular raising and moving to the side, the entire tool stamp 1, the one or more cardboard tubes 100 held thereon can be gripped and transported.

Due to the mobility of the gripping rods, one or more cardboard tubes 100 can be gripped at the same time:
For gripping a cardboard tube 100 with a rectangular cross section - as in Figure 3a shown - only one gripping group consisting of four gripping rods 1a, 1A, 1b, 1B arranged in a rectangle is required, so that by means of the existing twelve gripping rods 1a to 1f, 1A to 1F, which are arranged in two displacement groups 1.1, 1.2, simultaneously up to three cardboard tubes 100 with a rectangular cross-section can be handled, provided that their cross-sections are small enough to be able to arrange these three vertically extending cardboard tubes 100 next to each other, i.e. in a row extending in the X direction, within the movement range 1 "below the gripping bars.

Starting from the known position in which the three cardboard tubes 100a, b, c are then in the gripping station 50 of the handling device 30 - as for example in Figure 4a to recognize - are presented to the tool stamp 1, before the gripping groups of the gripping rods are lowered into the cardboard sleeves 100, the gripping rods are within their respective gripping group, here z. B. 1a, b, 1A, B, as well as the individual gripping groups are set relative to one another to an initial position in the base body 2 of the tool stamp 1 and the tool stamp 1 is positioned over the cardboard tubes so that by subsequently lowering the tool stamp 1 in the Z direction, in As a rule, in the vertical direction, a gripping group of gripping elements is inserted into a free inner cross section 100 'of each of the open cardboard tubes 100.

Such an open cardboard tube - as in Figure 4c shown - has, on the one hand, a sleeve body 104, consisting of the four side walls 100a-d which adjoin one another in the circumferential direction around the free cross section and are connected to one another in an articulated manner. At the lower end 104a of the sleeve body 104 - preferably aligned with the respective side wall 100a-d of the sleeve body 104, i.e. running vertically - there is a lower pivot tab 105a-d, from which the base 106 is later formed by pivoting inwards and gluing against each other boxes to be produced from the cardboard tube.

Likewise, each side wall 100a-d is usually adjoined at the upper end by such a pivoting tab 105a-d, from which a closed top of the box is later created only after the box has been filled.

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

As in Figure 3a on the right side and except the Figures 3b and 3c shown in all other figures, the gripping rods have a rectangular, preferably square, cross-section, with which cardboard tubes 100 with a rectangular inner cross-section or with inner cross-sections whose inner corners each have an inner angle of at least 90 ° can be clamped and gripped in the main plane 2 '.

However, other cross-sections are also conceivable:
As in Figure 3a , left half, the gripping rods could also have an external cross section in the form of a right-angled triangle.

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

Instead of a rectangular external cross section of the gripping bars, the shape of an equilateral triangle can also be chosen - as in Figure 3b shown at the top left - or a triangular shape in which the triangle angle at one corner of the triangle is less than 60 °, which means that even smaller internal angles could be approached in a cardboard tube 100, as can occur, for example, in a triangular cardboard tube.

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

If, on the other hand, significantly shorter cardboard tubes are to be gripped and handled, then in the gripping position, i.e. when the lower ends of the gripping rods are close to or at the lower end of the tube body 104, the base body 2 is at a relatively large distance above the upper end of the Cardboard tubes 100.

Since the gripping rods are only attached to the guide sleeves 9 at the upper end, a relatively large torque is exerted by the gripping rods on the respective guide sleeve 9. For this reason it may make sense - as in Figure 2b and 3c shown - each pair of gripping bars 1a, 1A attached to a crossbar 5 is supported against each other below this crossbar 5 via a further crossbar 5 'running parallel to the upper crossbar 5, which is preferably in the Z direction relative to the gripping bars 1a to be supported against each other , 1A is movable.

If this additional cross member 5' is only located in the free distance between the two gripping rods to be supported, this additional cross member 5' can also be retracted into the inner free cross section 100' of the cardboard tube 100 when gripping cardboard tubes 100. On the other hand, if it protrudes laterally over the gripping rods that are 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 tube 100 to be gripped.

Since, in order to change the distance between the two gripping bars attached to a crossbar 5, for example 1a, 1A, the additional crossbar 5 'must be variable in length, in particular telescopic, this telescoping capability should either be lockable or via all existing additional crossbars 5', which are then each on the same level must be located at the axial height, two further X-guides can be present which run in the

However, as an alternative to the movement of the individual gripping rods in the Fig. 3b , lower half shown - that the gripping rod at the upper end can be pivoted relative to the guide sleeve 9 about a pivot axis 17, which lies parallel to the main plane 2 'at an angle to the X and Y directions that is adapted to the cross-sectional shape of the cardboard sleeve to be gripped, and preferably the gripping rod itself is pivotable about the Z direction.

Since then, when pivoting outwards, usually only the lowest end of the straight gripping bar presses against the inner surface 103 of the cardboard sleeve 100, and this may not be desirable, a contact element can - especially in this case - be placed at at least one point on the outer circumference of the gripping bar 18 can be arranged, which can be moved not only in the axial direction along the gripping rod, but also relative to it about a further pivot axis 17', preferably parallel to the pivot axis 17, in any case at least around a further pivot axis 17' lying transversely to the Z direction, preferably in the main plane 2 '. be pivotable.

The contact element 18 has an outer contour which is suitable for resting on the inner contour of the cardboard tube to be gripped, preferably in one of its inner corners, preferably in the form of an angle profile, as in Figure 3b shown below left.

In this way, for example, round cardboard tubes can also be gripped, as in Figure 3b shown on the far right by sliding a contact element 18 onto a gripping rod with a polygonal, for example square, cross-section, which has an outer contour in the form of a circular segment, the radius of curvature of which is equal to or slightly smaller than the radius of curvature of the circular inner circumferential contour of the cardboard tube 100 to be gripped.

Opposite the Fig. 2a show the Fig. 2b the case that two cardboard tubes arranged next to one another - again rectangular in cross section - are gripped by the tool stamp 1 at the same time, but the dimensions of the cross section of this type of cardboard tube are so large that in the first transverse direction 11a, the X direction of the tool stamp 1 , only two such cardboard tubes 100 a, b can be arranged within the movement range 1" of the gripping elements, i.e. here the gripping rods.

Due to the rectangular shape of the inner free cross section 100' of these two cardboard tubes 100a, b, only one gripping group of just four gripping rods would be sufficient for clamping and gripping each cardboard tube. However, the remaining four gripping rods would then have to be arranged either between the two cardboard tubes 100a, b to be gripped or in front of the first and after the second cardboard tube 100a, b.

However, the four gripping rods that are not required can also be arranged in pairs - for example because there is not enough space available for the aforementioned arrangement - inside the free cross section 100 'of one of the two cardboard tubes 100a, b, as in Fig. 2b shown in side view:
Then a gripping group for gripping the cardboard sleeve 100a consists of the six gripping bars, for example 1a - 1c and 1A - 1C, although after immersion in the cardboard sleeve 100a, preferably only the four outer gripping bars 1a, 1A, 1c, 1C are in the gripping position, i.e outwards into the inner corners of the rectangular cardboard tube 100, while the two middle gripping rods 1b, B preferably remain in their initial position.

If the cardboard tubes 100 to be gripped are even larger in cross-section, so that not even two can be accommodated side by side below the movement range 1", but only a single one - as in Fig. 2c shown, the gripping group to be lowered into the free inner cross section 100 'of this cardboard sleeve 100 can also include all 12 gripping bars 1a - f, 1A - F, whereby after lowering into the cardboard sleeve 100 only preferably the outer four gripping bars 1a, A, 1f, F can be extended into the gripping position, i.e. into the inner corners of the rectangular free cross section 100' of the cardboard tube 100 in the main plane 2'.

The following is based on the 4a - 7c the The entire handling device for gripping, transporting and, if necessary, further processing cardboard tubes 100 is explained, in the context of which the tool stamp 1 described can be used: In this case, 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 traverses 34b running in both horizontal directions, and at the lower end by preferably also in both horizontal directions -Lower horizontal trusses 34c running in different directions.

For reasons of clarity, this frame 34 is in Fig. 4b , which however depicts a slightly different work situation, is omitted.

That's why it's in Fig. 4b to better recognize which workstations the handling device 30 includes:
On the one hand, the box opener 40, which removes the last one from a supply stack 51 of flat-folded boxes 99 - as shown in the Fig. 7a - c explained - and at a defined gripping position in the open state, i.e. as an open cardboard tube 100, for gripping by the tool stamp 1, 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.

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

• Lowering a gripping group of gripping elements into the upper open side of the open cardboard tube 100,
• Moving apart the gripping elements of a gripping group against the inner surface 103 of the cardboard tube 100 until it is held non-positively on the gripping group of gripping rods and
• Lifting the tool stamp 1 together with the cardboard tubes 100 held on it.

The tool stamp 1 is lifted here by means of a lifting device 35 in the form of a scissor linkage 35, which engages at its lower end on the base body 2 of the tool stamp 1, and is fastened at its upper end to a carriage 32, which runs along guides 33 in the form of Rails can be moved in the and lowered, for example also placed on the ground.

Spaced from the gripping station 50 in this , as explained in more detail below using the Fig. 6c explained.

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

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

Fig. 4b shows one step further the movement of the tool stamp 1 by means of the movement device 31 in the X direction with the three cardboard tubes 100a - c hanging on it and gripped by the tool stamp 1.

Fig. 6a shows how the tool stamp 1 has already moved the three cardboard sleeves 100a, b, c over the beginning of the base closing device 20 and places them on their rail-shaped counterholder 21 with their already closed bases 106, and these are currently being glued.

When moving in the X direction, the three cardboard tubes 100a - c arranged one behind the other in this direction were each placed between the two - in Fig. 6c recognizable and in Figure 6a only indicated - folding elements 23 moved through, whereby the lower pivot tabs 105a, b extending in the X direction - see Figure 4c - have already been pivoted into the horizontal position into the interior of the free cross section 100 'of the cardboard sleeve 100 and were then provided with glue on the underside using the glue bucket 22.

Afterwards were moved by movable - in Figure 6a only indicated - deflection elements 24 - the pivot tabs 105c, d extending in the Y direction are deflected against the underside of the other two pivot tabs 105a, b and the adhesive 25 which has now been applied there by the floor closing device 20, and thus all four pivot tabs are glued together be, such as in Fig. 6c to recognize.

In order to accelerate this bonding and improve the adhesive strength of the bonding, the Fig. 6a, c , in which the already created floor 106 rests on the counter-holder 21, with the help of the lifting device 35, the gripping elements 1a - 1F are preferably moved further down in the Z direction until they press on the top of the swivel tabs 105a, b located above and thus open the adhesive spots preferably applied underneath.

In the corresponding front view of the Fig. 6b and in comparison enlarged in Fig. 6c and the one there This is easier to see when the details are enlarged.

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 stamp 1 move straight into the cardboard tubes 100a - c.

Fig. 5b and Fig. 6b So show in the front view of the handling device 30, on the one hand, the gripping of the cardboard tubes 100 and, on the other hand, the placing 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 a controlled manner along the carriage 32 in the Y direction, and thus the carriage 1 not only in the X and Z directions, but also in the Y direction. Direction can be designed to be movable to a limited extent.

In these figures, the inclined surface 43 can also be seen, which usually extends outside the frame 34 of the handling device 30, and on which the supply stack 51 of essentially upright, adjacent, flat-folded cardboard tubes 99 automatically slides into place Direction of the box opener 40, which enlarges in the Fig. 7a - c is shown in different functional positions:
This shows Fig. 7a In a perspective view, both positions of the box opener 40:
Since in this case three cardboard tubes 100a, b, c, next to each other are to be gripped simultaneously by the tool stamp 1, the cardboard opener 40 in this case comprises three opening units 44, which are arranged in the X direction along two guide rods arranged one above the other at a distance parallel to one another 45a, b of an X-guide 45 can be moved and adjusted so that they are in the in Fig. 7a The docking position shown at the top right is in the correct places on the first flat-folded cardboard tubes 99 of the in Fig. 7c The more easily recognizable supply stack 51, which consists of three adjacent partial supply stacks, can dock.

With the flat folded cardboard sleeve 99 gripped, the opening units 44 move into the offering position Fig. 7a shown further to the left and slightly lower by moving the X-guide 45 along a Y-guide 46.

At the same time, the suction units 47, which are not completely vertical in the docking position but are slightly at an angle to the vertical, are pivoted into the vertical position in accordance with the inclination of the flat-folded cardboard sleeves 99 resting with their lower edge on the inclined surface 43, so that the now open cardboard sleeves 100 a - c held by the opening unit 44 are now vertical in the offering position. The offering position is already part of the gripping station 50, because in this offering position the gripping rods are inserted 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 ends and can be moved with their lower end in the Y-guide 46, can be pivoted about a pivot axis running parallel to the X-axis.

In the front view, i.e. viewed in the X direction, the docking positions are again in Fig. 7b left part and the offer location again Fig. 7c Left part clearly visible. The two suction cups 41 arranged one above the other can also be seen on each of the clean units 47 of each opening unit 44.

Each suction unit 47 consists of a plate, on the front of which there are two or more suction cups 41 one above the other in order to suck on the outer surface of one of the side walls 100.1 facing them.

In the docking position, aligned next to it is the front surface of an opening flap 42, which can be pivoted by means of a mechanism that is not explained in detail from this position of the docking position, which is aligned with the plate of the mammalian unit 47, into a position at right angles to it in the offering position .

As a result, the adjacent side walls 100.1 and 100.2 are pressed into a perpendicular position to one another, and the cardboard sleeve now has its open, rectangular, free inner cross section 100 ', as required for inserting the holding rods into the gripping station 50.

REFERENCE SYMBOL LIST

1

Tool stamp

1.1, 1.2

Move group

1"

Range of motion

1a-f, A-F

Gripping element, gripping rod

1'

Main extension direction

2

Basic body

2'

Main level

2"

Longitudinal median plane

3a, b

X-leadership

4a, b

Y-leadership

5.5'

Crossbar

6

X-drive

6a

engine

7a

spindle nut

7b

Threaded rod

8th

Y drive

8a

engine

9

Guide sleeve

10

axial direction, Z direction

11a, b

Transverse direction

12

front free end

13a, b

Traverse guidance

14a, b

PTO shaft

15a

Longitudinal strut

15b

Cross brace

16

Pivot axis

17

Pivot axis

18

Contact element

19

face

20

Floor locking device

21

Counterholder

22

gluer

23

Guiding element

24

Folding element

25

Glue

30

Handling device

30'

steering

31

Movement device

32

Sleds

33

leadership, rail

34

frame

34a

Vertical post

34b

upper horizontal traverse

34c

lower horizontal traverse

35

Lifting device, scissor linkage

40

Box opener

41

Mammal

42

Opening flap

43

inclined surface

44

Opening unit

45

X-leadership

46

Y-leadership

47

Suction unit

50

Gripping station

51

Stockpile

99

flat folded cardboard tube

100, 100a

open cardboard tube

100.1-.4

Side wall

100'

free internal cross section

101

upper open side

102

lower open side

103

Inner surface

104

Sleeve body

104a

lower end

105a - d

Swivel tab

106

Floor

Claims (10)

1. 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 its main plane (2'), wherein

   - 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,
   characterized in that

   - 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),

   - the handling device is formed such that the gripping elements can be moved to an end position after being introduced into the cardboard sleeve, in which they contact the inner surface of the cardboard sleeve and hold it in a force-fit manner,

   - a first row of the gripping elements (1a-f), 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), as a second movement group (1.2) along a second X-guide (3b) that is parallel thereto, are movable in a controlled manner, and

   - at least one, in particular both, X-guides (3a, b) extend at their ends respectively in a Y-guide (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,

   - 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-guide (3a) to an opposite gripping element (1A) on the other X-guide (3b) by a transversal beam (5) in the X-direction, and connected movable relative to each other in the Y-direction,

   - each transversal beam (5) is movable by an X-drive (6) independently from the other transversal beams (5) in the X-direction,

   - the two X-guides (3a, b) are moved with respect to their relative distance along the Y-guides (4a, b) by a Y-drive (8) with a central motor (8a),

   - the control (30') is configured to position the gripping elements (1a-f, 1A-F) so that they form gripping groups so that each gripping group is axially insertable into one of the cardboard sleeves (100) that need to be gripped.
2. The device according to claim 1,
   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 their direction of main extension (1') at least over a portion of their extension.
3. 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 than the inner free cross section (100') of the largest cardboard sleeve (100) that can be handled.
4. 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-guides (3a, b) with respect to their relative distance along the Y-guides (4a, b) in opposite direction synchronous to the longitudinal center plane (2") of the base element (2) that is arranged in the main plane (2').
5. The device according to one of the preceding device claims,
   characterized in that

   - each transversal beam (5) is is driven by a spindle nut (7a) that is arranged on the transversal beam (5), 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).
6. 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 elements (1a-f, 1A-F) for contacting the 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).
7. The device according to one of the preceding device claims,
   characterized in that

   - the movements of the gripping elements (1a-f, 1A-F) towards the inner surface (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.
8. 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 guides (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.
9. 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), and

   - an opening flap (42) that is adjacent to the suction unit (47) which is pivotable in a controlled manner 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.
10. The device according to one of the preceding device claims,
    characterized in that
    a base closure device (20) is provided, comprising

    - 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 (100),

    - 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 (105 a-d) that sit on top of each other.

Images