US20090025343A1 - Method of providing erected folding boxes at the exit of a manufacturing machine and apparatus for erecting folding boxes from flat folding box sheath - Google Patents

Method of providing erected folding boxes at the exit of a manufacturing machine and apparatus for erecting folding boxes from flat folding box sheath Download PDF

Info

Publication number
US20090025343A1
US20090025343A1 US12/179,370 US17937008A US2009025343A1 US 20090025343 A1 US20090025343 A1 US 20090025343A1 US 17937008 A US17937008 A US 17937008A US 2009025343 A1 US2009025343 A1 US 2009025343A1
Authority
US
United States
Prior art keywords
folding
folding box
palleting
boxes
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US12/179,370
Other languages
English (en)
Inventor
Thomas Salm
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Winkler and Duennebier GmbH
Original Assignee
Winkler and Duennebier GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Winkler and Duennebier GmbH filed Critical Winkler and Duennebier GmbH
Assigned to WINKLER + DUNNEBIER AKTIENGESELLSCHAFT reassignment WINKLER + DUNNEBIER AKTIENGESELLSCHAFT ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SALM, THOMAS
Publication of US20090025343A1 publication Critical patent/US20090025343A1/en
Abandoned legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
    • B65B43/265—Opening, erecting or setting-up boxes, cartons or carton blanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/12—Feeding flexible bags or carton blanks in flat or collapsed state; Feeding flat bags connected to form a series or chain
    • B65B43/14—Feeding individual bags or carton blanks from piles or magazines
    • B65B43/16—Feeding individual bags or carton blanks from piles or magazines by grippers
    • B65B43/18—Feeding individual bags or carton blanks from piles or magazines by grippers by suction-operated grippers
    • B65B43/185—Feeding individual bags or carton blanks from piles or magazines by grippers by suction-operated grippers specially adapted for carton blanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B2100/00—Rigid or semi-rigid containers made by folding single-piece sheets, blanks or webs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B2120/00—Construction of rigid or semi-rigid containers
    • B31B2120/30—Construction of rigid or semi-rigid containers collapsible; temporarily collapsed during manufacturing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
    • B31B50/74—Auxiliary operations
    • B31B50/76—Opening and distending flattened articles
    • B31B50/78—Mechanically

Definitions

  • the present invention relates to a method for providing assembled folding boxes at the exit of a production machine, an apparatus for assembling folding boxes from flat folding box shells, a palleting cell in which a corresponding apparatus is situated, and an apparatus for aligning articles relative to at least one reference edge.
  • the production machine may be an envelope manufacturing machine or a pizza carton manufacturing machine, for example, which produces products in the form of envelopes or pizza cartons which are to be packed in folding boxes.
  • the folding boxes may be made of paperboard or cardboard, for example.
  • the articles to be assembled may be flat folding box shells, interlayers or cover layers necessary for palleting, or similar articles.
  • the packaging of stacks of finished envelopes, which are present at the end or exit of an envelope manufacturing machine, in folding boxes is known.
  • the envelopes packaged in this manner are then supplied to a so-called palleting cell, in which an automatically controlled palleting robot arranges the filled folding boxes on a pallet at a palleting station.
  • the palleting cell is generally located in the vicinity of the exit of the envelope manufacturing machine.
  • folding box assemblers which automatically produce assembled folding boxes from flat folding box shells as needed at the exit of the envelope manufacturing machine.
  • the folding box assembler the same as for the palleting cell, is located in the vicinity of the exit of the envelope manufacturing machine, or is located at a specified site in the production room, and at that location provides folding boxes for multiple envelope manufacturing machines.
  • the folding boxes assembled by the folding box assembler are usually transported by an operator, optionally using a ground conveyor or the like, from the folding box assembler to the exit of the envelope manufacturing machine.
  • a disadvantage of the known folding box assemblers is that space, which is often limited, must be provided for installing same in the end region of the envelope manufacturing machine or at a specified site in the production room. Furthermore, an operator must always make sure that the fully assembled folding boxes are transported, as needed, to the end of the envelope manufacturing machine.
  • An apparatus for assembling folding boxes from flat folding box shells includes a gripping unit for grasping the flat folding box shells, the gripping unit having a first and a second suction gripping device which are pivotably joined together for assembling the folding box shell, so that one of the two suction gripping devices acts as an assembly unit for assembling the folding box shell.
  • all of the bottom flaps are closed, i.e., folded, by moving the assembled folding box, assembled by the gripping unit, at its still open bottom flaps toward static bottom flap tools which are stationary relative to their surroundings.
  • the gripping unit travels in various directions toward the various bottom flap folding tools.
  • the object of the present invention is to a provide a method for providing assembled folding boxes at the exit of a production machine, an apparatus for assembling folding boxes from flat folding box shells, and an apparatus for aligning articles relative to at least one reference edge, which ensures that assembled folding boxes are provided at the exit of the production machine with the greatest possible economy of space, and which allows the folding box shells to be assembled in the quickest and most uncomplicated way possible, and which makes the alignment of articles by introduction into a magazine unnecessary.
  • a method for providing assembled folding boxes at the exit of at least one production machine, wherein the assembled folding boxes are formed within the palleting cell in which the finished products, which are packaged in folding boxes, are placed on pallets.
  • forming of an assembled folding box is understood to mean the sum total of the work step of assembling the flat folding box shell and the work steps of folding all the bottom flaps of the folding box.
  • the fully assembled folding box has a closed bottom and unfolded, and therefore open, closing flaps.
  • the assembly of the folding box shells and the closing, i.e., folding, of all the bottom flaps of the folding boxes are performed within the delimiting means, relevant to occupational safety, which separate the palleting cell from the surroundings.
  • delimiting means include the floor or room spaces in which a palleting robot or a separate gripping unit for assembling the folding box shells properly moves in the sense of the present invention.
  • the fully assembled folding boxes are transported through the delimiting means, and thus out of the palleting cell, to the end or exit of the at least one production machine, where they are filled with the products manufactured by the production machine.
  • the filled folding boxes are conveyed back through the delimiting means, and thus back into the palleting cell, where they are palleted by use of a palleting robot.
  • a single palleting cell may also be associated with multiple production machines. This means that, on the one hand, filled folding boxes arriving from various production machines are palleted in the palleting cell, and on the other hand, fully assembled folding boxes are transported from the palleting cell to various production machines.
  • a gripping unit which may be mounted on the palleting robot which is present in the palleting cell anyway.
  • the palleting robot can assemble folding boxes during periods when it is not occupied with palleting.
  • the gripping unit may advantageously make use of the X, Y, and Z motion axes and rotational axes of the palleting robot. This results in savings in expenditure of effort and cost for an independent motion axis system for the gripping unit.
  • the gripping unit may also be mounted on a linear gantry which is present in the palleting cell in addition to the palleting robot.
  • the gripping unit has an independent motion system in the vertical Z axis and the horizontal X and Y axes.
  • the advantage is realized that a separate folding box assembler outside the palleting cell is no longer necessary, so that space may be saved outside the palleting cell. It is only necessary for an operator to load the supply station located in the palleting cell with flat folding box shells, for example by providing a pallet containing at least one stack of folding box shells. The folding box shells are then assembled automatically within the palleting cell, and the assembled folding boxes are likewise automatically conveyed from the palleting cell to the end of the production machine, using transport means.
  • the flat folding box shells may be provided to the supply station in the form of an unaligned stack of folding box shells, or in the form of folding box shells which are already aligned and which are present in a magazine, for example. If the folding box shells are supplied unaligned, an alignment device is provided within the palleting cell which allows a folding box shell picked up by the gripping unit to be aligned relative to at least one reference edge.
  • the alignment device may be a stop device, having two angular legs at right angles to one another, which is moved with assistance from the gripping unit in such a way that one or two edges of the folding box shell that are to be aligned contact the angular leg or legs as needed.
  • the apparatus according to the invention for assembling folding boxes has a movable gripping unit for grasping the folding box shells, the gripping unit including a suction gripping device for holding the flat folding box shells and an assembly unit for assembling the folding box shells.
  • the assembly unit assembles the folding box shell while it is held by the suction gripping device.
  • the gripping unit may be moved in at least one direction of motion of an orthogonal X, Y, Z motion system.
  • a bottom flap folding tool which is pivotable relative to the assembly unit is mounted thereon.
  • an assembled folding box intermediate product which has open bottom flaps and open closing flaps.
  • the pivotable bottom flap folding tool may be actively actuated so that it folds the bottom flap of the folding box intermediate product trailing in the direction of motion of the gripping unit essentially by 90°.
  • the suction gripping device preferably has a first and a second suction region. These suction regions may be independently impinged on by a vacuum and lie essentially in the same plane, so that the folding box shell may be picked up by the suction gripping device in such a way that the first suction region is situated on one side, and the second suction region is situated on the opposite side, of a fold line for the folding box shell. Both suction regions are impinged on by a vacuum for as long as the folding box shell is transported prior to assembly. In order to perform assembly, the vacuum is switched off for one of the two suction regions so that the assembly unit can assemble the folding box shell.
  • the assembly unit includes a support element as well as an assembly tool for assembling the folding box shell.
  • the support element is connected to a support arm which preferably is movable in an orthogonal X, Y, Z motion system.
  • the entire gripping unit is thus supported by the support arm which is engaged with the support element.
  • the assembly tool is mounted on the support element so that it is pivotable essentially by at least 90° relative to the support element.
  • the bottom flap folding tool for folding the trailing bottom flap is pivotably mounted on the assembly tool, and can be pivoted essentially by at least 90°.
  • the support element is connected to the suction gripping device via a compensating element which is preferably rod-shaped.
  • a first articulated joint between one end of the compensating element and the support element and a second articulated joint between the other end of the compensating element and the suction gripping device are provided.
  • a translational degree of freedom is provided between the suction gripping device and the support element, thus enabling the suction gripping device and the support element to move toward or away from one another.
  • the adhesive unit may, for example, be an adhesive tape unit which adhesively joins at least the bottom flaps with adhesive tape, or may be a hot-setting adhesive unit which adhesively joins at least the bottom flaps with hot-setting adhesive.
  • the assembled folding boxes may be led past an automatic labeling unit.
  • the folding box shells are provided to the supply station in unaligned form, it is necessary to align the folding box shells relative to at least one reference edge.
  • the gripping unit picks up the top folding box shell, and the control system for the apparatus according to the invention moves the support element toward the reference edge in a fixed spatial orientation relative to the reference edge itself.
  • One of the border edges of the folding box shell strikes the reference edge, so that the folding box shell undergoes rotational and/or translational compensating motions until the border edge lies parallel against the reference edge, and therefore in alignment.
  • the folding box shell is held only by the suction gripping device, and the suction gripping device is connected in an articulated manner, via the compensating element and the first and second articulated joint, to the support element, and is thus connected to the entire assembly unit, and in addition a translational degree of freedom is provided between the suction gripping device and the support element, during the compensating motion the folding box shell may be moved away beneath the support element or the assembly unit, whereas the support element or the assembly unit remains in a fixed spatial orientation relative to the reference edge.
  • the suction gripping device takes part in the rotational and/or translational compensating motion of the folding box shell.
  • the first and the second articulated joint are each provided with a locking device for rotationally fixed or rotationally rigid locking of the respective articulated joint.
  • a locking device for fixing the translational degree of freedom is also present between the suction gripping device and the support element.
  • the folding box shell may then be assembled.
  • the vacuum is switched off for one of the two suction regions of the suction gripping device, so that under the force of gravity the folding box shell may be at least partially assembled.
  • the assembly tool of the assembly unit is then pivoted essentially by 90° and is held in this pivoted position.
  • the folding box shell is then fully assembled.
  • the pivotable bottom flap folding tool is likewise pivoted essentially by 90° relative to the alignment tool, thereby folding the trailing bottom flap.
  • the gripping unit moves past stationary, static bottom flap folding tools for folding the bottom flap advancing in the direction of motion and for folding the side bottom flaps.
  • an apparatus for aligning articles, in particular flat articles such as folding box shells, interlayers, cover layers, or the like relative to one or more reference edges.
  • This apparatus has a gripping unit for grasping the articles to be aligned, the gripping unit including a suction gripping device for holding the articles, a support element, and a support arm.
  • the support arm bears the support element, and is movable in the at least one direction of motion of the gripping unit.
  • a compensating element which is preferably rod-shaped connects the support element to the suction gripping device, the compensating element being mounted on the support element via a first articulated joint and mounted on the suction gripping device via a second articulated joint.
  • the suction gripping device together with an article which it holds may undergo a compensating rotational motion when the support element is moved on the reference edge by the support arm in a fixed spatial orientation relative to the reference edge itself in order to align the article held by the suction gripping device at or along the reference edge.
  • a method for assembling folding boxes from flat folding box shells, according to which the folding box shells to be assembled are provided in the form of a stack, and in each case a folding box shell is picked up using a robotic head which is movable in at least three rotational axes.
  • the particular advantage of this procedure is that the folding box shells do not have to be processed from a magazine, as is the case for the separate folding box assemblers known from the prior art, for example.
  • it is necessary only to provide a stack of folding box shells, preferably on a pallet which is easy to manipulate.
  • the entire three-dimensional flexibility of the robotic head, which is movable in at least three rotational axes, may be utilized for processing into assembled folding boxes.
  • the open bottom flaps on the assembled folding box shell may be closed either by having the robotic head move the static bottom flap tools to close all of the bottom flaps, or for closing one bottom flap, by using a bottom flap folding tool mounted on the robotic head tool and folding the remaining bottom flaps by once again moving static bottom flap folding tools.
  • a robotic head for mounting on a robotic arm of a robot which is movable in at least three spatial axes, the robotic arm having a gripping unit for grasping flat folding box shells, the gripping unit including a suction gripping device for grasping the folding box shells, and an assembly unit for assembling the folding box shells.
  • the robotic head according to the invention realizes the advantage that any given robot, whether it is a palleting robot that is already present or optionally a separate gantry robot to be installed outside a palleting cell, among other possibilities, may be equipped with the robotic head.
  • FIG. 1 shows a perspective view of a palleting cell having an apparatus according to the invention for assembling folding boxes
  • FIG. 2 shows an apparatus according to the invention for assembling folding boxes
  • FIGS. 3 a, b, c shows various states during the alignment and assembly of a folding box from a flat folding box shell.
  • FIG. 1 shows a perspective illustration of a palleting cell 1 .
  • the palleting cell is separated from its surroundings, which are accessible to operators, by delimiting means in the form of a rack frame 30 having picket barriers 31 and a security fence 32 .
  • Located in the right foreground of FIG. 1 are the exits (not illustrated) of two production machines at which the products manufactured therein, such as envelopes or pizza cartons, for example, are present.
  • the products are packed in stacks in folding boxes at the ends of the two production machines, and via the two roller conveyors 33 and 34 are delivered to the section of the palleting cell 1 defined by the rack frame 30 .
  • a palleting robot 7 Provided at that location is a palleting robot 7 in a gantry design which stacks the filled and sealed folding boxes on pallets.
  • the palleting head 35 of the palleting robot 7 is movable in at least four axes.
  • an apparatus 25 for assembling folding boxes from flat folding box shells 3 and having a linear gantry 4 is provided. From flat folding box shells 3 provided in stacked form on a pallet the apparatus 25 produces fully assembled folding boxes 2 having open closing flaps (see FIG. 2 ).
  • the open folding boxes 2 are preferably led from the palleting cell 1 by means of a gravity roller conveyor 18 and transported to the region of the ends of the two production machines. At that location the open folding boxes are filled with the products manufactured by the production machines and sealed, then placed on the roller conveyors 33 , 34 , which ultimately transport them into the palleting cell 1 for palleting by the palleting robot 7 .
  • FIG. 2 shows the apparatus 25 illustrated in FIG. 1 in an enlarged detail view, in addition to the gravity roller conveyor 18 and the roller conveyor 34 .
  • Shown are the flat folding box shells 3 , arranged in stacks on a pallet 36 , which are to be assembled to form the folding boxes 2 .
  • FIG. 2 also shows a fold line 10 , illustrated by a solid line, which divides the folding box shell 3 into a short section (left side in FIG. 2 ) and a long section (right side in FIG. 2 ).
  • a fold line 10 illustrated by a solid line, which divides the folding box shell 3 into a short section (left side in FIG. 2 ) and a long section (right side in FIG. 2 ).
  • cuboidal folding boxes 2 having a rectangular base are formed from the folding box shells 3 .
  • square folding boxes are also possible in which the fold line 10 divides the folding box shell 3 into two sections of equal size.
  • Handling and transport of the folding box shells 3 or folding boxes 2 in the apparatus 25 are performed using a gripping unit 6 which is mounted on a support arm 26 that is shown in FIGS. 3 a , 3 b , and 3 c , but not in FIG. 2 .
  • the support arm 26 is mounted so that it is movable along the X as well as the Y axis on the gantry support 37 for the linear gantry 4 .
  • the gantry support 37 itself may be moved vertically upward or downward along the Z axis.
  • the gripping unit 6 supported by the support arm 26 is also movable along the orthogonal axes X, Y, and Z.
  • the gripping unit 6 includes a suction gripping device 8 , and also an assembly unit 9 for assembling the folding box shells 3 .
  • the underside of the suction gripping device 8 is provided with multiple suction heads, not visible in FIG. 2 , which may be impinged on by a vacuum for picking up and holding the folding box shells 3 .
  • the suction heads are provided on the suction gripping device 8 in two suction regions, lying essentially in the same plane, which may be impinged on by a vacuum independently of one another.
  • the first and the second suction region may either be impinged on by a vacuum simultaneously, or one of the two suction regions may be impinged on by a vacuum while the other suction region has no vacuum.
  • the assembly unit 9 includes a support element 20 , and an assembly tool 21 which is mounted on the support element 20 so as to be pivotable by at least 90°.
  • FIG. 2 shows the associated swivel axis 38 about which the assembly tool 21 may be swiveled from a first position, in which it lies in the same plane as the support element 20 , into a second position in which it forms an angle of essentially 90° with respect to the plane of the support element 20 .
  • the support arm 26 is attached to the support element 20 .
  • an actively actuatable or actively movable bottom flap folding tool 12 which may be swiveled about a swivel axis 39 from a first position, in which it lies in the same plane as the assembly tool 21 , into a second position in which it is swiveled essentially by 90° with respect to the plane of the assembly tool 21 .
  • the suction gripping device 8 is connected to the support element 20 , and thus to the assembly unit 9 , via a compensating rod 22 which functions as a compensating element.
  • the compensating rod 22 is mounted on the support element 20 via a first articulated joint 23 , and is connected to the suction gripping device 8 via a second articulated joint 24 .
  • the swivel axes of the articulated joints 23 , 24 extend in the vertical direction Z in FIG. 2 .
  • a translational degree of freedom is provided between the suction gripping device 8 and the support element 20 , so that the suction gripping device and the support element are additionally able to undergo translational motions toward or away from one another.
  • the articulated joint 24 may be designed to undergo translational motion relative to the articulated joint 23 by providing the compensating rod 22 with a telescoping design.
  • one of the two articulated joints 23 or 24 may be supported in an oblong hole guide provided in the support element 20 or the suction gripping device 8 .
  • the flat folding box shells 3 are provided in a stack on a pallet 36 .
  • the folding box shells 3 generally lie unaligned on top of one another. In this case, it is therefore necessary to align the folding box shells 3 before assembly into a folding box 2 .
  • a stop bracket 40 is provided which has a first leg 41 , and a second leg 42 at right angles to the first leg 41 .
  • the first leg 41 forms a first reference edge
  • the second leg 42 forms a second reference edge.
  • FIGS. 3 a , 3 b , and 3 c identical parts are denoted by the same reference numerals as in FIG. 2 . Therefore, the features of the gripping unit 6 described in conjunction with FIG. 2 may be used as reference with regard to FIGS. 3 a , 3 b , and 3 c.
  • FIG. 3 a illustrates a top view of the top unaligned folding box shell 3 , above which the gripping unit 6 held on the support element 20 by the support arm 26 is located (see FIG. 2 ).
  • the folding box shell is first picked up using the suction gripping device 8 , which for this purpose is impinged on by vacuum in both of its suction regions.
  • the folding box shell 3 is gripped in such a way that the first suction region of the suction gripping device 8 in FIG. 3 a comes to rest above the fold line 10 , and the second suction region of the suction gripping device 8 in FIG. 3 a comes to rest below the fold line 10 .
  • FIG. 3 a illustrates a top view of the top unaligned folding box shell 3 , above which the gripping unit 6 held on the support element 20 by the support arm 26 is located (see FIG. 2 ).
  • the suction gripping device 8 is preferably placed on the folding box shell 3 in such a way that its suction effect also acts on both sides of the fold line 50 which separates the closing flaps 51 , 52 , which form the subsequent lid of the folding box, from the subsequent body walls 53 , 54 of the folding box.
  • the swivel axis 38 of the assembly tool 21 is not congruent with the fold line 10 .
  • the swivel axis 39 of the bottom flap folding tool 12 is not congruent with the fold line 55 which separates the bottom flaps 56 , 57 , which form the subsequent base of the folding box, from the body walls 53 , 54 . In this unaligned position, therefore, assembly of the folding box shell 3 is not possible.
  • the support element 20 held by the support arm 26 is moved in the X and Y directions at the location—whose absolute coordinates are a function of the shape of the folding box shell 3 —which causes the swivel axes 38 or 39 to come to rest on the fold lines 10 or 55 , respectively.
  • the control system for the gripping unit 6 thus moves the particular shape-dependent target position of the support element 20 , the assembly tool 21 , and the bottom flap folding tool 12 which results from the imaginary aligned position of two border edges of the folding box shell 3 along leg 41 or 42 .
  • the coordinates of this target position may be preprogrammed or stored in the control system of the gripping unit 6 for various shapes of folding box shells 3 .
  • the articulated joints 23 , 24 i.e., the translational degree of freedom between suction gripping device 8 and support element 20 , are rotationally locked or fixed by use of locking devices (not shown in the figure), so that the suction gripping device 8 , support element 20 , assembly tool 21 , and bottom flap folding tool 12 are immovably held by the support arm 26 in a fixed relative position with respect to one another.
  • the folding box shell 3 may be assembled to form the folding box 2 shown in FIG. 2 .
  • the vacuum is switched off in the first suction region of the suction gripping device 8 , which holds the folding box shell 3 in FIGS. 3 a and 3 b above the fold line 10 .
  • This causes the folding box shell 3 to open, at least partially, under the force of gravity.
  • the precise right-angled assembly of the folding box shell 3 is carried out by swiveling the assembly tool 21 about the swivel axis 38 by essentially 90°, resulting in the assembled state shown in FIG. 3 c .
  • a sleeve-shaped or tubular folding box intermediate product having open bottom flaps and open closing flaps is then present, only the closing flaps 51 , 52 or the bottom flaps 56 , 57 being shown in FIG. 3 a or 3 b , respectively.
  • the swivel axis 39 of the bottom flap folding tool 12 then extends perpendicular to the plane of the drawing in FIG. 3 c.
  • the bottom flap 57 is then folded by pivoting the bottom flap folding tool 12 about the swivel axis 39 essentially by 90°, into the plane of the base of the subsequent folding box 2 .
  • the bottom flap folding tool 12 is shown in the corresponding pivoted position in FIG. 3 c .
  • the remaining bottom flaps may be folded by continued motion of the gripping unit 6 in the positive Y direction along the bottom flap folding tools 13 , 14 , 15 .
  • the bottom flap 57 shown in FIGS. 3 a and 3 b is referred to as a trailing or lagging bottom flap.
  • the bottom flap opposite thereto, which is folded by means of the static bottom flap folding tool 13 is correspondingly referred to as a leading bottom flap.
  • an adhesive unit in the form of an adhesive tape unit 16 is located in the positive Y direction, behind the static bottom flap folding tools 14 , 15 , past which the completely folded base of the folding box is guided by means of the gripping unit 6 .
  • the oppositely situated side bottom flaps, of which only the side bottom flap 56 is shown in FIGS. 3 a , 3 c are adhesively joined to one another and to the oppositely situated body walls, of which only the body wall 54 is shown in FIGS. 3 a , 3 b .
  • One end of the applied adhesive tape 58 is shown in FIG. 2 .
  • the folding box 2 may then be led past a labeling unit (not illustrated in the figure) which provides the folding box with a label containing information about the subsequent contents of the folding box 2 .
  • the static bottom flap folding tools 13 , 14 , 15 and the adhesive tape unit 16 are positioned in a straight line one behind the other.
  • a linear support (not illustrated in the figure) is provided which extends parallel to the gantry support 37 for the linear gantry 4 .
  • the static bottom flap folding tools 13 , 14 , 15 and the adhesive tape unit 16 as well as the gripping unit 6 and optionally the labeling unit may be mounted on the gantry support 37 .
  • the top side of the folding box 2 which remains open, would point in the opposite direction, i.e., in the positive X direction.
  • the gripping unit 6 may be mounted on the palleting head 35 of the palleting robot 7 , so that the separate linear gantry 4 is unnecessary.
  • the motion axis system for the palleting robot 7 which is present anyway, may advantageously be used as well for the operation of assembling folding boxes.
  • the static bottom flap folding tools 13 , 14 , 15 , the adhesive tape unit 16 , and the stop bracket 40 as well as the optional labeling unit would then be mounted at a suitable location on the palleting cell 1 that was accessible to the palleting robot 7 .
  • the flat folding box shells 3 may be provided to the gripping unit 6 from a magazine in which they are already in an aligned position. In this case, the procedure described in conjunction with FIGS. 3 a and 3 b for alignment of the folding box shells 3 would be omitted.
  • the alignment of the folding box shells 3 described in conjunction with FIGS. 3 a and 3 b may also be used for articles which are to be aligned in preparation for carrying out operations other than assembly of folding boxes.
  • interlayers or cover layers must be aligned within the palleting cell 1 as part of the palleting process.
  • the apparatus described in conjunction with FIGS. 2 , 3 a , and 3 b may be used, without the assembly tool 21 and the bottom flap folding tool 12 , for alignment along at least one reference edge.
  • the gripping unit 6 by necessity has only the suction gripping device 8 for holding the articles, as well as the support element 20 to which the support arm 26 is mounted.
  • the apparatus described as an embodiment may be used to align articles other than folding box shells 3 when the apparatus still has the assembly tool 21 and the bottom flap folding tool 12 . These components are then inactive, and play no role in the alignment of the other articles.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Making Paper Articles (AREA)
US12/179,370 2007-07-24 2008-07-24 Method of providing erected folding boxes at the exit of a manufacturing machine and apparatus for erecting folding boxes from flat folding box sheath Abandoned US20090025343A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007034872.1 2007-07-24
DE102007034872A DE102007034872B4 (de) 2007-07-24 2007-07-24 Verfahren zum Bereitstellen aufgerichteter Faltschachteln an dem Ausgang einer Produktionsmaschine und zum Palettieren befüllter Faltschachteln

Publications (1)

Publication Number Publication Date
US20090025343A1 true US20090025343A1 (en) 2009-01-29

Family

ID=40157221

Family Applications (1)

Application Number Title Priority Date Filing Date
US12/179,370 Abandoned US20090025343A1 (en) 2007-07-24 2008-07-24 Method of providing erected folding boxes at the exit of a manufacturing machine and apparatus for erecting folding boxes from flat folding box sheath

Country Status (2)

Country Link
US (1) US20090025343A1 (de)
DE (1) DE102007034872B4 (de)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090261230A1 (en) * 2008-04-18 2009-10-22 Multivac Sepp Haggenmueller Gmbh & Co. Kg Support frame for robots
US20140273801A1 (en) * 2013-03-15 2014-09-18 Tippmann Engineering Spacer for a warehouse rack-aisle heat transfer system
US20140371045A1 (en) * 2012-02-03 2014-12-18 Otor Device and Method for Preparing Packaging Boxes With Vertical Unstacking
CN104379454A (zh) * 2012-06-14 2015-02-25 罗伯特·博世有限公司 用于输送物品、尤其是包装材料的装置
CN105905357A (zh) * 2016-06-02 2016-08-31 成都精机自动化技术有限公司 一种新型装盒机
US9873547B2 (en) 2013-03-15 2018-01-23 Tippmann Companies Llc Heat transfer system for warehoused goods
US9963258B2 (en) 2012-06-14 2018-05-08 Robert Bosch Gmbh Packaging assembly, in particular cartoning assembly
US10220515B2 (en) * 2015-11-30 2019-03-05 Seiko Epson Corporation Robot and control method for robot

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106903919B (zh) * 2017-04-28 2022-10-04 漳浦金盛智能科技有限公司 折叠椅自动组装机
CN112722444B (zh) * 2020-12-08 2023-07-04 广东科学技术职业学院 一种电子产品的入盒包装方法
CN117429693A (zh) * 2022-07-14 2024-01-23 青岛海尔电冰箱有限公司 一种包装箱自动套箱装置

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ATE19228T1 (de) * 1982-03-31 1986-05-15 Tabac Fab Reunies Sa Vorrichtung zur handhabung von packungen, insbesondere von zigarettenverpackungen.
FR2591927B1 (fr) * 1985-12-24 1991-01-11 Thibault Jacques Tete de prehension et son application a un robot et a une installation de conditionnement
DE4210812A1 (de) * 1992-04-01 1993-10-07 Schmermund Maschf Alfred Kartoniereinrichtung
DE19904443A1 (de) * 1999-02-04 2000-08-10 Hauni Maschinenbau Ag Verfahren und Vorrichtung zum Zuführen von Packungszuschnitten
ITMI20020895A1 (it) * 2002-04-24 2003-10-24 Ronchipack S R L Procedimento e macchina per la presa e l'apertura di cartoni fustellati e la formatura di scatole superiormente aperte
ITBO20020379A1 (it) * 2002-06-13 2003-12-15 Gd Spa Metodo e macchina per l ' impacchettamento di un prodotto utilizzandoun incarto tubolare appiattito
ITBO20020521A1 (it) * 2002-08-05 2004-02-06 Gd Spa Metodo e macchina per l'impacchettamento di un prodotto
US6913568B2 (en) * 2002-12-06 2005-07-05 Robert Bosch Gmbh Apparatus for removing and erecting a folding-box blank
DE102004009584A1 (de) * 2004-02-25 2005-09-15 Focke & Co.(Gmbh & Co. Kg) Vorrichtung zum Herstellen und Palettieren von Kartonpackungen

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090261230A1 (en) * 2008-04-18 2009-10-22 Multivac Sepp Haggenmueller Gmbh & Co. Kg Support frame for robots
US8505869B2 (en) * 2008-04-18 2013-08-13 Multivac Sepp Haggenmueller Gmbh & Co., Kg Support frame for robots
US20140371045A1 (en) * 2012-02-03 2014-12-18 Otor Device and Method for Preparing Packaging Boxes With Vertical Unstacking
CN104379454A (zh) * 2012-06-14 2015-02-25 罗伯特·博世有限公司 用于输送物品、尤其是包装材料的装置
US9533785B2 (en) 2012-06-14 2017-01-03 Robert Bosch Gmbh Apparatus for transporting articles, in particular packaging means
US9963258B2 (en) 2012-06-14 2018-05-08 Robert Bosch Gmbh Packaging assembly, in particular cartoning assembly
US20140273801A1 (en) * 2013-03-15 2014-09-18 Tippmann Engineering Spacer for a warehouse rack-aisle heat transfer system
US9873547B2 (en) 2013-03-15 2018-01-23 Tippmann Companies Llc Heat transfer system for warehoused goods
US10301067B2 (en) 2013-03-15 2019-05-28 Tippmann Companies Llc Heat transfer system for warehoused goods
US10807764B2 (en) 2013-03-15 2020-10-20 Tippmann Engineering LLC Heat transfer system for warehoused goods
US10220515B2 (en) * 2015-11-30 2019-03-05 Seiko Epson Corporation Robot and control method for robot
CN105905357A (zh) * 2016-06-02 2016-08-31 成都精机自动化技术有限公司 一种新型装盒机

Also Published As

Publication number Publication date
DE102007034872A1 (de) 2009-01-29
DE102007034872B4 (de) 2010-07-29

Similar Documents

Publication Publication Date Title
US20090025343A1 (en) Method of providing erected folding boxes at the exit of a manufacturing machine and apparatus for erecting folding boxes from flat folding box sheath
US11559962B2 (en) Methods and machine for forming a two-piece blank assembly
CN105522754B (zh) 用于将叠拢或折叠的纸板箱拉成且整理成竖立设置的分格和/或附加包装的装置和方法
US11897222B2 (en) Method and apparatus for erecting cartons
US8689530B2 (en) Method and device for inserting (tube) bags into cartons
US8387349B2 (en) Machine for cartoning products
WO2014125627A1 (ja) 梱包装置および梱包方法
ES2881781T3 (es) Procedimiento para embalar para losas cerámicas
US11345499B2 (en) Packaging apparatus, removal apparatus and method for withdrawing a cardboard blank
US9718570B1 (en) Robotic carton erector and method of use
US20060100079A1 (en) Methods and apparatus for forming a container
EP3280647B1 (de) Aufrichtung von verpackungsbehältern
TW202003339A (zh) 箱組裝及捆包系統、及其系統用之控制器
US20190270531A1 (en) Packaging device for articles and method for packaging articles
US10556396B2 (en) Methods and a machine for forming a shelf-ready shipper display system
JP5568295B2 (ja) 箱詰めシステム、及び箱詰め方法
US11345500B1 (en) Bag loading machine and method of packaging items
DE202010000056U1 (de) Verpackungseinrichtung
EP2780238B1 (de) Verpackungsanordnung
JPH0688569B2 (ja) タイル梱包装置
EP1068947B1 (de) Verfahren und Vorrichtung zur automatischen Herstellung von Kartons aus flachem Material
EP0012610A1 (de) Verfahren und Apparat zum Aufrichten von Schachteln
EP1068946B1 (de) Verfahren und Maschine zum Aufrichten einer offenen Faltschachtel
JP2024015528A (ja) 自動箱詰装置
KR20110051461A (ko) 자동 포장 장치

Legal Events

Date Code Title Description
AS Assignment

Owner name: WINKLER + DUNNEBIER AKTIENGESELLSCHAFT, GERMANY

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:SALM, THOMAS;REEL/FRAME:021736/0076

Effective date: 20080901

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION