EP2017177B1 - Suction or fork grabber for erecting a carton - Google Patents

Suction or fork grabber for erecting a carton Download PDF

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Publication number
EP2017177B1
EP2017177B1 EP08012801A EP08012801A EP2017177B1 EP 2017177 B1 EP2017177 B1 EP 2017177B1 EP 08012801 A EP08012801 A EP 08012801A EP 08012801 A EP08012801 A EP 08012801A EP 2017177 B1 EP2017177 B1 EP 2017177B1
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EP
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Prior art keywords
carton
suction
gripper
fork
folding plate
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EP08012801A
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German (de)
French (fr)
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EP2017177A1 (en
Inventor
Hermann Müller
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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
    • B65B43/28—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by grippers co-operating with fixed supports
    • B65B43/285—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by grippers co-operating with fixed supports specially adapted for 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
    • B65B7/00—Closing containers or receptacles after filling
    • B65B7/16—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons
    • B65B7/20—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by folding-down preformed flaps
    • 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
    • B31B50/80—Pneumatically

Definitions

  • the invention relates to a device for erecting a carton according to the preamble of claim 1.
  • a device for erecting carton is, for example, with the subject of DD 280 731 A1 known.
  • this known device is a device which operates with a magazine for receiving a horizontal stack for prefabricated carton blanks, a singulator and pneumatic suction pads which guide the carton blanks and hold during unfolding.
  • a device for unfolding, filling and closing of cartons is shown.
  • a cardboard is separated from a stack by means of a suction plate, unfolded and then placed on a conveyor belt. After the carton is unfolded, it can only be moved with a conveyor belt device - stacking and palletizing is not possible hereby.
  • the invention is therefore the object of developing such a carton erecting unit so that it can be used universally at significantly lower cost and lower operating costs.
  • the invention is characterized in that the Kartonaufrichtvortechnisch is arranged on a fork or Palettiergreifer.
  • suction or fork grippers are commonly used for palletizing of cartons. This is understood to mean the packing of boxes and the grasping and depositing of such boxes on pallets.
  • suction or Pallettiergreifer corresponding forks with forks, which are suitable for reaching under the carton and moreover it is known to provide suction devices which are adapted to hold the under attack with the forks cardboard, to transport him.
  • the second suction device arranged perpendicular to the first-mentioned suction device is used to grip and squeeze the side wall of the carton so as to fix the carton and in this fixed position move against a stop wall so that it straightens at right angles.
  • the core of the invention is therefore based on the arrangement of two mutually perpendicular suction devices, wherein the one suction device, which operates in the vertical direction, is now used for raising and lowering the carton, while the perpendicular thereto working suction device is attached to a fork gripper, so the whole erection mechanics of the Cartons is realized by the already existing devices on a fork gripper.
  • the fork gripper is used for a dual purpose, because by the arrangement of two suction devices arranged perpendicular to each other, it is used for erecting a carton, on the other hand it serves as a palletizing gripper to take full - and possibly filled - cartons to stack and implement.
  • high manufacturing maintenance and maintenance costs are saved in a surprising manner, because according to the invention, there is no need for a separate, separately operated carton erecting device after it has been integrated in the fork or palletizing gripper.
  • the fork gripper is thus used in other applications for gripping cartons and for palletizing, but here in the present case when erecting a carton does not matter.
  • the essence of the invention lies in the fact that one uses such a fork gripper for palletizing and that he has as a double benefit in addition a Tarrichtmechanik consisting of the aforementioned two mutually perpendicular suction devices.
  • a conventional fork gripper has the carton to the fork, which he inserts under the box and holding from above with a hold-down.
  • suction gripper has two different, independently operated functions, namely once the function as a carton erector and second, the normal function as a fork gripper with which it is possible to palletize, transport or otherwise move or cartons to change.
  • the invention of the present patent is thus that a conventional palletizing gripper, which is designed as a fork gripper and already has such suction devices, which at right angles to each other are arranged, used as Aufrichtvorraum, which was not yet known. It is therefore a new application of a fork gripper whose suction devices are now used for erecting cartons.
  • the basic construction is thus the movable suction device for cartons, which is able to move in a vertical travel axis.
  • this includes a vertical rear wall, which forms a horizontal stop surface.
  • a further suction device which is arranged perpendicular to the above-mentioned vertically movable suction device.
  • suction devices can be designed as assemblies of a fork gripper.
  • the arrangement described serves as a hold-down in the fork gripper and the vertically upright wall with the suction device is the product protection on the rear wall.
  • a cardboard is now erected with these two at an angle of 90 ° suction devices, which was not yet known.
  • suction devices with the vertical stop wall in a fork gripper
  • FIG. 1 In general, a fork gripper 1 is shown, which is also referred to as a palletizing gripper. According to the invention, this conventional fork gripper 1 operates as a carton erector, as will be described below.
  • the fork gripper 1 after FIG. 1 consists essentially of a carriage 2, which is arranged displaceably and adjustably on a base frame 4 in the horizontal arrow directions 5.
  • a fork 3 is arranged with a plurality of parallel and a mutual distance engaging fork tines.
  • a hold-down 7 is further arranged, which is adjustable and adjustable in the direction of arrows 8 in the vertical direction.
  • drive cylinders 12 are provided, which are arranged on the base frame 4.
  • the hold-down 7 is connected to a suction device 10 which operates in the vertical direction and which is fixedly connected to the hold-down 7, which in turn is slidably and adjustably mounted on a base frame 4 in the horizontal arrow directions 9.
  • a suction device 10 which operates in the vertical direction and which is fixedly connected to the hold-down 7, which in turn is slidably and adjustably mounted on a base frame 4 in the horizontal arrow directions 9.
  • a fixed stop wall 6 is arranged on the base frame 4, in the lower region of a further suction device 11 is arranged, which operates in the horizontal direction.
  • the fork gripper 1 forms two mutually perpendicular suction devices 10, 11, wherein at least the upper suction device 10 in the vertical direction of arrow 8 and in the horizontal direction of arrow 9 is designed to be displaceable and adjustable.
  • FIG. 3 now shows an application of a fork gripper 1 as Kartonaufrichtvoriques, including a supply table 13 is used with a table top on which a stack of cardboard 14, consisting of individual folding blanks 15 is arranged. Opposite and parallel to the fixed stop wall 6 of the fork gripper 1 a Trorichtwand 16 is mounted on the supply table 13, which is also aligned in the vertical direction.
  • the hold-down device 7 then moves downwards in the vertical direction of the arrow 8, so that the vertically displaceable suction device 10 comes into suction engagement with the uppermost folding blank 15a - see Fig. 4 ,
  • the folding blank 15a Upon further passage in the direction of arrow 5 to the right, thus, the entire vertical wall of the folding blank 15a is aligned with the erecting wall 16, so that the folding blank according to Fig. 7 gets its final rectangular shape, wherein it is important that the opposite end wall 17a is now held by the horizontally operating suction device 11.
  • the folding blank 15a has a stable position so that it can be further processed.
  • FIG. 8 the folding blank 15, which is now fixed in the fork gripper 1, is fed to a closing unit 18, as shown in FIG FIG. 8 is shown.
  • an obliquely extending guide 22 is formed as a sheet metal blank, which points in a lower folding plate 21 and arranged there on an inclined plane.
  • the lower folding plate 21 is attached to a vertical guide rail 23, and in the region of the guide rail 23, an adhesive unit 24 is arranged, which consists of an adhesive tape 25 which is wound on a roll 26 and which is glued to the cardboard via an application roller 27, wherein for further processing, a knife 28 and a pressure roller 29 are present.
  • FIG. 9 It can be seen that there are two angled guide 22, pointing in the direction of a horizontal folding plate 33 of the lower folding plate 21.
  • the upper horizontal tab 31 a is first moved under the upper folding plate 19, which is still raised in the direction of arrow 20.
  • This lower folding plate 19 is then moved in the direction of arrow 32 down so that it penetrates into the interior of the unfolded tabs and this closes the right stop edge of the upper folding plate 19, the upper horizontal tab 31 a in the position shown in dashed lines FIG. 11 ,
  • FIG. 12 Now moves the entire fork gripper 1 in the direction of arrow 8 down, causing the captured cardboard in the area of the lower folding plate 21 passes. In this way, the lower horizontal tab 31 b folded by the corresponding Abweiskanten and at the same time now the vertical tabs 30 are shaped accordingly, as indicated by dotted lines in FIG. 12 is shown.
  • the carton is now completely closed with its 4 tabs and by moving the fork gripper 1 further down in the direction of arrow 8, the now completely closed tabs reach the area of the gluing unit 24, where the fork gripper 1 now moves downwards along this gluing unit in the direction of the arrow 8 and the adhesive tape 25 now passes over the entire gap that results between the vertical tabs 30, so as to apply the adhesive tape over the entire length of the gap between the vertical tabs 30.
  • the horizontal tabs 31a, 31b are located behind the vertical tab 30 with respect to the adhesive tape 25, so that it is sufficient to close the gap between the two vertical tabs 30 to prevent the carton, i. the folding blank 15a, completely close.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Making Paper Articles (AREA)
  • De-Stacking Of Articles (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Wrapping Of Specific Fragile Articles (AREA)

Abstract

The device has a magazine for accommodating folded carton blanks (15, 15a), which are pre-fabricated as a carton stack. A pneumatic vertical vacuum gripper (10) and a pneumatic horizontal vacuum gripper are provided for guiding the carton blanks, when a carton is unfolded, where the device is integrated with a fork gripper or a pallet gripper. The fork gripper has forks for engaging the carton and one of the vacuum grippers, where the forks have arms for holding the engaged carton from above to transport the carton. The arms and one vacuum gripper are moved vertically and/or horizontally.

Description

Gegenstand der Erfindung ist eine Vorrichtung zum Aufrichten eines Kartons nach dem Oberbegriff des Patentanspruches 1. Eine solche Vorrichtung zum Kartonaufrichten ist beispielsweise mit dem Gegenstand der DD 280 731 A1 bekannt geworden. Bei dieser bekannten Vorrichtung handelt es sich um eine Vorrichtung, die mit einem Magazin zur Aufnahme eines liegenden Stapels für vorgefertigte Kartonzuschnitte arbeitet, einer Vereinzelungseinrichtung und pneumatischen Sauggreifern, welche die Kartonzuschnitte führen und während des Auffaltens halten.The invention relates to a device for erecting a carton according to the preamble of claim 1. Such a device for erecting carton is, for example, with the subject of DD 280 731 A1 known. In this known device is a device which operates with a magazine for receiving a horizontal stack for prefabricated carton blanks, a singulator and pneumatic suction pads which guide the carton blanks and hold during unfolding.

Mit diesem an sich bekannten Sauggreifer wird der Karton erfasst, angesogen und gegen eine Anschlagwand gedrückt, wodurch er sich von einem Faltzuschnitt in eine Übergangsstellung in Form einer Raute bewegt und dann nachfolgend in seine rechteckige Endform übergeht, wenn er an der Anschlagwand anschlägt. Die dort genannte Vorrichtung ist eine separate Vorrichtung, die speziell nur für das Aufrichten von Kartons geeignet ist. Dadurch entstehen sehr hohe Kosten und ein großer Aufwand, denn es muss eine eigene Konstruktion für eine solche Kartonaufrichteinrichtung verwendet werden.With this known suction gripper, the carton is detected, sucked and pressed against a stop wall, causing it moves from a folding blank in a transition position in the form of a rhombus and then merges into its rectangular final shape when it abuts against the stop wall. The device mentioned there is a separate device, which is especially suitable only for the erection of cardboard boxes. This results in very high costs and a great deal of effort, because it must be used its own design for such a carton erector.

Beispielsweise ist es mit dieser Anordnung nicht möglich, die dort gezeigte Kartonaufrichtvorrichtung auch zum Stapeln und Palettieren von aufgerichteten Kartons zu verwenden. Hierzu bedarf es eigener Vorrichtungen, die nicht Gegenstand dieser Druckschrift sind.For example, it is not possible with this arrangement to use the Kartonaufrichtvorrichtung shown there also for stacking and palletizing erected cartons. This requires its own devices that are not the subject of this document.

Mit der WO 89/00132 wird eine Vorrichtung zum Auffalten, Befüllen und Verschließen von Kartons gezeigt. Hierbei wird ein Karton von einem Stapel mit Hilfe einer Saugplatte separiert, aufgefaltet und anschließend auf ein Förderband gelegt. Nachdem der Karton aufgefaltet ist, kann er lediglich mit einer Förderbandvorrichtung bewegt werden - ein Stapeln und Palettieren ist hiermit nicht möglich.With the WO 89/00132 a device for unfolding, filling and closing of cartons is shown. In this case, a cardboard is separated from a stack by means of a suction plate, unfolded and then placed on a conveyor belt. After the carton is unfolded, it can only be moved with a conveyor belt device - stacking and palletizing is not possible hereby.

Der Erfindung liegt deshalb die Aufgabe zugrunde, eine solche Kartonaufrichteinheit so weiterzubilden, dass sie bei wesentlich geringeren Kosten und geringerem Bedienungsaufwand universell einsetzbar ist.The invention is therefore the object of developing such a carton erecting unit so that it can be used universally at significantly lower cost and lower operating costs.

Zur Lösung der gestellten Aufgabe ist die Erfindung dadurch gekennzeichnet, dass die Kartonaufrichtvorrichtung an einem Gabel- oder Palettiergreifer angeordnet ist.To achieve the object, the invention is characterized in that the Kartonaufrichtvorrichtung is arranged on a fork or Palettiergreifer.

Mit der gegebenen technischen Lehre ergibt sich der wesentliche Vorteil, dass es nun erstmals möglich ist, einen Saug- oder Gabelgreifer nun zusätzlich als Kartonaufrichtvorrichtung zu verwenden, was bisher nicht möglich war.With the given technical teaching, there is the significant advantage that it is now possible for the first time to additionally use a suction or fork gripper as a carton erecting device, which was previously not possible.

Derartige Saug- oder Gabelgreifer werden gewöhnlich zur Palettierung von Kartons eingesetzt. Darunter wird das Packen von Kartons und das Ergreifen und Absetzen solcher Kartons auf Paletten verstanden. Für diese Arbeiten ist es bekannt, an einem Saug- oder Palettiergreifer entsprechende Gabeln mit Gabelzinken anzuordnen, die zum Untergreifen des Kartons geeignet sind und darüber hinaus ist es bekannt, auch Saugvorrichtungen vorzusehen, die geeignet sind, den mit den Gabeln untergriffenen Karton zu halten, um ihn transportieren zu können.Such suction or fork grippers are commonly used for palletizing of cartons. This is understood to mean the packing of boxes and the grasping and depositing of such boxes on pallets. For this work, it is known to arrange on a suction or Pallettiergreifer corresponding forks with forks, which are suitable for reaching under the carton and moreover it is known to provide suction devices which are adapted to hold the under attack with the forks cardboard, to transport him.

Hier setzt die Erfindung ein, die nun vorsieht, einen Palettier- oder Gabelgreifer nun zusätzlich als Kartonaufrichtevorrichtung zu verwenden. Dies war bisher nicht bekannt.This is where the invention begins, which now provides for using a palletizer or fork gripper additionally as a carton erecting device. This was not known yet.

Im Ergebnis werden zwei senkrecht zueinander angeordnete Saugvorrichtungen des Gabel- oder Palettiergreifers verwendet, nämlich eine obere vertikal bewegbare Saugvorrichtung, die nun erfindungsgemäß zum Greifen des Kartonstapels von oben her und zum Anheben des obersten Kartons bestimmt ist. Damit wird der Karton in eine halbaufgerichtete Rautenform gebracht.As a result, two vertically arranged suction devices of the fork or Pallettiergreifers be used, namely an upper vertically movable suction device, which is now according to the invention intended for gripping the stack of cardboard from above and for lifting the uppermost carton. This will bring the carton into a semi-erect diamond shape.

Schließlich wird die senkrecht zu der erst genannten Saugvorrichtung angeordnete, zweite Saugvorrichtung verwendet, um die Seitenwand des Kartons zu ergreifen und festzusaugen, um so den Karton zu fixieren und in dieser fixierten Stellung gegen eine Anschlagwand zu fahren, so dass er sich genau rechtwinklig aufrichtet.Finally, the second suction device arranged perpendicular to the first-mentioned suction device is used to grip and squeeze the side wall of the carton so as to fix the carton and in this fixed position move against a stop wall so that it straightens at right angles.

Der Kern der Erfindung ist demgemäß in der Anordnung von zwei senkrecht zueinander stehenden Saugeinrichtungen begründet, wobei die eine Saugvorrichtung, die in vertikaler Richtung arbeitet, nun zum An- und Absenken des Kartons dient, während die senkrecht hierzu arbeitende Saugvorrichtung an einem Gabelgreifer befestigt ist, so dass die gesamte Aufrichtmechanik des Kartons durch die ohnedies vorhandenen Vorrichtungen an einem Gabelgreifer verwirklicht wird.The core of the invention is therefore based on the arrangement of two mutually perpendicular suction devices, wherein the one suction device, which operates in the vertical direction, is now used for raising and lowering the carton, while the perpendicular thereto working suction device is attached to a fork gripper, so the whole erection mechanics of the Cartons is realized by the already existing devices on a fork gripper.

Auf diese Weise wird der Gabelgreifer zu einem doppelten Zweck benutzt, denn durch die Anordnung von zwei senkrecht zueinander angeordneten Saugvorrichtungen wird er zum einen zum Aufrichten eines Kartons benutzt, zum anderen dient er als Palettiergreifer, um vollständige - und möglicherweise auch gefüllte - Kartons zu ergreifen, zu stapeln und umzusetzen. Damit werden in überraschender Weise hohe Herstellungs- Unterhalts- und Wartungskosten eingespart, denn erfindungsgemäß bedarf es keiner eigenen, separat zu betreibenden Kartonaufrichtvorrichtung, nachdem diese im Gabel- oder Palettiergreifer integriert ist.In this way, the fork gripper is used for a dual purpose, because by the arrangement of two suction devices arranged perpendicular to each other, it is used for erecting a carton, on the other hand it serves as a palletizing gripper to take full - and possibly filled - cartons to stack and implement. Thus, high manufacturing maintenance and maintenance costs are saved in a surprising manner, because according to the invention, there is no need for a separate, separately operated carton erecting device after it has been integrated in the fork or palletizing gripper.

Der Gabelgreifer wird demgemäß in anderen Anwendungszwecken zum Ergreifen von Kartons und zum Palettieren verwendet, was hier jedoch im vorliegenden Fall beim Aufrichten eines Kartons keine Rolle spielt.The fork gripper is thus used in other applications for gripping cartons and for palletizing, but here in the present case when erecting a carton does not matter.

Der Kern der Erfindung liegt nun darin, dass man einen solchen Gabelgreifer zum Palettieren verwendet und dass er als Doppelnutzen noch zusätzlich eine Aufrichtmechanik aufweist, die aus den vorher genannten zwei senkrecht zueinander stehenden Saugvorrichtungen besteht.The essence of the invention lies in the fact that one uses such a fork gripper for palletizing and that he has as a double benefit in addition a Aufrichtmechanik consisting of the aforementioned two mutually perpendicular suction devices.

Ein herkömmlicher Gabelgreifer hat zum Kartongreifen die Gabel, die er unter den Karton einschiebt und von oben mit einem Niederhalter gegenhält.A conventional fork gripper has the carton to the fork, which he inserts under the box and holding from above with a hold-down.

Daraus ergibt sich, dass der Sauggreifer zwei verschiedene, unabhängig voneinander zu betreibende Funktionen hat, nämlich einmal die Funktion als Kartonaufrichter und zum Zweiten die Normalfunktion als Gabelgreifer, mit dem es möglich ist, Kartons zu palettieren, zu transportieren oder in anderer Weise zu verschieben oder zu verändern.It follows that the suction gripper has two different, independently operated functions, namely once the function as a carton erector and second, the normal function as a fork gripper with which it is possible to palletize, transport or otherwise move or cartons to change.

Die Erfindung des vorliegenden Patentes liegt also darin, dass man einen herkömmlichen Palettiergreifer, der als Gabelgreifer ausgebildet ist und der bereits schon solche Saugvorrichtungen aufweist, die im rechten Winkel zueinander angeordnet sind, als Aufrichtvorrichtung verwendet, was bisher noch nicht bekannt war. Es handelt sich also um einen neuen Anwendungszweck eines Gabelgreifers, dessen Saugvorrichtungen nun zum Aufrichten von Kartons verwendet werden.The invention of the present patent is thus that a conventional palletizing gripper, which is designed as a fork gripper and already has such suction devices, which at right angles to each other are arranged, used as Aufrichtvorrichtung, which was not yet known. It is therefore a new application of a fork gripper whose suction devices are now used for erecting cartons.

Die erfindungsgemäße Ausbildung als Kartonaufrichter am Palettier- oder Gabelgreifer liegt nun darin, dass man zwei im Winkel von 90° zueinander angeordnete und in gegenseitigem Abstand zueinander angeordnete Saugvorrichtungen vorsieht, um diese zum Karton aufrichten zu verwenden.The inventive training as a carton erector on palletizing or fork gripper is now that you two arranged at an angle of 90 ° to each other and arranged at a mutual distance suction devices provides to use this erect to carton.

Die Grundkonstruktion ist also die verfahrbare Saugeinrichtung für Kartons, die in der Lage ist, in einer vertikalen Verfahrachse zu verfahren.The basic construction is thus the movable suction device for cartons, which is able to move in a vertical travel axis.

Ferner gehört hierzu eine vertikal stehende Rückwand, welche eine horizontale Anschlagfläche bildet. Im Bereich dieser vertikalen Rückwand ist eine weitere Saugeinrichtung vorhanden, die senkrecht zur oben genannten vertikal verfahrbaren Saugeinrichtung angeordnet ist.Furthermore, this includes a vertical rear wall, which forms a horizontal stop surface. In the area of this vertical rear wall there is a further suction device which is arranged perpendicular to the above-mentioned vertically movable suction device.

Diese beiden Saugvorrichtungen können als Baugruppen eines Gabelgreifers ausgebildet sein. Die beschriebene Anordnung dient beim Gabelgreifer als Niederhalter und die vertikal aufrecht stehende Wand mit der Saugeinrichtung ist die Produktsicherung an der Rückwand.These two suction devices can be designed as assemblies of a fork gripper. The arrangement described serves as a hold-down in the fork gripper and the vertically upright wall with the suction device is the product protection on the rear wall.

Erfindungsgemäß wird nun mit diesen beiden im Winkel von 90° zueinander stehenden Saugvorrichtungen ein Karton aufgerichtet, was noch nicht bekannt war. Unabhängig von der Integration dieser Saugvorrichtungen mit der vertikalen Anschlagwand in einem Gabelgreifer ist es selbstverständlich im Rahmen der Erfindung auch möglich, die genannten Saugaggregate mit der vertikalen Wand und dem in der vertikalen Wand angeordneten Saugaggregat unabhängig von einem Gabelgreifer als separates Aggregat zu verwenden und auszubilden.According to the invention, a cardboard is now erected with these two at an angle of 90 ° suction devices, which was not yet known. Regardless of the integration of these suction devices with the vertical stop wall in a fork gripper, it is of course within the scope of the invention also possible to use and form said suction units with the vertical wall and arranged in the vertical wall suction unit independently of a fork gripper as a separate unit.

Der Erfindungsgegenstand der vorliegenden Erfindung ergibt sich nicht nur aus dem Gegenstand der einzelnen Patentansprüche, sondern auch aus der Kombination der einzelnen Patentansprüche untereinander.The subject of the present invention results not only from the subject matter of the individual claims, but also from the combination of the individual claims with each other.

Alle in den Unterlagen, einschließlich der Zusammenfassung offenbarten Angaben und Merkmale, insbesondere die in den Zeichnungen dargestellte räumliche Ausbildung, werden als erfindungswesentlich beansprucht, soweit sie einzeln oder in Kombination gegenüber dem Stand der Technik neu sind.All information and features disclosed in the documents, including the abstract, in particular the spatial design shown in the drawings, are claimed to be essential to the invention insofar as they are novel individually or in combination with respect to the prior art.

Im Folgenden wird die Erfindung anhand von mehrere Ausführungswege darstellenden Zeichnungen näher erläutert. Hierbei gehen aus den Zeichnungen und ihrer Beschreibung weitere erfindungswesentliche Merkmale und Vorteile der Erfindung hervor.In the following, the invention will be explained in more detail with reference to drawings illustrating several execution paths. Here are from the drawings and their description further features essential to the invention and advantages of the invention.

Es zeigen:

Figur 1:
schematisiert in Seitenansicht einen Gabelgreifer nach der Erfindung mit einer dort integrierten Kartonaufrichtvorrichtung
Figur 2:
der Gabelgreifer nach Figur 1 in Pfeilrichtung II
Figur 3:
ein erster Bewegungsablauf beim Einsatz eines Gabelgreifers als Kartonaufrichteinheit
Figur 4:
ein zweiter Verfahrensschritt
Figur 5:
ein dritter Verfahrensschritt
Figur 6:
ein vierter Verfahrensschritt
Figur 7:
ein fünfter Verfahrensschritt
Figur 8:
schematisiert in Seitenansicht eine Verschließeinheit zum Verschließen der losen Laschen des aufgerichteten Kartons und zum Verkleben der losen Laschen
Figur 9:
die Verschließeinheit nach Figur 8 in Draufsicht
Figur 10:
ein erster Verfahrensschritt zur Bedienung der Verschließeinheit
Figur 11:
ein zweiter Verfahrensschritt zur Bedienung der Verschließeinheit
Figur 12:
ein dritter Verfahrensschritt
Figur 13:
ein vierter Verfahrensschritt
Show it:
FIG. 1:
schematized in side view a fork gripper according to the invention with a Kartonaufrichtvorrichtung integrated there
FIG. 2:
the fork gripper after FIG. 1 in the direction of the arrow II
FIG. 3:
a first movement when using a fork gripper as Kartonaufrichteinheit
FIG. 4:
a second process step
FIG. 5:
a third process step
FIG. 6:
a fourth process step
FIG. 7:
a fifth process step
FIG. 8:
schematized in side view a closing unit for closing the loose tabs of the erected carton and for gluing the loose tabs
FIG. 9:
the closing unit after FIG. 8 in plan view
FIG. 10:
a first method step for operating the closing unit
FIG. 11:
a second method step for operating the closing unit
FIG. 12:
a third process step
FIG. 13:
a fourth process step

In Figur 1 ist allgemein ein Gabelgreifer 1 dargestellt, der auch als Palettiergreifer bezeichnet wird. Erfindungsgemäß arbeitet dieser herkömmliche Gabelgreifer 1 als Kartonaufrichtvorrichtung, wie nachfolgend beschrieben wird.In FIG. 1 In general, a fork gripper 1 is shown, which is also referred to as a palletizing gripper. According to the invention, this conventional fork gripper 1 operates as a carton erector, as will be described below.

Der Gabelgreifer 1 nach Figur 1 besteht im Wesentlichen aus einem Schlitten 2, der in den horizontalen Pfeilrichtungen 5 verschiebbar und verstellbar an einem Grundgestell 4 angeordnet ist.The fork gripper 1 after FIG. 1 consists essentially of a carriage 2, which is arranged displaceably and adjustably on a base frame 4 in the horizontal arrow directions 5.

An dem Schlitten 2 ist eine Gabel 3 mit einer Vielzahl von parallel und einen gegenseitigen Abstand zueinander einnehmenden Gabelzinken angeordnet.On the carriage 2, a fork 3 is arranged with a plurality of parallel and a mutual distance engaging fork tines.

Am Grundgestell 4 ist ferner ein Niederhalter 7 angeordnet, der in den Pfeilrichtungen 8 in vertikaler Richtung verstellbar und einstellbar ausgebildet ist. Zu diesem Zweck sind Antriebszylinder 12 vorgesehen, die auf dem Grundgestell 4 angeordnet sind.On the base frame 4, a hold-down 7 is further arranged, which is adjustable and adjustable in the direction of arrows 8 in the vertical direction. For this purpose, drive cylinders 12 are provided, which are arranged on the base frame 4.

Der Niederhalter 7 ist mit einer Saugvorrichtung 10 verbunden, die in vertikaler Richtung arbeitet und die fest an dem Niederhalter 7 verbunden ist, der seinerseits in den horizontalen Pfeilrichtungen 9 verschiebbar und einstellbar an einem Grundgestell 4 befestigt ist. Durch die horizontale Verstellung in Pfeilrichtungen 9 der Saugleiste 10 können Kartons in verschiedener Größe aufgerichtet werden (Formatverstellung). Da die Formatverstellung servomotorisch über den Schlitten 2 ohne eingreifen einer Person erfolgen kann, können direkt nacheinander verschieden große Kartons aufgerichtet werden.The hold-down 7 is connected to a suction device 10 which operates in the vertical direction and which is fixedly connected to the hold-down 7, which in turn is slidably and adjustably mounted on a base frame 4 in the horizontal arrow directions 9. By the horizontal adjustment in the direction of arrows 9 of the squeegee 10 boxes can be erected in different sizes (format adjustment). Since the format adjustment servo-motor via the carriage 2 can be done without intervention of a person, directly successively different sized boxes can be erected.

Wichtig ist, dass am Grundgestell 4 eine feststehende Anschlagwand 6 angeordnet ist, in deren unteren Bereich eine weitere Saugvorrichtung 11 angeordnet ist, die in horizontaler Richtung arbeitet. Auf diese Weise bildet der Gabelgreifer 1 zwei senkrecht zueinander stehende Saugvorrichtungen 10, 11 aus, wobei mindestens die obere Saugvorrichtung 10 in vertikaler Pfeilrichtung 8 und in horizontaler Pfeilrichtung 9 verschiebbar und verstellbar ausgebildet ist.It is important that a fixed stop wall 6 is arranged on the base frame 4, in the lower region of a further suction device 11 is arranged, which operates in the horizontal direction. In this way, the fork gripper 1 forms two mutually perpendicular suction devices 10, 11, wherein at least the upper suction device 10 in the vertical direction of arrow 8 and in the horizontal direction of arrow 9 is designed to be displaceable and adjustable.

In Figur 2 sind die gleichen Teile mit den gleichen Bezugszeichen versehen.In FIG. 2 the same parts are provided with the same reference numerals.

Die Figur 3 zeigt nun eine Anwendung eines Gabelgreifers 1 als Kartonaufrichtvorrichtung, wozu ein Bereitstellungstisch 13 mit einer Tischplatte verwendet wird, auf der ein Kartonstapel 14, bestehend aus einzelnen Faltzuschnitten 15 angeordnet ist. Gegenüberliegend und parallel zu der feststehenden Anschlagwand 6 des Gabelgreifers 1 ist auf dem Bereitstellungstisch 13 eine Aufrichtwand 16 montiert, die ebenfalls in vertikaler Richtung ausgerichtet ist.The FIG. 3 now shows an application of a fork gripper 1 as Kartonaufrichtvorrichtung, including a supply table 13 is used with a table top on which a stack of cardboard 14, consisting of individual folding blanks 15 is arranged. Opposite and parallel to the fixed stop wall 6 of the fork gripper 1 a Aufrichtwand 16 is mounted on the supply table 13, which is also aligned in the vertical direction.

Im ersten Verfahrensschritt fährt nun der Niederhalter 7 in vertikaler Pfeilrichtung 8 nach unten, so dass die vertikal verschiebbare Saugvorrichtung 10 in Saugeingriff mit dem obersten Faltzuschnitt 15a kommt - siehe Fig. 4.In the first method step, the hold-down device 7 then moves downwards in the vertical direction of the arrow 8, so that the vertically displaceable suction device 10 comes into suction engagement with the uppermost folding blank 15a - see Fig. 4 ,

Nach Figur 5 wird die Saugvorrichtung 10 dann zusammen mit dem Niederhalter 7 nach oben gefahren, wodurch sich der nun festgehaltene Faltzuschnitt 15a selbsttätig aufgrund seiner Schwerkraft nach unten etwa in Form einer losen Raute entfaltet, was der Formgebung des Faltzuschnittes nach 15a entspricht.To FIG. 5 the suction device 10 is then moved together with the hold-7 upwards, whereby the now held Faltzuschnitt 15a automatically unfolds due to its gravity down in the form of a loose lozenge, which corresponds to the shape of the folding blank according to 15a.

Im nächsten Verfahrensschritt nach Figur 6 wird der komplette Gabelgreifer 1 in Pfeilrichtung 5 in Richtung gegen die feststehende Aufrichtwand 16 verfahren, so dass die rechte Stirnseite 17 des Faltzuschnittes 15a an der Aufrichtwand 16 anschlägt.In the next step after FIG. 6 the entire fork gripper 1 is moved in the direction of the arrow 5 in the direction against the fixed erecting wall 16, so that the right end face 17 of the folding blank 15a abuts against the erecting wall 16.

Bei weiterer Verfahrung in Pfeilrichtung 5 nach rechts richtet sich somit die gesamte vertikale Wand des Faltzuschnittes 15a an der Aufrichtwand 16 aus, so dass der Faltzuschnitt gemäß Fig. 7 seine endgültige rechteckige Form erhält, wobei wichtig ist, dass die gegenüberliegende Stirnseitenwand 17a nun von der horizontal arbeitenden Saugvorrichtung 11 festgehalten wird. Damit hat der Faltzuschnitt 15a eine stabile Stellung, so dass er weiter verarbeitet werden kann.Upon further passage in the direction of arrow 5 to the right, thus, the entire vertical wall of the folding blank 15a is aligned with the erecting wall 16, so that the folding blank according to Fig. 7 gets its final rectangular shape, wherein it is important that the opposite end wall 17a is now held by the horizontally operating suction device 11. Thus, the folding blank 15a has a stable position so that it can be further processed.

Nach Figur 8 wird der nun so in dem Gabelgreifer 1 fixierte Faltzuschnitt 15 einer Verschließeinheit 18 zugeführt, wie es in Figur 8 dargestellt ist.To FIG. 8 the folding blank 15, which is now fixed in the fork gripper 1, is fed to a closing unit 18, as shown in FIG FIG. 8 is shown.

Sie besteht im Wesentlichen aus einem oberen Faltblech 19, welches in den vertikalen Pfeilrichtungen 20 verschiebbar ausgebildet ist, wozu ein Hydraulik- oder Pneumatikzylinder verwendet wird.It consists essentially of an upper folding plate 19, which is designed to be displaceable in the vertical arrow directions 20, to which end a hydraulic or pneumatic cylinder is used.

Im Abstand von dem oberen Faltblech 19 ist ein schräg verlaufender Einweiser 22 als Blechzuschnitt ausgebildet, welcher in ein unteres Faltblech 21 und auf eine dort angeordnete schräge Ebene hinweist.At a distance from the upper folding plate 19, an obliquely extending guide 22 is formed as a sheet metal blank, which points in a lower folding plate 21 and arranged there on an inclined plane.

Das untere Faltblech 21 ist an einer vertikalen Führungsschiene 23 befestigt, und im Bereich der Führungsschiene 23 ist eine Klebeeinheit 24 angeordnet, die aus einem Klebeband 25 besteht, welches auf einer Rolle 26 aufgewickelt ist und welches über eine Aufbringrolle 27 an den Karton angeklebt wird, wobei für die weitere Verarbeitung ein Messer 28 und eine Andrückrolle 29 vorhanden sind.The lower folding plate 21 is attached to a vertical guide rail 23, and in the region of the guide rail 23, an adhesive unit 24 is arranged, which consists of an adhesive tape 25 which is wound on a roll 26 and which is glued to the cardboard via an application roller 27, wherein for further processing, a knife 28 and a pressure roller 29 are present.

Gemäß Figur 9 ist erkennbar, dass es zwei im Winkel zueinander stehende Einweiser 22 gibt, die in Richtung auf ein horizontales Faltblech 33 des unteren Faltbleches 21 hinweisen.According to FIG. 9 It can be seen that there are two angled guide 22, pointing in the direction of a horizontal folding plate 33 of the lower folding plate 21.

Es wird somit eine konische Faltführung für die Kartonlaschen gebildet, wie nachfolgend anhand der Figuren 10 bis 13 erläutert wird.It is thus formed a conical folding guide for the cardboard straps, as described below with reference to FIGS. 10 to 13 is explained.

Im ersten Verfahrensschritt zum Verschluss der Kartonlaschen wird zunächst die obere horizontale Lasche 31 a unter das obere Faltblech 19 verschoben, welches noch in Pfeilrichtung 20 angehoben ist.In the first method step for closing the cardboard tabs, the upper horizontal tab 31 a is first moved under the upper folding plate 19, which is still raised in the direction of arrow 20.

Dieses untere Faltblech 19 wird dann in Pfeilrichtung 32 nach unten verschoben, so dass es in den Innenraum der aufgefalteten Laschen eindringt und hierbei verschließt die rechte Anschlagkante des oberen Faltbleches 19 die obere horizontale Lasche 31 a in die in gestrichelter Darstellung gezeigte Lage nach Figur 11.This lower folding plate 19 is then moved in the direction of arrow 32 down so that it penetrates into the interior of the unfolded tabs and this closes the right stop edge of the upper folding plate 19, the upper horizontal tab 31 a in the position shown in dashed lines FIG. 11 ,

Nach Figur 12 fährt nun der gesamte Gabelgreifer 1 in Pfeilrichtung 8 nach unten, wodurch der festgehaltene Karton in den Bereich des unteren Faltbleches 21 gelangt. Auf diese Weise wird durch die entsprechenden Abweiskanten die untere horizontale Lasche 31 b gefaltet und zugleich werden nun auch die vertikalen Laschen 30 entsprechend geformt, wie dies in strichpunktierten Linien in Figur 12 dargestellt ist.To FIG. 12 Now moves the entire fork gripper 1 in the direction of arrow 8 down, causing the captured cardboard in the area of the lower folding plate 21 passes. In this way, the lower horizontal tab 31 b folded by the corresponding Abweiskanten and at the same time now the vertical tabs 30 are shaped accordingly, as indicated by dotted lines in FIG. 12 is shown.

Der Karton ist mit seinen 4 Laschen nun vollständig geschlossen und durch Verfahrung des Gabelgreifers 1 in Pfeilrichtung 8 weiter nach unten gelangen die nun vollständig verschlossenen Laschen in den Bereich der Klebeeinheit 24, wo der Gabelgreifer 1 nun entlang dieser Klebeeinheit in Pfeilrichtung 8 weiter nach unten verfährt und das Klebeband 25 nun über den gesamten Spalt der sich zwischen den vertikalen Laschen 30 ergibt, hinwegfährt, um so das Klebeband über die gesamte Länge des Spaltes zwischen den vertikalen Laschen 30 aufzubringen. Die horizontalen Laschen 31a, 31 b befinden sich bezüglich des Klebebandes 25 hinter der vertikalen Lasche 30, so dass es genügt, den Zwischenraum zwischen den beiden vertikalen Laschen 30 zu verschließen, um den Karton, d.h. den Faltzuschnitt 15a, vollständig zu verschließen.The carton is now completely closed with its 4 tabs and by moving the fork gripper 1 further down in the direction of arrow 8, the now completely closed tabs reach the area of the gluing unit 24, where the fork gripper 1 now moves downwards along this gluing unit in the direction of the arrow 8 and the adhesive tape 25 now passes over the entire gap that results between the vertical tabs 30, so as to apply the adhesive tape over the entire length of the gap between the vertical tabs 30. The horizontal tabs 31a, 31b are located behind the vertical tab 30 with respect to the adhesive tape 25, so that it is sufficient to close the gap between the two vertical tabs 30 to prevent the carton, i. the folding blank 15a, completely close.

Mit der gegebenen technischen Lehre ergibt sich also der wesentliche Vorteil, dass es nun erstmals möglich ist, einen Gabelgreifer als Kartonaufrichtvorrichtung auszubilden, was bisher noch nicht bekannt war. Ein solcher Einsatzzweck war bisher dem Fachmann fremd, und wenn man einen solchen Gabelgreifer in seiner Nutzung als Kartonaufrichtvorrichtung mit einer Verschließeinheit 18 kombiniert, ist es zusätzlich möglich, auch noch den aufgerichteten Karton zuverlässig zu verschließen.With the given technical teaching thus results in the significant advantage that it is now possible for the first time to form a fork gripper as Kartonaufrichtvorrichtung, which was not yet known. Such an application has hitherto been unknown to the person skilled in the art, and if such a fork gripper is combined with a closing unit 18 in its use as a carton erecting device, it is additionally possible to reliably close even the erected carton.

Es ergibt sich damit eine wesentliche Kosteneinsparung, denn eine eigene Kartonverschlusseinheit und eine eigene Kartonaufrichteinheit können entfallen.This results in a significant cost savings, because a separate Kartonverschlusseinheit and a separate Kartonaufrichteinheit can be omitted.

Zeichnungslegendedrawing Legend

11
Gabelgreiferfork grab
22
Schlittencarriage
33
Gabelfork
44
Grundgestellbase frame
55
Pfeilrichtungenarrow directions
66
Anschlagwandabutment wall
77
NiederhalterStripper plate
88th
Pfeilrichtungarrow
99
Pfeilrichtungarrow
1010
Saugvorrichtung (vertikal)Suction device (vertical)
1111
Saugvorrichtung (horizontal)Suction device (horizontal)
1212
Antriebszylinderdrive cylinder
1313
BereitstellungstischDeployment Table
1414
Kartonstapelstack of cartons
1515
Faltzuschnitt 15aFolding blank 15a
1616
AufrichtwandAufrichtwand
1717
Stirnseite;17a StirnseitenwandFront side; 17a front side wall
1818
Verschließeinheitsealer
1919
Oberes FaltblechUpper folding plate
2020
Pfeilrichtungenarrow directions
2121
Unteres FaltblechLower folding plate
2222
Einweiserreferrers
2323
Führungsschieneguide rail
2424
Klebeeinheitgluing unit
2525
Klebebandduct tape
2626
Rollerole
2727
Aufbringrolleapplication roller
2828
Messerknife
2929
Andrückrollecapstan
3030
Vertikale LascheVertical tab
3131
Horizontale Lasche a, bHorizontal tab a, b
3232
Pfeilrichtungarrow
3333
Faltblechfolding plate

Claims (11)

  1. Device for erecting a carton, with a magazine and an erection wall (16) to receive a horizontal carton stack (14) of prefabricated carton blanks (15), a separating mechanism and two pneumatic suction grippers (10, 11) for guiding and unfolding the carton blanks (15), characterised in that the suction grippers (10, 11) are arranged on a fork or palletizing gripper (1), which has forks (3) with horizontally movable fork prongs, which are suitable to engage under the carton (15) and in that one of the suction grippers (10) is suitable to hold the carton (15), under which the forks (3) engage, from above in order to be able to transport it, the two suction grippers (10, 11) being arranged perpendicular to one another.
  2. Device according to claim 1, characterised in that the fork prongs of the forks (3) are vertically movable.
  3. Device according to claim 1 or 2, characterised in that at least one or both suction grippers (10 or 11) is/are vertically and horizontally movable.
  4. Device according to any one of claims 1 to 3, characterised in that, on the one hand, an upper vertically and horizontally movable first suction gripper (10) is provided, which is intended to engage the carton stack (14) from above and to lift the uppermost carton (15a), whereupon the carton (15a) is brought to a semi-erected rhombus shape and, on the other hand, a lower, at least horizontally movable second suction gripper (11) is provided to grip the side wall (17a) of the carton (15a) and to firmly engage it by suction in order to thus fix the carton (15a) and then, in this fixed position, or else beforehand before this fixed position, to move it against a stop wall (16), so that it is erected precisely at a right angle.
  5. Device according to any one of claims 1 to 4, characterised in that the lower, at least horizontally movable second suction gripper (11) together with the entire fork or palletizing gripper (1) is horizontally movable.
  6. Device according to any one of claims 1 to 5, characterised in that the two suction grippers (10, 11) which are at an angle of 90° to one another can be driven independently of one another.
  7. Device according to any one of claims 1 to 6, characterised in that a closing unit (18), to which the device transfers the opened folding blanks of the carton (15) to close the carton flaps (30, 31), is connected downstream of the device.
  8. Device according to claim 7, characterised in that the closing unit (18) substantially consists of an upper folding plate (19), which is vertically displaceable, for which purpose a hydraulic or pneumatic cylinder, in particular, is used.
  9. Device according to claim 8, characterised in that an obliquely extending position adapter (22) is formed as a plate blank at a spacing from the upper folding plate (19) and points into a lower folding plate (21) and to an oblique plane arranged there.
  10. Device according to claim 9, characterised in that the lower folding plate (21) is fastened to a vertical guide rail (23), in the region of which is arranged an adhesion unit (24), which consists of an adhesive tape (25), which is wound on a roll (26) and is glued to the carton (15) by means of an application roll (27), a blade (28) and a press roll (29) being present for further processing.
  11. Device according to either of claims 9 or 10, characterised in that two position adapters (22) at an angle to one another are present, which point in the direction of a horizontal folding plate (33) of the lower folding plate (21), whereby a conical folding guide for the carton flaps (30, 31) is formed.
EP08012801A 2007-07-19 2008-07-16 Suction or fork grabber for erecting a carton Active EP2017177B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102007033963A DE102007033963A1 (en) 2007-07-19 2007-07-19 Suction or fork gripper for erecting a carton

Publications (2)

Publication Number Publication Date
EP2017177A1 EP2017177A1 (en) 2009-01-21
EP2017177B1 true EP2017177B1 (en) 2011-04-06

Family

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EP08012801A Active EP2017177B1 (en) 2007-07-19 2008-07-16 Suction or fork grabber for erecting a carton

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EP (1) EP2017177B1 (en)
AT (1) ATE504499T1 (en)
DE (2) DE102007033963A1 (en)
ES (1) ES2364596T3 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017200507A1 (en) 2017-01-13 2018-07-19 Robert Bosch Gmbh Apparatus and method for taking a blank

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3046843B1 (en) * 2013-09-18 2017-11-08 BoxEm ApS A method of erecting a case and an automated case erecting unit
JP5943401B1 (en) * 2015-03-12 2016-07-05 川田工業株式会社 Box assembly method using articulated robot and box assembly system using the method
CN106494677A (en) * 2015-09-04 2017-03-15 广东唐城美特智能工具有限公司 Forming paper box device
CN206679364U (en) * 2016-04-07 2017-11-28 河南金谷实业发展有限公司 A kind of straight-tooth mechanism for picking and the packing bag mouth opening device using the mechanism
DE102021133948A1 (en) * 2021-12-21 2023-06-22 Multivac Sepp Haggenmüller Se & Co. Kg Device for lifting packaging

Family Cites Families (3)

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Publication number Priority date Publication date Assignee Title
FR2591927B1 (en) * 1985-12-24 1991-01-11 Thibault Jacques GRIPPING HEAD AND ITS APPLICATION TO A ROBOT AND A PACKAGING SYSTEM
WO1989000132A1 (en) 1987-07-07 1989-01-12 Visy Board Properties Pty. Ltd. Carton loading and closing machine
DD280731A1 (en) 1989-03-22 1990-07-18 Ottendorf Okrilla Presswerk DEVICE FOR TURNING PREPARED CARTON CUTS

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017200507A1 (en) 2017-01-13 2018-07-19 Robert Bosch Gmbh Apparatus and method for taking a blank

Also Published As

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EP2017177A1 (en) 2009-01-21
ATE504499T1 (en) 2011-04-15
ES2364596T3 (en) 2011-09-07
DE502008003067D1 (en) 2011-05-19
DE102007033963A1 (en) 2009-01-22

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