Gripper carriage control

Abstract

The invention relates to a carton seamer with a gripper device and a method for controlling a gripper device of a carton seamer. The carton seamer (1) comprises a sealing station (2) for sealing a carton (3), an infeed belt (4) for providing the carton (3), an outfeed belt (5) for transporting the sealed carton (3) away, a gripper device (6) comprising a first gripper unit (7) and a second gripper unit (8), the first gripper unit (7) comprising a first carrier (9) and the second gripper unit (8) comprising a second carrier (11), and a control device (14). The control device (14) is configured to control a closing movement (S) and an adjustment movement (V) such that a substantially predetermined minimum distance (x) between the first carrier (9) and the second carrier (11) is present when the closing movement (S) of the second gripper (12) is at least substantially completed.

Description

TECHNICAL FIELD

[0001] The invention relates to a carton seamer having a gripper device. The invention further relates to a method for controlling a gripper device of a carton seamer. BACKGROUND

[0002] DE 10 2018 215 914 A1 discloses a packaging machine comprising a sealing station, an infeed conveyor, an outfeed conveyor, a control system, and a gripper system. The gripper system comprises a first gripper and a second gripper, which can both be moved along a transport direction. Each gripper in turn comprises at least two gripper arms, which can be moved relative to each other to open and close the gripper. The first gripper is configured to move one or more packaging cartons from the infeed conveyor into the sealing station, and the second gripper is configured to move one or more packaging cartons from the sealing station to the outfeed conveyor and place them on the outfeed conveyor. The control system of the packaging machine is configured to move the first gripper independently of the second gripper. It is also possible that the gripping and / or moving of the first gripper and / or the second gripper is at least in phases simultaneous with the opening and / or closing of the sealing station. While the independent operation of the presently described first and second grippers is advantageous, there is still potential for improvement in terms of transporting sealed cartons away from the sealing station and transporting unsealed cartons into the sealing station to exchange the cartons at the sealing station as quickly as possible. SUMMARY

[0003] It is an object of the invention to provide a carton seamer having an increased cycle rate.

[0004] This object is achieved by a carton seamer according to the following technical solution. Furthermore, this object is achieved by a method for controlling a gripper device according to other technical solutions.

[0005] Further advantageous improvements of the invention are given by the technical features of the other technical solutions.

[0006] The carton sealer according to the application comprises a sealing station for sealing the cartons, an infeed belt for providing the cartons, an outfeed belt for transporting the sealed cartons away, and a gripper device. The gripper device comprises a first gripper unit which is configured to pick up the cartons from the infeed belt and to position them for the sealing process within the sealing station. Furthermore, the gripper device comprises a second gripper unit which is configured to collect the cartons which have been sealed via the sealing station and to position them on the outfeed belt in order to be transported away. The first gripper unit comprises a first carriage and a first gripper mounted thereon, and the second gripper unit comprises a second carriage and a second gripper mounted thereon. The carton sealer further comprises a lifting mechanism for opening and closing the sealing station and a control device for controlling the movement of the first carriage and the first gripper and for controlling the movement of the second carriage and the second gripper.

[0007] When the lifting mechanism is opened, the control device according to the application is configured to control a closing movement of the second gripper transverse to the production direction for collecting the sealed cartons from the sealing station and an adjustment movement of the first carriage in the production direction for supplying the unsealed cartons into the sealing station, such that at the time point when the closing movement of the second gripper is at least substantially completed, a substantially predetermined minimum distance between the first carriage and the second carriage is achieved.

[0008] In the present application, the closing movement of the second gripper transverse to the production direction, the adjustment movement of the first carriage in the production direction, and the opening of the sealing station can be coordinated by the control device such that the first carriage of the first gripper unit and the second carriage of the second gripper unit are moved substantially towards each other to a maximum at the time point when the closing movement of the second gripper is at least substantially completed, i.e. the two carriages have a predetermined minimum distance to each other in the production direction. This ensures that the first gripper unit has already been moved in adjustment towards the sealing station when the sealed cartons have been picked up via the second gripper, i.e. at the time point when the cartons have been received in the second gripper, so that the carton exchange at the sealing station can be performed in as short a time as possible. Thus, the time during which the sealing station is open can also be reduced, whereby the overall quality of the product to be manufactured can be improved and the machine production quantity, i.e. the cycle rate, can also be increased.

[0009] One variant provides that the control device is configured to calculate the minimum distance between the first carrier and the second carrier from the available respective travel profiles held for the first carrier, the first gripper, the second carrier and / or the second gripper, on the basis of which (minimum distance) the starting times for the respective travel profiles of the first carrier, the first gripper, the second carrier and / or the second gripper with respect to their predetermined starting positions can be determined. With this sequential control it can be achieved that there is always a minimum distance when the two gripper units at the sealing station are moved towards each other to the maximum.

[0010] With respect to the minimum distance, which is to be maintained between the first carrier and the second carrier as a safety distance, it is preferably possible to select directly at the carton sealer that the distance is to be maintained. An advanced variant provides that the control device is configured to provide at least one set of possible travel profiles for the first carrier, the first gripper, the second carrier and / or the second gripper, which can be displayed to the operator, for example on a display, for selection.

[0011] It can be considered that the respective travel profiles of the first carrier, the first gripper, the second carrier and / or the second gripper can be detected in each work cycle of the sealing station, and the control device is configured to calculate the minimum distance between the first carrier and the second carrier from the travel profiles provided to the latter, which are detected respectively, on the basis of which (minimum distance) the starting times for the respective travel profiles of the first carrier, the first gripper, the second carrier and / or the second gripper with respect to their predetermined starting positions can be determined. Thus, the cycle rate of the carton sealer can be optimized with respect to the actually measured sequence.

[0012] The control device is preferably configured to control the closing movement of the second gripper and the adjustment movement of the first carrier in the production direction such that a predetermined minimum distance between the first carrier and the second carrier is present when the first carrier is adjusted to the maximum in the production direction. In this variant, the second carrier of the second gripper unit has already moved further in the production direction away from the region of the sealing station, wherein the first carrier of the first gripper unit moves to the maximum into the region of the sealing station for the delivery of the picked-up carrier boxes thereon. In other words, the first carrier and the second carrier are moved towards each other such that the distance present between them can be gradually reduced when the second carrier moves away from the sealing station and when the first carrier moves into the sealing station until the first carrier reaches its end position in which it can be moved in the production direction. The acceleration of the first carrier in size when moving into the sealing station is greater than the simultaneous acceleration of the second carrier when moving away from the sealing station. This movement to the predetermined minimum distance between the first carrier and the second carrier, which is temporally coordinated by the control device, provides an advantageous collision protection between the two gripper units, since the second carrier of the second gripper unit is thereby moved further away from it for the transfer of the sealed carrier boxes to the discharge belt when the minimum distance currently described has been reached at the point in time of the adjustment movement to the maximum in the production direction of the first carrier.

[0013] One variant provides that the control unit is configured to control the closing movement of the second gripper and the adjustment movement of the first carrier in the production direction such that a predetermined minimum distance between the first carrier and the second carrier is present when the second carrier starts to move in the production direction. In this embodiment, the first gripper unit together with the picked-up carrier boxes thereon has already been moved to the maximum towards the sealing station, i.e. positioned at a predetermined minimum distance from the second carrier, when the second carrier starts to move in the production direction in order to transport the sealed carrier boxes picked up at the second gripper away from the sealing station. In this variant, the predetermined minimum distance between the first carrier and the second carrier has thus been achieved at the point in time at which the second gripper unit has indeed picked up the sealed carrier boxes to transport them away from the sealing station but has not yet left the region of the sealing station, while the first gripper unit has already been moved towards the sealing station but has not yet moved into the region of the sealing station.

[0014] The control device is preferably configured to control the opening of the lifting mechanism, the closing movement of the second gripper, and the adjustment movement of the first carrier in the production direction, such that a predetermined minimum distance between the first carrier and the second carrier is present when the second carrier has reached an end position in the direction opposite to the production direction. In this variant, the first carrier and the second carrier are moved simultaneously towards each other to the extent of the predetermined minimum distance between the two carriers until the second carrier has reached its end position in the direction opposite to the production direction. The first carrier has thus been moved in the production direction, i.e. in the direction opposite to the movement of the second carrier, to the extent of the predetermined minimum distance between the two carriers towards the sealing station. The opening of the lifting mechanism, the collection of the sealed carriers and the transfer of the unsealed carriers to the sealing station can thereby be further optimized in time to achieve an increased cycle rate.

[0015] The control device is preferably configured to control the closing movement of the second gripper and the adjustment movement of the first carrier in the production direction, such that the first carrier and the second carrier are accelerated at least in time with the same magnitude with opposite signs when the second gripper is adjusted to the maximum extent transversely to the production direction. This means that the first carrier is decelerated when approaching the sealing station, while the second carrier is simultaneously accelerated away from the sealing station in order to free up the area within the sealing station for the transfer of unsealed carriers via the first gripper unit.

[0016] The control device is preferably configured to control the adjustment movement of the first carrier in the production direction, such that the distance between the first carrier and the second carrier can be varied. In other words, the respective adjustment movements of the first carrier and the second carrier in the production direction can be controlled independently of each other.

[0017] According to one embodiment, the control device is configured to control the opening of the lifting mechanism, the closing movement of the second gripper, and the adjustment movement of the first carrier in the production direction, such that a predetermined minimum distance between the first carrier and the second carrier is present when the lifting mechanism is opened to the maximum extent. The result of the fact that the point in time at which the predetermined minimum distance between the first carrier and the second carrier is present coincides with the point in time at which the lifting mechanism is opened to the maximum extent to open the sealing station is an optimal collision protection for the transfer of unsealed carriers and the collection of sealed carriers at the sealing station.

[0018] The control device is preferably configured to set the start time of the adjustment movement of the first carrier in the production direction in each machine working cycle depending on the detected closing movement of the second gripper, depending on the detected opening movement of the lifting mechanism, and / or depending on the detected process parameter settings of the sealing station at the sealing station. The movement of the first gripper unit can thereby be optimized in each machine working cycle.

[0019] At least one sensor unit, for example a camera, can be provided at the sealing station in order to detect the closing movement of the second gripper, to detect the opening of the lifting mechanism and / or to detect process parameters of the sealing station, wherein in particular the start time of the adjustment movement of the first carrier in the production direction can be determined and controlled by the control device on the basis of the measured values recorded with the sensor unit. Thereby, based on the process progress measured at the sealing station, the first carrier is moved so early that it reaches the predetermined minimum distance at the time when the closing movement of the second carrier is at least substantially complete.

[0020] One variant provides that the control device is configured to determine the speed profile of the first carrier and / or of the second gripper as a reasoning logic on the basis of a predetermined speed profile of the second carrier and / or of the second gripper as a leading logic. The respective speed profiles can be offset to each other via the control device such that a predetermined minimum distance between the first carrier and the second carrier is present when the closing movement of the second gripper is at least substantially complete.

[0021] One advantageous variant provides that the control device is configured to determine the speed profile of the first carrier and / or of the second gripper as a reasoning logic on the basis of a measured speed profile of the second carrier and / or of the second gripper as a leading logic. The respective speed profiles can be offset to each other via the control device such that a predetermined minimum distance between the first carrier and the second carrier is present when the closing movement of the second gripper is at least substantially complete.

[0022] One embodiment of the application provides that the control device is configured to determine the minimum distance on the basis of a desired magazine changeover time which can be adjusted at the magazine sealer, and to control the movement of the first gripper unit and of the second gripper unit in accordance therewith. By means of a variably adjustable magazine changeover time, the operating mode of the sealing station and of the gripper device at the magazine sealer can be better coordinated with other work units of the magazine sealer and / or with other work units which preferably cooperate with the magazine sealer.

[0023] It is possible for the control device to comprise a distance control device, wherein the first gripper unit and / or the second gripper unit comprises at least one measuring unit for detecting the distance between the first carrier and the second carrier, wherein the acceleration of the first carrier in the production direction during the closing movement of the second gripper can be controlled in accordance with the detected distance.

[0024] The invention also relates to a method for controlling a gripper device of a carton seamer, wherein a first gripper unit picks up cartons from an infeed belt via first grippers formed thereon and transports them to a sealing station of the carton seamer for a sealing process, and wherein a second gripper unit positioned downstream of the first gripper unit in the production direction collects the cartons sealed in the sealing station via second grippers formed thereon and positions them on an outfeed belt for being transported away.

[0025] The invention provides that, during the opening of the sealing station, the control device of the carton seamer controls a closing movement of the second grippers transverse to the production direction for collecting the sealed cartons from the sealing station and an adjustment movement of the first carriages of the first gripper unit in the production direction for supplying the unsealed cartons into the sealing station, such that at the completion of the closing movement of the second grippers a substantially predetermined minimum distance is present between the first carriages of the first gripper unit and the second carriages of the second gripper unit in the production direction.

[0026] In the invention, during the opening movement of the sealing station, the closing movement of the second grippers transverse to the production direction is coordinated with the adjustment movement of the first carriages in the production direction in time with each other, such that the first gripper unit and the second gripper unit have substantially moved towards each other to a maximum distance for exchanging the cartons in order to shorten the time for exchanging the cartons, i.e. the time for collecting the sealed cartons from the sealing station and for conveying the unsealed cartons to the sealing station. This means that the sealing station can be closed again as quickly as possible due to the shortened exchange time of the cartons in order to seal the cartons picked up therein by the first gripper unit. BRIEF DESCRIPTION OF DRAWINGS

[0027] An advantageous embodiment of the invention will be explained with reference to the following drawings, in which

[0028] Figure 1 a schematic view of a carton seamer according to the invention is shown,

[0029] Figure 2A a snapshot of the gripper device for moving to a predetermined minimum distance is shown,

[0030] Figure 2B a further snapshot of the gripper device for moving to a predetermined minimum distance is shown,

[0031] Figures 3A-3D a schematic view of the adjustment movement of the gripper device is shown,

[0032] Figures 4A-4D a further schematic view of the adjustment movement of the gripper device is shown, and

[0033] Figures 5A-5CFurther schematic views showing the adjustment movement of the clamp device. DETAILED DESCRIPTION

[0034] In all figures, identical parts are provided with the same reference signs.

[0035] Figure 1 A schematic view of a carton seamer 1 is shown. Such a carton seamer 1 is also known among experts as a carton seamer machine. The carton seamer 1 comprises a seaming station 2 for seaming cartons 3. Furthermore, the carton seamer 1 comprises an infeed belt 4 for providing cartons 3 and an outfeed belt 5 for transporting the seamed cartons 3 away.

[0036] Figure 1 The shown carton seamer 1 comprises a clamp device 6 with a first clamp unit 7 and a second clamp unit 8. The first clamp unit 7 is configured to pick up unseamed cartons 3 from the infeed belt 4 and to position them for a seaming process within the seaming station 2. The second clamp unit 8 is configured to collect cartons 3 that have been seamed via the seaming station 2 and to position them on the outfeed belt 5 for being transported away. The first clamp unit 7 comprises a first carriage 9 and a first clamp 10 adjustably mounted thereon. The second clamp unit 8 comprises a second carriage 11 and a second clamp 12 adjustably mounted thereon.

[0037] Figure 1 The carton seamer 1 in Fig. 1 is further arranged with a lifting mechanism 13 for opening and closing the seaming station 2. Figure 1 A control device 14 for controlling the movement of the first carriage 9 and the first clamp 10 and for controlling the movement of the second carriage 11 and the second clamp 12 is also shown. The control device 14 is functionally connected to a first drive 15 of the first clamp unit 7 and functionally connected to a second drive 16 of the second clamp unit 8. The control device 14 is configured to control the first drive 15 and the second drive 16 independently from each other. The control device can especially be configured to control the respective carriages 9, 11 of the first clamp unit 7 and the second clamp unit 8 such that they are moved towards or away from each other, respectively, when the seaming station 2 is supplied with cartons 3 or seamed cartons 3 are transported out.

[0038] The carton seamer 1 comprises a tool lower part 17 and a tool upper part 18 arranged above it for the seaming process. According to Figure 1 , the tool lower part 17 is mounted height-adjustable via the lifting mechanism 13. The height adjustability of the tool lower part 17 is shown via the double arrow 19. For the seaming process, the tool lower part 17 can be raised to the tool upper part 18 positioned above it in order to seam cartons 3 placed on the tool lower part 17 with a top film 20 passing through the seaming station 2. According to Figure 1The sensor unit 21 is arranged at the sealing station 2 and is configured to detect at least one process parameter during the sealing process at the sealing station 2.

[0039] According to Figure 1 The measurement unit 22 is arranged on the first carriage 9 of the first clamp unit 7 and is configured to detect the distance between the first carriage 9 and the second carriage 11. This distance can be transmitted to a distance control 23 of the control device 14, based on which the control device 14 controls the closing movement and / or the adjustment movement of the first clamp unit 7 and / or the second clamp unit 8.

[0040] Furthermore, Figure 1 It is shown that the control device 14 can be assigned a desired magazine exchange time t, based on which the control device 14 can determine a minimum distance x between the first carriage 9 and the second carriage 11. Based on the predetermined minimum distance x, the first clamp unit 7 and the second clamp unit 8 can be moved into and out of the sealing station 2 for magazine exchange.

[0041] The respective carriages 9, 11 of the first clamp unit 7 and the second clamp unit 8 can be adjusted in the production direction R along a guide 24. Figure 1 It is shown that the first clamp unit 7 transports the magazines 3 from the infeed belt 4 into the sealing station 2 in the production direction R and the second clamp unit 8 transports the sealed magazines 3 out of the sealing station 2 and transfers them to the outfeed belt 5.

[0042] Figure 1 The control device 14 shown is configured to, when the lifting mechanism 13 is opened, i.e. when the sealing station 2 is opened, control a closing movement S of the second clamp 12 transverse to the production direction R to collect the sealed magazines 3 from the sealing station 2 (see Figure 3A ) and an adjustment movement V of the first carriage 9 in the production direction R to supply the unsealed magazines 3 into the sealing station 2, such that the first carriage 9 and the second carriage 10 are substantially the predetermined minimum distance x (see Figure 3B ) at least substantially completed.

[0043] According to the following embodiments, the closing movement S and the adjustment movement V can be controlled differently via the control device 14.

[0044] Figure 2AA variant is shown in which the control device 14 controls the closing movement S of the second gripper 12 and the adjustment movement V of the first carriage 9 in the production direction R such that a predetermined minimum distance x between the first carriage 9 and the second carriage 11 is already reached when the first carriage 9 has been adjusted to the maximum in the production direction R. At this point, the second gripper 12 has already moved away from the sealing station 2 to position the sealed carton 3 picked up thereon onto the discharge belt 5. According to Figure 2A The minimum distance x between the first carriage 9 and the second carriage 11 is already reached when the first carriage 9 has been adjusted to the maximum in the production direction R, i.e. the first gripper 10 is opened to transfer the carton 3 picked up thereon to the tool lower part 17 of the sealing station 2.

[0045] Figure 2B A variant is shown in which, according to this variant, the control device 14 is configured to control the closing movement S of the second gripper 12 and the adjustment movement V of the first carriage 9 in the production direction R such that a predetermined minimum distance x between the first carriage 9 and the second carriage 11 is already reached when the second carriage 11 starts to move in the production direction R. In this variant, the minimum distance x between the first carriage 9 and the second carriage 11 is already reached when the sealed carton 3 is picked up via the second gripper unit 8 and the first gripper unit 7 has already moved to the maximum towards the sealing station 2, but has not yet protruded into it. Thus, in contrast to the variant according to Figure 2A , the minimum distance x according to Figure 2B is already reached before the first carriage 9 reaches its end position in the production direction R.

[0046] Figures 3A to 3D The movement of the gripper device 6 for transporting cartons along the carton sealer 1 is shown.

[0047] Figure 3A The gripper device 6 in the initial situation is shown. The closing movement S of the second gripper 12 transverse to the production direction R to collect a sealed carton 3 from the sealing station 2 and the adjustment movement V of the first carriage 9 in the production direction R to supply an unsealed carton 3 into the sealing station 2 are initiated in this state during the opening movement of the mechanism 13.

[0048] The closing movement S and the adjustment movement V are controlled via the control device 14 such that a substantially predetermined minimum distance x between the first carriage 9 and the second carriage 11 is reached when the closing movement S of the second gripper 12 is at least substantially complete. This is shown in Figure 3B .

[0049] According to Figure 3CThe closed cartons 3 collected via the second gripper unit 8 are transported in the production direction R to the outfeed belt 5. At the same time, the unclosed cartons 3 picked up at the first gripper unit 7 are transported into the closing station 2. At this point, the two carriages 9, 11 can already be moved away from each other again.

[0050] Figure 3D It is shown that, by opening the second gripper unit 12, the closed cartons 3 picked up thereon are transferred to the outfeed belt 5. At the same time or staggered in time, the first gripper unit 7 transfers the unclosed cartons 3 picked up at the first gripper 10 to the closing station 2 for the closing process.

[0051] Figures 3A to 3D It is shown that, when the closed cartons are picked up via the second gripper 12 and the first gripper 10 has moved the maximum distance essentially towards the open closing station 2, there is essentially the minimum distance x between the first carriage 9 and the second carriage 11.

[0052] Figures 4A to 4D It is shown that an alternative movement of the gripper device 6 for transporting the cartons 3 along the carton closer 1.

[0053] According to Figure 4A there is an initial situation in which the closing movement S of the second gripper 12 begins. At the same time or staggered in time, the first carriage 9 of the first gripper unit 7 begins an adjustment movement V in the production direction R.

[0054] Figure 4B It is shown that the first gripper unit 7 has moved further in the production direction R towards the closing station 2. The closed cartons in the closing station 2 are picked up via the second gripper unit 8 to be transported away from the closing station 2.

[0055] Figure 4C It is now shown the point in time at which there is the predetermined minimum distance x between the first carriage 9 and the second carriage 11. According to Figure 4C this is the point in time at which the first carriage 9 is adjusted to the maximum in the production direction R. At this point, the second gripper 12 has left the closing station 2.

[0056] Figure 4D It is shown the opening movement of the two grippers 10, 12 for transferring the cartons to the closing station 2 or transferring the closed cartons 3 to the outfeed belt 5. The two grippers 10, 12 can be opened at the same time in a coordinated manner with each other.

[0057] Figure 3B and 4C It is shown how the control device 14 controls the different variants of the minimum distance x between the first carriage 9 and the second carriage 11. According to Figure 3BThere is a minimum distance x when the second carriage 11 starts to move in the production direction R. According to Figure 4C There is a minimum distance x when the first carriage 9 is adjusted to the maximum in the production direction R.

[0058] Figures 5A to 5C It is shown how the movement of the clamp device 6 is controlled via the control device 14 to move to a further variant of the minimum distance x between the first carriage 9 and the second carriage 11.

[0059] Figure 5A It is shown an initial state in which the second clamp unit 8 is adjusted in the direction opposite to the production direction R and transversely to the production direction R. Based on this adjustment and the closing movement being carried out at the same time, the second clamp 12 can have carried out a closing movement S transversely to the production direction R during the adjustment movement of the second carriage 11 in the direction opposite to the production direction R (see Figure 5B ). According to Figure 5C , the control device 14 can control the opening of the lifting mechanism 13, the closing movement S of the second clamp 12 and the adjustment movement of the second carriage 11 in the direction opposite to the production direction R such that the predetermined minimum distance x between the first carriage 9 and the second carriage 11 is achieved when the second carriage 11 has reached the end position in the direction opposite to the production direction R. At this point, the first carriage 9 has been moved to such an extent towards the sealing station 2 that the predetermined minimum distance x between the first carriage 9 and the second carriage 11 is achieved. From Figure 5A the initial state in, the shown return movement of the first clamp unit 7 can be carried out in the direction opposite to the production direction R and transversely to the production direction R at the same time as the movement of the second clamp unit 8 for collecting the carrier boxes 3 arranged on the feed belt 4.

Claims

1. A carton sealer (1) comprising a sealing station (2) for sealing cartons (3), an infeed belt (4) for providing cartons (3), an outfeed belt (5) for transporting sealed cartons (3) away, a gripper device (6) comprising a first gripper unit (7) configured to pick up cartons (3) from the infeed belt (4) and to position them for a sealing process within the sealing station (2), and a second gripper unit (8) configured to collect cartons (3) sealed via the sealing station (2) and to position them on the outfeed belt (5) to be transported away, wherein the first gripper unit (7) comprises a first carriage (9) and a first gripper (10) mounted thereon, and the second gripper unit (8) comprises a second carriage (11) and a second gripper (12) mounted thereon, the carton sealer (1) further comprising a lifting mechanism (13) for opening and closing the sealing station (2) and a control device (14) for controlling the movement of the first carriage (9) and the first gripper (10) and for controlling the movement of the second carriage (11) and the second gripper (12), characterized in that During the opening of the lifting mechanism (13), the control device (14) is configured to control the closing movement (S) of the second gripper (12) transversely to the production direction (R) to collect a closed box (3) from the closing station (2) and the adjustment movement (V) of the first carriage (9) in the production direction (R) to supply an unclosed box (3) into the closing station (2), so that at least substantially the closing movement (S) of the second gripper (12) is completed, a substantially predetermined minimum distance (x) is present between the first carriage (9) and the second carriage (11).

2. The cart sealer of claim 1, wherein, The control device (14) is configured to control the closing movement (S) of the second gripper (12) and the adjustment movement (V) of the first carriage (9) in the production direction (R), so that when the first carriage (9) is adjusted to the maximum in the production direction (R), the predetermined minimum distance (x) is present between the first carriage (9) and the second carriage (11).

3. The cart sealer of claim 1, wherein, The control device (14) is configured to control the closing movement (S) of the second gripper (12) and the adjustment movement (V) of the first carriage (9) in the production direction (R), so that when the second carriage (11) starts moving in the production direction (R), the predetermined minimum distance (x) is present between the first carriage (9) and the second carriage (11).

4. The cart sealer of claim 1, wherein, The control device (14) is configured to control the opening of the lifting mechanism (13), the closing movement (S) of the second gripper (12) and the adjustment movement (V) of the first carriage (9) in the production direction (R), so that when the second carriage (11) has reached an end position (E) in the direction opposite to the production direction (R), the predetermined minimum distance (x) is present between the first carriage (9) and the second carriage (11).

5. The cart sealer of any one of claims 1 to 4, wherein, The control device (14) is configured to control the closing movement (S) of the second gripper (12) and the adjustment movement (V) of the first carriage (9) in the production direction (R), so that when the second gripper (12) is adjusted to the maximum transversely to the production direction (R), the first carriage (9) and the second carriage (11) are accelerated at least in time, with the same magnitude and with opposite signs.

6. The cart sealer of any one of claims 1 to 4, wherein, The control device (14) is configured to control the adjustment movement (V) of the first carriage (9) in the production direction (R), so that it is possible to vary the distance between the first carriage (9) and the second carriage (11).

7. The cart sealer of any one of claims 1 to 4, wherein, The control device (14) is configured to control the opening of the lifting mechanism (13), the closing movement (S) of the second gripper (12), and the adjustment movement (V) of the first carrier (9) in the production direction (R) such that the predetermined minimum distance (x) between the first carrier (9) and the second carrier (11) is present when the lifting mechanism (13) is opened to the maximum.

8. The cart sealer of any one of claims 1 to 4, wherein, The control device (14) is configured to set the start time of the adjustment movement (V) of the first carrier (9) in the production direction (R) in each machine working cycle depending on the detected closing movement (S) of the second gripper (12), depending on the detected opening of the lifting mechanism (13), and / or depending on the process parameter settings of the sealing station (2) detected at the sealing station (2).

9. The cart sealer of any one of claims 1 to 4, wherein, The control device (14) is configured to determine the speed profile of the first carrier (9) and / or of the first gripper (10) as a reasoning logic depending on a speed profile of the second carrier (11) and / or of the second gripper (12) predetermined as a lead logic.

10. The cart sealer of any one of claims 1 to 4, wherein, The control device (14) is configured to determine the minimum distance (x) based on a desired magazine changeover time (t) which can be adjusted at the magazine sealer (1) and to control the movements of the first gripper unit (7) and of the second gripper unit (8) accordingly.

11. The cart sealer of any one of claims 1 to 4, wherein, The control device (14) comprises a distance control device (23), wherein the first gripper unit (7) and / or the second gripper unit (8) comprises at least one measuring unit (22) for detecting the distance between the first carrier (9) and the second carrier (11), wherein the acceleration of the first carrier (9) in the production direction (R) during the closing movement (S) of the second gripper (12) can be controlled depending on the detected distance.

12. Method for controlling a gripper device (6) of a carton seamer (1), wherein a first gripper unit (7) picks up cartons (3) from an infeed belt (4) via first grippers (10) formed thereon and transports them into a sealing station (2) of the carton seamer (1) for a sealing process, and wherein a second gripper unit (8) positioned downstream of the first gripper unit (7) in a production direction (R) collects the cartons (3) sealed within the sealing station (2) via second grippers (12) formed thereon and positions them on an outfeed belt (5) for being transported away, characterized in that, During the opening of the lifting mechanism (13), the control device (14) is configured to control the closing movement (S) of the second gripper (12) transverse to the production direction (R) for collecting sealed magazines (3) from the sealing station (2) and the adjustment movement (V) of the first carrier (9) of the first gripper unit (7) in the production direction (R) for supplying unsealed magazines (3) into the sealing station (2) such that a substantially predetermined minimum distance (x) between the first carrier (9) of the first gripper unit (7) and the second carrier (11) of the second gripper unit (8) is present at least substantially at the completion of the closing movement (S) of the second gripper (12).

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