Clamping head for carrying packaging blanks, manipulator and packaging system

Abstract

The utility model discloses a clamping head (10), a manipulator and a packaging system for carrying packaging blanks. The gripping head (10) comprises an upper gripping unit (17) and a lower gripping unit (19), which are designed to grip a plurality of packaging blanks in a co-clamping manner each time from a stack (50) having a plurality of packaging blanks. The clamping head (10) further comprises a separating unit which is designed to lift an outer edge of a respective packaging blank which is provided for gripping in a clamping manner. According to the invention, the separating unit for raising the outer edges comprises a linear actuator (16) which is arranged in such a way that, when the separating unit (18) lifts the outer edges of the respective packaging blanks via the linear actuator (16), the linear lift axis of the linear actuator is inclined relative to the contact surface of the lower clamping unit (19).

Description

Technical Field

[0001] This utility model relates to a gripper head for handling packaged blanks. Furthermore, this utility model relates to a robotic arm and a packaging system. Background Technology

[0002] In order to package goods using packaging blanks, it is necessary to first handle the corresponding packaging blanks, in this case, to remove these packaging blanks from the stack and transport them to the predetermined target location.

[0003] For example, such a target location could be a packaging machine that uses corresponding preforms to package goods. The packaging machine can hold a large number of preforms, which it uses to package goods. To prevent the stock from being depleted after a certain period, new preforms are periodically transferred to the packaging machine. In practice, robotic arms can be used for this purpose, capable of sequentially removing multiple preforms from a stack via grippers and then transferring them to the appropriate packaging machine.

[0004] Removing package blanks via the gripper head can present problems because individual package blanks stacked together may be gripped with insufficient clamping before being conveyed to the packaging machine. It cannot be completely ruled out that stacked individual package blanks may be bent or damaged during each clamping reception. It also cannot be completely ruled out that flat package blanks may accidentally detach from the gripper head after being gripped with insufficient clamping.

[0005] Furthermore, existing robotic arms often lack flexibility when handling packaging blanks of different sizes, such as those receiving packaging blanks from a stack and transferring them to a packaging machine. Typically, if it is necessary to continuously receive packaging blanks of different sizes from a pallet and transfer them to the packaging machine, the gripper head of the corresponding robotic arm must be changed. Utility Model Content

[0006] Therefore, the purpose of this invention is to provide a method for safely picking and handling flat package blanks from a stack with little or no risk of damage. Furthermore, this invention also provides a method for simply and conveniently receiving and handling package blanks of different sizes.

[0007] This invention relates to a clamping head for handling packaging blanks. For example, the packaging blank may be at least partially or even entirely made of a cellulose-containing material. In other embodiments, the packaging blank may be at least partially or even entirely made of plastic. It is also conceivable that the packaging blank may be at least partially or even entirely made of aluminum. As a supplement or alternative to the above materials, the packaging blank may also have an upwardly foldable pull strip. The corresponding packaging blank may also be a so-called PAD, which provides a flat support surface for various goods.

[0008] The gripping head includes an upper gripping unit and a lower gripping unit, which are designed to grip multiple packaging blanks together from a stack containing a large number of packaging blanks at a time. The upper and lower gripping units are designed such that they can perform a feed movement in which the upper and lower gripping units reduce their relative distance to each other, and thus grip multiple packaging blanks together.

[0009] The clamping head may include a frame, on which an upper clamping unit and a lower clamping unit are arranged. The frame may be multiple sheet metal parts welded together.

[0010] The gripping head also includes a separation unit designed to lift the outer edge of a package blank that is configured to be clamped relative to the remaining package blanks on the stack, thereby enabling the lower gripping unit to be inserted into the stack of package blanks in the area of ​​the lifted outer edge.

[0011] The separation unit for lifting the outer edge is configured to include a linear actuator, which is arranged such that when the separation unit lifts the outer edge of the corresponding packaging blank via at least one linear actuator, the linear lifting axis of the linear actuator is tilted relative to the contact surface formed by the lower clamping unit. This tilting of the lifting axis relative to the contact surface greatly reduces the likelihood of the packaging blank accidentally detaching from the separation unit when lifting the outer edge.

[0012] Therefore, package blanks can then be safely picked up and handled from the stack with little or no risk of damage. Furthermore, the separation unit and the aforementioned lifting shaft allow for the simple and convenient reception and handling of package blanks of different sizes.

[0013] It is not mandatory to control the at least one linear actuator to lift the outer edge of the corresponding packaging blank. In different embodiments, the guide clamping head may apply force to the corresponding packaging blank to be clamped and received, thereby moving the piston of the at least one linear actuator along a linear lifting axis and lifting the outer edge of the corresponding packaging blank to be clamped and received via a separation unit.

[0014] The clamping head can be designed such that the force exerted by the piston of the at least one linear actuator against the corresponding package blank to be clamped and received can be adjusted. As long as the at least one linear actuator is at least one cylinder, the working pressure of the at least one cylinder can be adjusted via an open-loop and / or closed-loop control device of the clamping head.

[0015] Therefore, in different embodiments, the at least one linear actuator can be at least one cylinder. However, the present invention is not limited to this, and in other embodiments, the at least one linear actuator can also be, for example, at least one electric linear motor or at least one electromagnetic direct drive device.

[0016] The linear lifting shaft can be tilted relative to the contact surface at an angle between 5° and 30°, particularly between 10° and 25°, and preferably between 15° and 20°. Specifically, in this case, the linear lifting shaft can be tilted relative to the contact surface at an angle of approximately 18°. In such an embodiment, the risk of the packaging blanks accidentally detaching from the separation unit during the lifting of the outer edge of the packaging blanks can be further reduced. The angle further improves the picking and clamping gripping of the packaging blanks.

[0017] The upper clamping unit may include at least two fork tips oriented parallel to each other. Alternatively, the upper clamping unit may be designed as a molded part that cooperates with the lower clamping unit to grip multiple package blanks from a stack in a co-clamping manner each time. For example, the molded part may be a sheet metal part or other component that provides a flat clamping surface for the respective multiple package blanks to be gripped in a co-clamping manner.

[0018] Alternatively or supplementarily, the lower gripping unit may include at least two fork tips oriented parallel to each other. In this case, it is also conceivable that the lower gripping unit is designed as a molded part that cooperates with the upper gripping unit to grip multiple packaging blanks at a time, providing the previously mentioned contact surfaces to the packaging blanks. As long as the lower gripping unit includes at least two fork tips oriented parallel to each other, these at least two fork tips oriented parallel to each other may have or form the previously mentioned contact surfaces.

[0019] Alternatively, the lower clamping unit may include two outer fork tips and two inner fork tips, wherein the two outer fork tips and / or the two inner fork tips are displaceable such that the two outer fork tips can enter a common plane together with the two inner fork tips. Alternatively or additionally, the two outer fork tips may be displaceable along their respective longitudinal axes and relative to the frame of the previously mentioned clamping head.

[0020] The proven implementation is that the lower clamping unit includes at least four fork teeth oriented parallel to each other, wherein two of the at least four parallel fork teeth are capable of displacement such that the two inner fork teeth can enter a first position, in which the two inner fork teeth and the two outer fork teeth are located on a common plane and can enter a second position, in which the two inner fork teeth have left the plane.

[0021] The gripping head may include at least one actuator, via which the two inner fork tines can be moved from a first position to a second position. Since the two inner fork tines and the two outer fork tines are located in a coplanar plane in the first position, the package blank picked up by the gripping head can be carried by both the two inner fork tines and the two outer fork tines in this case. In practice, it is also possible to pick up package blanks with smaller dimensions using the same gripping head.

[0022] In this case, the two outer fork tines are not necessary to carry such packaging blanks when appropriate. Therefore, if the two outer fork tines are not needed to carry the multiple packaging blanks, the two inner fork tines can be in the second position. Thus, the described embodiment offers high flexibility in picking up and handling packaging blanks of different sizes.

[0023] Specifically, the gripping head may include at least one fork tooth, which is designed to move into the pallet to pick it up. Therefore, in addition to packaging blanks, the pallet can be handled in a simple manner. Alternatively or additionally, the gripping head may include at least one clamping element and / or holding element, via which the gripping head can hold the pallet. For example, the at least one clamping element and / or holding element may be at least one clamping finger and / or at least one clamping hook. The at least one clamping element and / or holding element may also be at least two clamping jaws and / or holding jaws, which can jointly receive the corresponding pallet in a force-fit and / or form-fit manner.

[0024] Even in such an implementation, the pallet can be handled in a simple manner, except for packaging blanks.

[0025] Alternatively or supplementally, the lower clamping unit may include at least four parallel-oriented fork teeth, wherein two of the outer fork teeth among the at least four parallel-oriented fork teeth are displaced via the linear guide of the clamping head such that the two outer fork teeth among the at least four parallel-oriented fork teeth are able to move in their longitudinal direction.

[0026] Furthermore, the upper clamping unit and / or lower clamping unit may be arranged at a linear guide rail, wherein the upper clamping unit and / or lower clamping unit move along the linear guide rail to clamp and grip the corresponding plurality of packaging blanks. Alternatively, the upper clamping unit may be equipped with a cylinder, via which the upper clamping unit can move along the linear guide rail. Alternatively, the upper clamping unit may be equipped with an electric linear drive device, via which the upper clamping unit can move along the linear guide rail.

[0027] Alternatively, the upper clamping unit may be designed to pivot to clamp and grip a plurality of corresponding packaging blanks. The upper clamping unit may include a sheet metal component that is pivotable such that it can be positioned, by means of pivoting motion, on a corresponding top packaging blank among the plurality of packaging blanks to clamp and grip the respective plurality of packaging blanks.

[0028] A proven implementation in practice involves designing the upper clamping unit to be pivotable, allowing it to be moved to a defined waiting position. When the upper clamping unit is in such a defined waiting position, the gripping head can, where appropriate, be very close to the target location, and then the gripping head transfers the picked-up packaging blank to that target location. Therefore, designing the upper clamping unit to be pivotable further improves the handling of packaging blanks, particularly the transfer of the packaging blank to the predetermined target location.

[0029] In different implementations, the separation unit may be located at the lower clamping unit.

[0030] Another proven implementation is that the separation unit is arranged at the upper clamping unit.

[0031] The separating unit may have a slider at which at least one linear actuator is arranged, wherein the slider is capable of linearly moving along a guide rail of the gripping head together with the at least one linear actuator. If the separating unit is located at the lower gripping unit, then in this case, a guide rail may be provided via the lower gripping unit of the gripping head. If the separating unit is located at the upper gripping unit, then in this case, a guide rail may be provided via the upper gripping unit of the gripping head.

[0032] In such an implementation, the gripper head may have at least one actuator and a toothed belt or spindle, wherein the slider can move linearly along the guide rail together with the at least one linear actuator via the toothed belt or via the spindle.

[0033] Alternatively, the separating unit may have a stop that is movable via a linear actuator and designed to flush align the outer edges of the packaging blanks configured for clamping and gripping each time. The stop may form a contact surface for the corresponding packaging blanks configured for clamping and gripping, and this contact surface is elastic and flexible. Therefore, the risk of accidental damage to the packaging blanks upon contact with the stop surface is reduced.

[0034] The stop can be moved via a linear actuator such that, during lifting of the outer edge, the stop performs a tilting movement oriented in the opposite direction to the outer edge. In this case, the stop may at least partially lose the surface contact with the outer edge formed therein. Alternatively, the stop can be connected to the at least one linear actuator such that, when the stop aligns the outer edge of the packaging blank, which is configured for each clamping grip, with flush alignment, the stop tilts in the opposite direction to the outer edge. Practice has shown that using such an implementation can further reduce the risk of the packaging blank, lifted via the separation unit, accidentally detaching from the separation unit.

[0035] Furthermore, the separation unit for lifting the outer edge of the package blank, which is correspondingly configured to clamp and grip, may include a protruding portion. Provided the separation unit has the previously mentioned stop, the protruding portion may extend beyond the stop. The protruding portion may taper gradually in the direction of its free end, and particularly become pointed in the direction of its free end.

[0036] In this implementation, damage to the packaging blanks can be avoided when extending the protrusions into the stack of packaging blanks. The protrusions can be moved along a linear lifting axis by means of a linear actuator. Within the framework of this movement, the outer edge of the packaging blank, which is configured for gripping with clamping force each time, can be lifted via the protrusions of the separating unit.

[0037] The gripper head may also have at least one suction tool, which is designed such that, instead of gripping multiple packaging blanks with each clamping action, the gripper head can pneumatically receive the packaging blanks via the at least one suction tool. In proven embodiments, the position of the at least one suction tool can be displaced by an actuator, or the gripper head includes at least one actuator via which the at least one suction tool can enter multiple different relative positions relative to the frame of the gripper head.

[0038] In such an implementation, if only one packaging blank remains from the corresponding stack of packaging blanks, it can also be picked up using a suction tool and transported to the corresponding target location. Therefore, this implementation has been proven to allow all packaging blanks in a corresponding stack to be grasped in a simple manner via a gripping head. In this case, the gripping head may include exactly one suction tool. In other implementations, the gripping head may also include, for example, exactly two or exactly three suction tools.

[0039] This utility model also relates to a robotic arm connected to at least one gripping head for handling packaged blanks according to at least one embodiment described above.

[0040] The robotic arm can be an articulated arm robot. Therefore, the robotic arm can have at least one movable working arm, at which at least one gripper head is arranged. Alternatively, the robotic arm can be a gantry system or a triangular kinematic robot.

[0041] This utility model also relates to a packaging system. The packaging system includes: a supply device for picking up at least one stack of flat packaging blanks; at least one robotic arm according to at least one embodiment described above; and a packaging device for packaging goods using the packaging blanks. In the packaging system, the supply device and the packaging device are located within the working area of ​​the at least one robotic arm, wherein the at least one robotic arm is designed to transfer the corresponding packaging blanks gripped by its gripping head to the packaging device each time.

[0042] Packaging devices can be designed to package goods using packaging blanks, where the goods are beverage containers.

[0043] Specifically, the gripping head may include at least one fork tooth, which is designed to move into the free space formed by the pallet to pick up the pallet. Therefore, in addition to packaging blanks, the pallet can be handled in a simple manner via the gripping head. If the pallet is described in conjunction with this patent application, it may be a commercially available European pallet.

[0044] Furthermore, a method for handling packaged blanks via a gripping head having a lower gripping unit, an upper gripping unit, and a separating unit is described. Features of various embodiments of the gripping head, robotic arms, or packaging systems according to this invention described above may also be incorporated into the embodiments of the method described below, and will not be elaborated upon repeatedly.

[0045] The method may be implemented or performed using at least one gripper, at least one robotic arm, or at least one packaging system according to at least one embodiment described above. Similarly, the features described in the embodiments of the method described below may also be provided in the embodiments of the gripper, robotic arm, or packaging system already described above, without needing to be repeated.

[0046] Packaging systems, robotic arms, or grippers may be designed for or used to perform or implement the methods described below.

[0047] In this method, a stack of packaging blanks is provided. Furthermore, the clamping head, by means of a lifting movement achieved by a linear actuator of the separating unit, lifts the outer edge of the corresponding packaging blank to be clamped relative to the other remaining packaging blanks on the stack. This lifting movement is performed along a linear lifting axis that is inclined relative to the contact surface for the packaging blank formed by the lower clamping unit, which then inserts into the stack of packaging blanks in the area of ​​the lifted outer edge.

[0048] Furthermore, the lower clamping unit inserted into the stack, together with the upper clamping unit, subsequently clamps and grips the corresponding packaging blank. The upper and lower clamping units can perform a feed motion in which they reduce their relative distance to each other, thereby resulting in the corresponding packaging blank being clamped and gripped via the upper and lower clamping units.

[0049] Even though it is not mandatory in this method to control the at least one linear actuator to lift the outer edge of the corresponding packaging blank, in different embodiments, the guide clamping head may apply force to the corresponding packaging blank to be clamped and received, thereby moving the piston of the at least one linear actuator along a linear lifting axis and lifting the outer edge of the corresponding packaging blank to be clamped and received via a separation unit.

[0050] Alternatively, the piston of the at least one linear actuator can be adjusted to press against the corresponding package blank to be clamped and received, and then the separation unit can lift the outer edge of the corresponding package blank. As long as the at least one linear actuator is at least one cylinder, the working pressure of the at least one cylinder can be adjusted via an open-loop and / or closed-loop control device of the clamping head, and then the separation unit can lift the outer edge of the corresponding package blank.

[0051] Furthermore, the gripper head moves together with the clamped packaging blank in a direction toward a predetermined target location. A robotic arm, particularly an articulated arm robot, can be provided, wherein the robotic arm moves the gripper head together with the clamped packaging blank in a direction toward a predetermined target location.

[0052] Specifically, the target location can be a packaging device designed to package goods using packaging blanks. The clamped packaging blank can be transferred to the packaging device by a gripping head. The packaging device can then use the transferred packaging blank to package goods, where the goods are beverage containers.

[0053] In this method, the gripper head may include at least one fork tooth, which the gripper head uses to pick up the pallet from which all package blanks have previously been removed. In this case, the robot can transfer the pallet to a target location by moving the gripper head and the pallet picked up by the gripper head to the target location.

[0054] In a preferred embodiment, the linear actuator of the separation unit may tilt its linear lifting shaft relative to the contact surface at an angle during the lifting motion. This angle is between 5° and 30°, particularly between 10° and 25°, and preferably between 15° and 20°.

[0055] Another proven implementation is that the linear actuator of the separation unit tilts its linear lifting shaft at an angle of approximately 18° relative to the contact surface during the lifting motion.

[0056] The linear actuator may be connected with a stop, wherein before lifting the outer edge, the gripping head is moved in the direction of the corresponding package blank to be clamped, such that the stop contacts the surface of the outer edge to be lifted and aligns the outer edges of the package blanks to be lifted flush or substantially flush with each other.

[0057] Furthermore, it is conceivable that the return motion of the linear actuator tilts the stop in the opposite direction to the corresponding packaging blank, while simultaneously lifting the outer edge of the corresponding packaging blank via the separation unit. Alternatively, the stop may have an orientation that tilts in the opposite direction to the outer edge, while simultaneously aligning the outer edges of the packaging blanks yet to be lifted flush or substantially flush with each other.

[0058] Alternatively or additionally, the stop can be connected to the linear actuator such that, during the alignment of the respective outer edges, the stop tilts in the opposite direction of the outer edges.

[0059] In different implementations, a stop wall may be provided, and the stop of the gripping head presses the corresponding packaging blank to be clamped against the stop wall, thereby aligning the outer edges of the packaging blanks to be lifted flush or substantially flush with each other.

[0060] The linear actuator may be connected to a protrusion that inserts into the stack of package blanks to lift the outer edge, thereby supporting the corresponding package blank to be clamped on the protrusion. The protrusion then moves along the lifting axis via the return motion of the linear actuator, and in this case lifts the outer edge of the corresponding package blank to be clamped relative to the other remaining package blanks on the stack.

[0061] Alternatively, the lower clamping unit may include at least two inner fork tines and at least two outer inner fork tines, wherein only the at least two inner fork tines are inserted into the stack in the area of ​​the raised outer edge and pick up the corresponding package blank to be clamped, so that the corresponding package blank to be clamped is fully supported by the at least two inner fork tines.

[0062] In this configuration, the at least two outer fork tines can then contact the corresponding already picked-up bottom packaging blank, and thus the corresponding packaging blank to be clamped and gripped is carried by the at least two inner fork tines and the at least two outer fork tines. Specifically, the at least two inner fork tines can, under the action of the actuator, enter a position where the at least two outer fork tines and the at least two inner fork tines are in a coplanar plane.

[0063] In a proven implementation, the lower clamping unit is inserted into the stack of packaging blanks within the area of ​​the raised outer edge and at least partially picks up the corresponding packaging blank to be clamped, such that the corresponding packaging blank to be clamped is fully or partially carried by the lower clamping unit. Furthermore, at least one centering element designed as part of the clamping head is movable and aligns the multiple fully or partially picked-up packaging blanks flush with each other.

[0064] The gripper head may include at least one suction tool, through which the gripper head pneumatically receives the last package blank in the stack of package blanks formed thereon, and then the gripper head transports the pneumatically picked-up package blank in a direction toward a predetermined target location.

[0065] This invention also relates to a packaging system. The packaging system includes a supply device for picking up at least one stack of flat packaging blanks. The packaging system also includes a robotic arm having a gripping head with an upper gripping unit and a lower gripping unit, which are designed to grip multiple packaging blanks together at a time from the stack of packaging blanks picked up via the supply device.

[0066] The supply device is configured to include a stop wall that is movable such that it can contact the surface of a stack of package blanks picked up by the supply device, thereby aligning the respective package blanks flush with each other. Specifically, the stop wall may be designed to be movable in the horizontal direction.

[0067] Specifically, the gripping head may include at least one fork tooth, which is designed to move into the free space formed by the pallet to pick up the pallet. Therefore, in addition to packaging blanks, pallets can be handled in a simple manner.

[0068] The packaging system may include a packaging device for packaging goods using packaging preforms. The packaging device may be located within the working area of ​​a robotic arm, which is designed to transfer corresponding packaging preforms, gripped each time by its gripping heads, to the packaging device. The packaging device may be designed to package goods using packaging preforms, wherein the goods are beverage containers.

[0069] The supply device may include a pressing device that can be placed on a stack of package blanks picked up by the supply device, thereby clamping the stack at the supply device.

[0070] Furthermore, it is conceivable that the supply device includes a turntable designed to carry the corresponding stacks of picked-up packaging blanks, the turntable being designed to rotate about a vertically oriented axis.

[0071] The supply device may also include a pivoting device that is connected to the pressing device and the supply device for packaging the stack of blanks, such that the pressing device and the pressing device can rotate about a common horizontal axis by means of the pivoting device.

[0072] The supply device may include a pivoting device, which is connected to a pressing device and a turntable such that the turntable and the pressing device can rotate about a common horizontal axis by means of the pivoting device.

[0073] This utility model also relates to a packaging system comprising: a supply device for picking up at least one stack of packaging blanks; and a robotic arm having a gripping head having an upper gripping unit and a lower gripping unit, which are designed to grip multiple packaging blanks together at a time from the stack of packaging blanks picked up via the supply device. The packaging system also includes a placement rack.

[0074] The placement rack includes a support surface for receiving packaged blanks via a robotic arm, and the lower gripping unit of the robotic arm includes at least two fork teeth oriented parallel to each other, wherein the support surface forms at least one groove, the groove of which is sized such that the at least one fork tooth can pass through the support surface via the at least one groove.

[0075] Specifically, the gripping head may include at least one fork tooth, which is designed to move into the free space formed by the pallet to pick up the pallet. Therefore, in addition to packaging blanks, pallets can be handled in a simple manner.

[0076] The packaging system may include a packaging device for packaging goods using packaging preforms. The packaging device may be located within the working area of ​​a robotic arm, which is designed to transfer corresponding packaging preforms, gripped each time by its gripping heads, to the packaging device. In a different embodiment, in this case, the packaging device may be designed to package goods using packaging preforms, wherein the goods are beverage containers. In such an embodiment, the support surface may be designed as part of the packaging device.

[0077] Furthermore, this utility model relates to a packaging system comprising: a supply device for picking up at least one stack of flat packaging blanks; and a robotic arm having a gripping head having an upper gripping unit and a lower gripping unit, which are designed to grip multiple packaging blanks together at a time from the stack of packaging blanks picked up via the supply device. The supply device includes a centering device that enables the at least one stack of flat packaging blanks to be aligned flush with each other.

[0078] The centering device may include at least one centering beam designed to perform a feed motion so as to align stacked package blanks picked up by the supply device flush with each other.

[0079] In addition, the packaging system may include at least three centering beams designed to perform feed motion so as to align the stacked packaging blanks picked up by the supply device flush with each other.

[0080] The at least three centering beams can be connected to the actuator such that, when the actuator is driven, the at least three centering beams are raised or lowered together in the vertical direction.

[0081] The packaging system may include a packaging device for packaging goods using packaging preforms. The packaging device may be located within the working area of ​​a robotic arm, which is designed to transfer corresponding packaging preforms, gripped each time by its gripping heads, to the packaging device. The packaging device may be designed to package goods using packaging preforms, wherein the goods are beverage containers.

[0082] Specifically, the gripping head may include at least one fork tooth, which is designed to move into the free space formed by the pallet to pick up the pallet. Therefore, in addition to packaging blanks, pallets can be handled in a simple manner. Attached Figure Description

[0083] In the following sections, embodiments of the present invention and their advantages will be explained in more detail with reference to the accompanying drawings. The dimensional proportions of individual elements in the drawings do not always correspond to actual dimensional proportions, as some shapes are simplified and others are enlarged for better illustration compared to other elements.

[0084] Figure 1A and Figure 1B A schematic perspective view showing one embodiment of the clamping head.

[0085] Figures 2A to 2C A schematic perspective view showing another embodiment of the clamping head.

[0086] Figures 3A to 3C A schematic perspective view showing one embodiment of the separation unit is provided. This separation unit can be incorporated into different embodiments of the clamping head of the present invention, and can be configured to be implemented in different embodiments of the method.

[0087] Figure 4 Another embodiment of the separation unit is shown, which can be configured as part of different embodiments of the clamping head of this invention, and configured for implementation in various embodiments of the method.

[0088] Figures 5A to 5G The different embodiments of the method shown can be implemented individually or according to Figures 5A to 5G The steps for setting up the combination are shown.

[0089] Figure 6 Other aspects that can be set up in different implementations of the method are shown.

[0090] Figures 7A to 7C The following further embodiments of the method are shown, which may be implemented individually or in accordance with Figures 7A to 7C The steps for setting up the combination are shown.

[0091] Figure 8 A schematic perspective view showing one embodiment of the packaging system of this utility model is shown.

[0092] Figure 9 A schematic view showing another embodiment of the packaging system of this utility model is shown.

[0093] Figure 10A and Figure 10B Each of the following is a schematic perspective view showing another embodiment of the clamping head of the present invention.

[0094] Figure 11A and Figure 11B It clarifies the process of passing through Figure 10A and Figure 10B The illustrated embodiment describes the operation steps of the clamping head transferring the packaged blank to the placement rack.

[0095] Figure 12 An embodiment of a placement rack is shown, which can be incorporated into different embodiments of the packaging system of this invention, and can be configured for implementation in different embodiments of the method.

[0096] Figure 13 A schematic view showing one embodiment of the packaging system and another embodiment of the clamping head of this utility model.

[0097] Figure 14 Further details are shown, which may be provided in different embodiments of the packaging system of this invention and in different embodiments of the method.

[0098] Figure 15 A schematic view showing another embodiment of the clamping head of this utility model is shown.

[0099] Figure 16 A schematic view showing another embodiment of the packaging system of this utility model is shown.

[0100] Figure 17 Show Figure 16 A top view of an embodiment of the packaging system shown.

[0101] Figures 18A to 18D A schematic view showing another embodiment of the packaging system of this utility model is shown.

[0102] Figure 19A and Figure 19B An embodiment of a supply device is shown, which may be provided in different embodiments of the packaging system of the present invention and in different embodiments of performing the method.

[0103] Figure 20 A flowchart of a single step is shown, which may be set in different implementations of the method. Detailed Implementation

[0104] The same reference numerals are used for elements that are identical or have the same effect in this invention. Furthermore, for clarity, only the reference numerals necessary for the description of the corresponding figure are depicted in a single drawing. The embodiments shown are merely examples of the design schemes of this invention and do not represent conclusive limitations.

[0105] Figure 1A and Figure 1B A schematic perspective view showing one embodiment of the gripper head 10, which can be connected to a robotic arm 1. In practice, the robotic arm 1 is designed, for example, as an articulated arm robot 1', which can be configured according to... Figure 1A and Figure 1B The embodiment carries the gripper head 10. This articulated arm robot 1' has a working arm 48 (see... Figures 5A to 5G A clamping head 10 is fixed at the working arm.

[0106] The clamping head 10 includes a frame 12, which in this example may be a thin-walled welded sheet metal bend made of stainless steel or aluminum. Other conceivable materials for the frame 12 may include galvanized steel, titanium, lightweight materials, fiber composites, and / or other materials. The frame 12 may also be manufactured using a 3D printing process in different embodiments.

[0107] like Figure 1B As shown, a flange 14 is arranged on the back of the frame 12, through which the gripper head 10 can be fixed to the robot arm 1 or the articulated arm robot 1'. The flange 14 can be a quick-change system or a component of a quick-change system. The advantage of such a system is that the gripper head 10 can be quickly and easily removed from the working arm 48 of the robot arm 1 and can be quickly and easily placed on the working arm 48 of the robot arm 1.

[0108] A clamp 15 is also arranged at frame 12, the clamp including an upper clamping unit 17 and a lower clamping unit 19. The upper clamping unit 17 has two first fork teeth 27 oriented parallel to each other. The lower clamping unit 19 has two inner fork teeth 29 oriented parallel to each other and two outer fork teeth 29' oriented parallel to each other.

[0109] The clamping head 10 includes means for adjusting the alignment or tilting of the inner fork tweezers 29 and the first fork tweezers 27 along their respective longitudinal axes. Therefore, the inner fork tweezers 29 can be configured such that the contact surface of the package blank is parallel to the contact surface of the first fork tweezers 27, thereby enabling the safe reception of the package blank.

[0110] Both the upper clamping unit 17 and the lower clamping unit 19 can be held via corresponding cylinders 25 (in Figure 1AOnly one cylinder 25 can be seen moving up and down along the frame 12 in a linear direction. When the upper clamping unit 17 and the lower clamping unit 19 approach each other, the packaging blank can be gripped tightly by the upper clamping unit 17 and the lower clamping unit 19.

[0111] Once the corresponding clamped packaging blanks are brought to the corresponding target location by the robotic arm 1 or the gripper head 10, the lower gripper unit 19 and the upper gripper unit 17 can increase their relative distance, thereby releasing the packaging blanks. For this purpose, the cylinder 25 is actuated again.

[0112] The clamping head 10 provides the possibility of pre-setting the corresponding clamping force required to clamp the package blank by setting the pressure acting on the cylinder 25 at the open-loop and / or closed-loop control device 20.

[0113] In addition, the clamping head 10 also includes a separation unit 18, which separates the clamping head 10 from the other end of the clamping head 10. Figure 1A and Figure 1B In the illustrated embodiment, it is designed as part of the lower clamping unit 19. The separating unit 18 can be displaced along the inner fork 29 of the lower clamping unit 19, as will be further described below, so as to lift the outer edge of the packaging blank to be gripped at the bottom.

[0114] During the movement of the separation unit 18, the gripping head 10 includes an actuator 13 and a slider 30. The actuator 13 can move the slider 30 back and forth along the inner fork teeth 29.

[0115] To lift the outer edge of the packaging blank to be gripped at the corresponding bottom, the gripping head 10 includes a linear actuator 16, which... Figure 1A The middle part is visible. In this example, the linear actuator 16 is a cylinder 26. The linear actuator 16 or cylinder 26 is connected to the slider 30, so that the linear actuator 16 or cylinder 26 moves back and forth along the inner fork tooth 29 together with the slider 30.

[0116] When the separating unit 18 lifts the corresponding outer edge of the corresponding bottom packaging blank via the linear actuator 16, the linear actuator 16 or the linear lifting shaft HA of the cylinder 26 (see...) Figure 3A The contact surface 24 is inclined relative to the contact surface 24 used for packaging blanks. The contact surface 24 is formed by the lower clamping unit 19 or by the inner fork 29 and outer fork 29' of the lower clamping unit 19. When the corresponding packaging blank to be received is clamped and held by the lower clamping unit 19 and the upper clamping unit 17, the contact surface is planarly attached to the corresponding bottom packaging blank.

[0117] As will be described later, a proven implementation involves the linear lifting shaft HA tilted at an angle relative to the contact surface 24, the angle being between 5° and 30°, particularly between 10° and 25°, and preferably between 15° and 20°. In such an implementation, the outer edge of the bottom packaging blank to be grasped can be lifted, with only a very small risk that the bottom packaging blank to be received may accidentally detach from the separating unit 18.

[0118] Figure 1A and Figure 1B It is also shown that the gripper head 10 has an open-loop and / or closed-loop control device 20, through which the gripper head 10 can be connected to a central control system S. Pneumatic supply or control of the gripper head 10 is performed via the open-loop and / or closed-loop control device 20; for this purpose, the central control system S includes or can actuate multiple valves. Furthermore, the open-loop and / or closed-loop control device 20 constitutes an interface for multiple sensors designed as components of the gripper head 10.

[0119] Since the gripper head 10 can be connected to the central control system S, preferably only via the open-loop and / or closed-loop control device 20, it is not necessary to lay multiple lines to the central control system S to operate the gripper head 10. Therefore, the coupling of the gripper head 10 is performed in a simple or uncomplicated manner. Furthermore, the replacement of the gripper head 10 can be performed quickly and easily.

[0120] In practice, a proven implementation is that the open-loop and / or closed-loop control device 20 provides an interface for almost all control elements, where only the pneumatic and electrical supply lines and data lines need to be guided from the clamping head 10 to the distribution box.

[0121] Figures 2A to 2C A schematic perspective view showing another embodiment of the gripper head 10 is shown, which may be provided in different embodiments of the robot arm 1 of this invention. Figures 2A to 2C The embodiment of the gripper head 10 shown also has a clamp 15 having an upper clamping unit 17 and a lower clamping unit 19, through which the gripper head 10 can simultaneously pick up and clamp multiple packaging blanks from the stack 50.

[0122] The upper clamping unit 17 and the lower clamping unit 19 can be aligned with each other, such that the contact surface of the upper clamping unit 17 for receiving the packaging blank and the contact surface 24 of the lower clamping unit 19 for receiving the packaging blank are oriented parallel or substantially parallel to each other.

[0123] Lower clamping unit 19 in Figure 2A and Figure 2BIn the illustrated embodiment, it is fixedly connected to the frame 12. Conversely, the upper clamping unit 17, as from... Figure 2A and Figure 2B As can be seen in the overview, it can move up and down along the frame 12 via the cylinder 25.

[0124] Separation unit 18 in Figure 2A and Figure 2B In the illustrated embodiment, it is arranged at or designed as part of the upper clamping unit 17, and therefore moves up and down together with the upper clamping unit 17. Figures 2A to 2C In the illustrated embodiment, the separating unit 18 also has a slider 30, at which a linear actuator 16, which is a cylinder 26, is arranged. The slider 30 and the linear actuator 16 can be moved together along the upper clamping unit 19 via the cylinder, indicated by reference numeral 7 in the accompanying drawings.

[0125] An open-loop and / or closed-loop control device 20 is arranged on the back of the frame 12. This open-loop and / or closed-loop control device is based on the previous... Figure 1A and Figure 1B The illustrated embodiment is connected to the central control system S. The open-loop and / or closed-loop control device 20 is particularly capable of... Figure 2C This can be seen in detail.

[0126] like Figure 2C Furthermore, as shown, the frame 12 forms a flange 14 on its back side away from the clamp 15, through which the gripper head 10 can be secured to the robot arm 1. The flange 14 can also be designed as part of a quick-change system in the embodiments shown in Figures 2a to 2c.

[0127] Figures 2A to 2C The implementation shown is compared to Figure 1A and Figure 1B The illustrated embodiment has the advantage that the center of gravity of the gripper head 10 is closer to the flange of the corresponding robot arm 1 on which the gripper head 10 is arranged. Therefore, the gripper head 10 can also be used for smaller robot arms 1.

[0128] use Figure 1A and Figure 1B The embodiment shown can achieve a very short cycle time or a very high cycle rate because the upper clamping unit 17 moves only a small distance when multiple packaging blanks are simultaneously gripped by the clamping head 10.

[0129] Figures 3A to 3C A schematic perspective view showing one embodiment of the separation unit 18 is provided. This separation unit can be configured as a component of different embodiments of the clamping head 10 of the present invention, and is configured for implementation in different embodiments of method 100. According to Figure 3A and Figure 3B The separation units 18 in the illustrated embodiments are each designed with the front end corresponding to the front end. Figure 1A , Figure 1B as well as Figures 2A to 2C The components of the clamping head 10 in the illustrated embodiment.

[0130] Figure 3A In this case, the linear actuator 16, which is the cylinder 26, is shown in detail again. If multiple pre-received package blanks are to be lifted by the separating unit 18 via the gripping head 10, the piston 42 of the cylinder 26 is initially in the extended position.

[0131] Connected to the piston 42 of cylinder 26 are a stop 32 and a protrusion 34. The corresponding robotic arm 1 then moves the gripping head 10 toward the corresponding package blank to be gripped, wherein the stop 32 contacts the surface of these package blanks and inserts the protrusion 34 into the stack of package blanks, so that the protrusion 34 is thereby positioned below the outer edge of the corresponding bottom package blank to be gripped.

[0132] The piston 42 of the linear actuator 16 or cylinder 26 thus performs a return motion along the lifting shaft HA, thereby lifting the outer edge of the corresponding bottom package blank to be gripped. This return motion is caused by bringing the stop 32 into contact with the surface of the package blank to be received, and moving the gripping head 1 together with the separating unit 18 toward the corresponding package blank to be received.

[0133] The unaccepted package blank thus comes into contact with the surface of the stop 32 in a force-applied manner, thereby causing the piston 42 to return to its original position. The cylinder pressure or operating pressure can be set via the previously mentioned open-loop and / or closed-loop control device 20.

[0134] The lifting shaft HA is relative to the contact surface 24 during the lifting motion (see...) Figure 1A and Figure 2B The package is tilted at an angle between 15° and 20°, specifically approximately 18°. This prevents the outer edge of the corresponding bottom portion of the package blank from slipping off the protrusion 34 during lifting. Lifting the outer edge via the separation unit 18 is highly reliable when the lifting shaft HA is at the stated angle.

[0135] also, Figures 3A to 3C The slider 30, designed as a component of the separate unit 18, is shown again. The interface is in... Figures 3A to 3CThe slider 30, denoted by reference numeral 36, is connected to the upper clamping unit 17 or the lower clamping unit 19 via this interface. The slider 30 has a frame 37, which may be constructed of a thin-walled welded sheet metal part made of stainless steel or aluminum. In other embodiments, the frame 37 may also be constructed of a fiber composite material.

[0136] The stop 32 has a non-slip and flexible surface 38 to avoid damage when it comes into contact with the corresponding packaging blank that needs to be clamped. The protrusion 34 extends beyond the stop 32, thus allowing the corresponding packaging blank to be clamped to be securely held. To avoid damage to the packaging blank when the protrusion 34 is inserted into the packaging blank stack 50, the protrusion 34 tapers gradually in the direction of its free end, or even becomes pointed in the direction of its free end.

[0137] Cylinder 26 is equipped with a stroke sensor 9, which provides information to the open-loop and / or closed-loop control device 20 of the gripper head 10, using this information to determine the corresponding stroke of piston 42. When the separating unit 18 aligns the packaging blanks flush with each other via the stop 32, the stop 32 is slightly tilted in the opposite direction to these corresponding packaging blanks.

[0138] Figure 4 The schematic diagram illustrates another embodiment of the separation unit 18, which can be configured as a component of different embodiments of the clamping head 10 of the present invention, and is configured to be implemented in different embodiments of method 100.

[0139] Figure 4 The embodiment of the separating unit 18 shown also includes a slider 30 that forms a frame 37. The frame 37 is a thin-walled welded sheet metal piece made of stainless steel or aluminum. Alternatively, the frame 37 can be formed of a fiber composite material. The stop 32 corresponds to the one previously mentioned... Figures 3A to 3C The embodiments already described herein include a non-slip and elastic surface 38.

[0140] The interface with the upper clamping unit 17 or the lower clamping unit 19 continues to be indicated by reference numeral 36. The linear actuator 16, still the cylinder 26, is oriented and arranged similarly to... Figures 3A to 3C The implementation of the separating unit 18 shown is different. When the separating unit 18 lifts the outer edge of the corresponding bottom package blank to be received, the lifting shaft HA of the cylinder 26 is substantially relative to the contact surface already described (see...). Figure 1A Vertical orientation. As an alternative to cylinder 26, linear actuator 16 can also use an electric actuator or a hydraulic actuator.

[0141] Figures 5A to 5GIt is shown that in different embodiments of method 100, it can be used individually or according to Figures 5A to 5G The steps for the combined setup are shown. Method 100 is performed via the clamping head 10, which is described above. Figures 2A to 2C The embodiments shown are illustrated and described.

[0142] The gripper head 10 is positioned at the working arm 48 of the robotic arm 1. In this example, the robotic arm 1 is an articulated arm robot 1'. The working arm 48 is... Figures 5A to 5G Only a portion of it is visible.

[0143] exist Figure 5A In the process, the gripping head 10 has been moved by the working arm 48 toward the stack of packaging blanks to be picked up on the stack 50, so that the stop 32 makes surface contact with the corresponding packaging blank to be picked up in a force-applied manner. A stop wall 5 is provided behind the packaging blank to be picked up, and this stop wall... Figure 5A It is not indicated in the text, but for example in Figure 9 As shown in the figure. After the stop 32 comes into contact with the corresponding package blank to be picked up, the robot arm 1 or the gripper head 10 presses the package blank to be picked up against the stop wall 5, so that the corresponding package blanks to be picked up are aligned flush or substantially flush with each other.

[0144] Furthermore, the movement of the gripping head 10 toward the package blank to be picked up causes the protruding portion 34 to be inserted into the stack 50, thus... Figure 5A In the middle, the outer edge of the packaging blank to be picked up at the bottom is already laid flat on the protrusion 34. Piston 42 (see...) Figures 3A to 3C )exist Figure 5A It is in the extended position.

[0145] Figure 5B The steps of the method described immediately follow Figure 5A Following the steps described in the method. According to Figure 5A The piston 42 of cylinder 26 performs the return motion. As the gripper head 10 moves toward the stack 50, the force exerted on cylinder 26 by the package blank to be picked up causes the return motion. The clamping force used by cylinder 26 or piston 42 to hold the package blank to be picked up can be set or predetermined at the open-loop and / or closed-loop control device 20 (see [reference]). Figure 1A and Figure 1B as well as Figure 2A and Figure 2B ).

[0146] As the frame 12 moves toward the stack 50, the corresponding outer edge of the package blank to be picked up is lifted relative to the package blank remaining on the stack 50 via the separation unit 18, thereby creating a gap L.

[0147] The lifting shaft HA of cylinder 26 (see) Figure 3A and Figure 3B Here, it is tilted at an angle relative to the contact surface 24 formed by the lower clamping unit 19, which is approximately 18°. Simultaneously with the return motion, the stop 32 moves together with the protrusion 34 and the packaging blank located on the protrusion 34 in the direction of the frame 12, and the stop here temporarily maintains surface contact with the outer edge of the corresponding packaging blank to be clamped.

[0148] By lifting the outer edge, as previously described, a gap L is created, into which the lower clamping unit 19 can extend. Figure 5B In the middle, the lower clamping unit 19 is already located in the gap L. When the gap L has been formed and the lower clamping unit 19 is as follows... Figure 5B When the piston has extended into gap L, piston 42 (see...) Figures 3A to 3C The piston 42 can perform an active return motion, thereby disengaging the stop 32 from the packaging blank and pulling the protrusion 34 away from the packaging blank. The movement of the piston 42 during the return motion is transmitted via the stroke sensor 9 of the separation unit 18 (see...). Figure 3A Monitoring is performed. As long as the actual position of piston 42 deviates from the predetermined target position within the frame of the return motion, the return motion can be adjusted.

[0149] As previously described, when the frame 12 moves toward the stack 50, the piston 42 of the cylinder 26 is first triggered to return to its original position by the pressure of the packaging blank to be picked up. Then, when the piston 42 reaches a specific position, the specific position is identified and the piston 42 is triggered to return to its original position, thereby causing the stop 32 to leave the packaging blank and pulling the protrusion 34 away from the packaging blank.

[0150] Since the lower clamping unit 19 remains within the gap L, the gap L remains unchanged. The lower clamping unit 19 contacts the corresponding bottom packaging blank during or after the return motion of the protrusion 34. The corresponding packaging blank to be picked up is then placed flat on the lower clamping unit 19.

[0151] The steps of this method are as follows: Figure 5C The image shows that the stop 32 has retracted via cylinder 26, and... Figure 5C The process loses its surface contact with the corresponding packaging blanks, which are then still gripped by the clamping head 10.

[0152] As from Figure 5C and Figure 5D As can be seen in the overview, cylinder 7 also performs a return motion, thereby pulling slider 30, along with cylinder 26, stop 32, and protrusion 34, back towards frame 12. The package blank, configured for clamping gripping, remains on lower clamping unit 19 during the return motion.

[0153] In step 5E, the cylinder 25 of the actuating clamping head 10 (see...) Figure 2A And the upper clamping unit 17 is raised relative to the lower clamping unit 19. The clamping head 10 is moved from the lower clamping unit 19 via the working arm 48. Figure 5E Move to the position shown Figure 5F The position shown allows the lower clamping unit 19 to extend further into the gap L until the corresponding packaging blank, which should be gripped by the clamping head 10, is fully supported by the lower clamping unit 19 of the clamping head 10.

[0154] Next, via cylinder 25 (see...) Figure 2A Move the upper clamping unit 17 toward the lower clamping unit 19 until the upper clamping unit 17 contacts the corresponding top packaging blank and the corresponding packaging blank is held between the upper clamping unit 17 and the lower clamping unit 19 with a predetermined clamping force.

[0155] exist Figure 5G In this process, the packaging blank is gripped and held tightly by the upper clamping unit 17 and the lower clamping unit 19. For example... Figure 5G As shown, in step 5f, the lower clamping unit 19 only needs to extend into the gap L at a position where the upper clamping unit 17 contacts only a portion of the bottom packaging blank when clamping. Therefore, the lower clamping unit 19 does not need to extend into the gap L at a position where the corresponding clamped packaging blank is already located in the area close to the frame 12.

[0156] Figure 6 The schematic diagram illustrates other aspects that can be configured in different embodiments of method 100. In particular, Figure 6 The diagram shows packaging blanks that need to be clamped for reception, and these packaging blanks are dimensionally designed to be similar to... Figures 5A to 5G The package blank shown is different. The lower clamping unit 19 continues to be inserted into the gap L to receive it clamped, but unlike... Figures 5A to 5G Compared to the embodiment shown, the insertion depth is greater. This makes it possible to securely receive even larger packaging blanks when they are subsequently clamped during the feed motion of the upper clamping unit 17 and the lower clamping unit 19.

[0157] Figures 7A to 7C In further embodiments of method 100, it can be performed individually or in accordance with Figures 7A to 7C The steps for the combined setup are shown. Method 100 is performed via the clamping head 10, which is described above. Figures 1A to 1B The embodiments shown are illustrated and described.

[0158] exist Figure 7A In the middle, the clamping head 10 has received multiple packaged blanks clamped from the stack 50. Figure 7AIn the middle, the upper clamping unit 17 and the lower clamping unit 19 contact the received packaging blank with applied force. In such a way... Figure 7A Before being clamped and received, the corresponding outer edge of the package blank to be received is lifted by the separation unit 18, forming a gap L, as shown in Figures 5A to 5G As has been mentioned and described in the illustrated implementation.

[0159] The package blanks are received in a clamped manner. Figures 7A to 7C The inner fork 29' extends beyond the image plane direction and the opposite direction of the image plane, and is designed as a component of the lower clamping unit 19. In order to stably hold the clamped package blank during subsequent handling, the outer fork 29' contacts the protruding portions of the clamped bottom package blank in the image plane direction and the opposite direction of the image plane. Figures 7A to 7C In the middle, only one of the two outer fork teeth 29' can be seen, because the other outer fork tooth 29' is... Figures 7A to 7C The outer fork tines 29' shown are blocked. Both outer fork tines are... Figure 1A and Figure 1B As shown in the image.

[0160] from Figure 7A and Figure 7B As can be seen from the overview, the outer fork tooth 29' is first moved along its longitudinal axis until the outer fork tooth 29' is according to Figure 7B The predetermined position is located below the package blank that has been clamped and received. In this case, it is possible to further increase the relative distance between the outer fork tees 29', or to further separate the outer fork tees 29' from each other.

[0161] Further steps from Figure 7B and Figure 7C This is clearly visible in the overview. From Figure 7B Starting from the position shown, the first fork tines 27 and the inner fork tines 29 are lowered together until the outer fork tines 29' contact the already clamped package blank. In the image direction and in the direction opposite to the image direction, the portion of the package blank extending beyond the inner fork tines 29... Figure 7C The middle is supported by the outer fork tip 29'.

[0162] When the robotic arm 1 transports the clamped package blank along with the gripper head 10 to the transfer location in subsequent steps, the risk of the package blank accidentally detaching from the gripper head 10 is very low. Furthermore, the aforementioned operational steps prevent the clamped package blank from sagging, which could adversely affect its handling. By preventing this sagging, the risk of the clamped package blank being damaged, particularly bent, during transport to the transfer location can be reduced or even eliminated.

[0163] Furthermore, the described operating procedures ensure high process safety when subsequently positioning the clamped package blank to a target location, where a placement rack 62 may be provided. The described operating procedures have also proven effective when introducing the clamped package blank into a space-constrained cut, for example, through an opening 6 (see...). Figure 11A As a supplement to or alternative to the described embodiment, it is possible to lift the outer fork tines 29' until the outer fork tines 29' contact the package blank that has been clamped and received.

[0164] Figure 8 A schematic perspective view showing one embodiment of the packaging system 60 of this utility model is provided. The packaging system 60 includes... Figure 8 The robotic arm 1, not shown, is designed as an articulated arm robot 1' and carries a gripper head 10. The gripper head 10 has an upper gripping unit 17 and a lower gripping unit 19, which can perform feed movements to grasp multiple package blanks with each clamping action.

[0165] The packaging system includes a placement rack 62 that forms a support surface 64. A robotic arm 1 can place correspondingly clamped packaging blanks onto the support surface 64 via a gripping head 10. Figure 8 As shown, the lower clamping unit 19 of the clamping head 10 includes two fork teeth 28 oriented parallel to each other. When multiple packaging blanks are gripped by the clamping head 10, the corresponding multiple packaging blanks are placed on the fork teeth 28. The support surface 64 of the placement frame 62 forms a plurality of slots 7, the width of which corresponds to the fork teeth 28 such that the fork teeth 28 can pass through the support surface 64 via the slots 7. Therefore, multiple packaging blanks can be quickly and easily placed on the support surface 64 via the clamping head 10.

[0166] In the placement rack 62, corresponding grooves 7 are formed between two directly adjacent conveyor belts 69. In different embodiments, it is conceivable that the placement rack 62 has a plurality of strips that move in the direction of the gripping head 10 in order to receive a corresponding plurality of clamped and gripped packaging blanks from the gripping head 10.

[0167] The corresponding received packaging preforms are moved to a centering device 70 via a placement rack 62 or via a conveyor belt 69 designed as a component of the placement rack 62. This centering device aligns multiple packaging preforms flush. From there, the packaging preforms are further transported and used to package goods, such as beverage containers. The centering device and the placement rack 62 are thus configured as follows: Figure 8 The packaging device, which is not fully shown, is a component of the packaging system 60.

[0168] The implementation of the clamping head 10 is as follows: Figure 8 This is understood by way of example only. It is also conceivable that the gripping head 10 of the packaging system 60 includes a plurality of inner fork teeth 29 and a plurality of outer fork teeth 29', as in... Figure 1A and Figure 1B As shown in the illustrated embodiment, these plurality of inner fork tines 29 and / or plurality of outer fork tines 29 can pass through the support surface 64 of the placement frame 62 via the slot 7.

[0169] Figure 9 A schematic view showing another embodiment of the packaging system 60 of this utility model is shown. Figure 9 The clamping head, denoted by reference numeral 10 in the attached diagram, is capable of simultaneously gripping and holding multiple packaging blanks. Figure 9 The diagram shows a stack of packaging blanks 50, and several other stacks of packaging blanks 51 to 57.

[0170] Figure 9 Specifically, the sequence in which the gripping head 10 receives multiple packaging blanks and places them on the placement rack 62 is explained. In this case, the gripping head 10 starts with multiple packaging blanks from the stack 50 and transfers these multiple packaging blanks to the placement rack 62. Next, the gripping head 10 sequentially removes corresponding multiple packaging blanks from stacks 51 to 57.

[0171] The clamping head 10 includes a separation unit 18, having as in Figures 3A to 3C The stop 32 is shown in the illustrated embodiment. Through the stop 32, the gripping head 10 presses the respective package blanks to be clamped toward the stop wall 5, wherein the respective package blanks are aligned flush with each other.

[0172] Other stacked preforms 51 to 57 can be pushed down by the pressing device 63 (see below). Figure 16 The pressing device 63 can then press down on the corresponding other stacks 51 to 57, where it is positioned on the topmost packaging blank. That is, for example, the gripping head 10 can first receive the corresponding plurality of packaging blanks from stack 50 and other stacks 51 to 53, and place them respectively on the placement rack 62. The pressing device 63 can then press down on the corresponding plurality of packaging blanks from the other stacks 54 to 57.

[0173] When the gripping head 10 then begins to receive multiple packaging blanks from the stack 54, the pressing device 63 can be moved toward the stop wall 5 in the direction of another row of stacks and press these packaging blanks downward. Therefore, the movement or position of the pressing device 63 can be adjusted according to the packaging blanks received via the gripping head 10.

[0174] Because multiple packaging blanks in different stacks 50 to 57 are closely adjacent or in surface contact with each other during actual operation, it is possible that packaging blanks in adjacent stacks 51 to 57 may accidentally hook into each other when the gripping head 10 receives the corresponding multiple packaging blanks and moves to the placement rack 62. Therefore, it has been proven that when the gripping head 10 removes the corresponding packaging blanks from the corresponding stacks 50 to 57, the gripping head 10 will obliquely move the corresponding packaging blanks away from the corresponding stacks 50 to 57. Thus, the risk of packaging blanks accidentally hooking into each other can be minimized.

[0175] Figure 10A A schematic perspective view showing another embodiment of the clamping head 10 of this utility model is shown. The clamping head 10 includes a frame 12, which is composed of a plurality of sheet metal parts welded together. The lower clamping unit 19 can be raised and lowered via a cylinder 25. The clamping head 10 also includes a separation unit 18, via which the outer edge of the corresponding clamped packaging blank can be raised.

[0176] The separating unit 18 is movable along the inner fork tooth 29 under the action of the actuator. The upper clamping unit 17 includes a sheet metal part 8. The sheet metal part 8 can be pivoted by actuating the piston-cylinder unit 9, in which case it is placed on the packaging blanks arranged at the top and picked up by the inner fork tooth 29, and the multiple picked-up packaging blanks are clamped and fixed at the clamping head 10.

[0177] Figure 10B Show Figure 10A The bottom view of the clamping head 10 of the illustrated embodiment is shown. As can be seen here, the clamping head 10 includes a linear guide 4 along which the inner fork 29 of the clamping head 10 can move. The direction of movement is parallel to the corresponding length extension direction of the inner fork 29 and parallel to the length extension direction of the outer fork 29'. Through such movement, the inner fork 29 can be inserted into the stack 50 of the packaging blanks via the gap L formed by the separating unit 18, as described for the embodiments shown in Figures 5a to 5g.

[0178] Compared to the previously described embodiments, by Figure 10A and Figure 10B The gripper head 10 shown thus makes it possible to pick up multiple package blanks at a time without moving the gripper head 10 itself via the working arm 48 of the robot arm 1 to extend the inner fork 29 into the gap L.

[0179] Figure 11A and Figure 11B It clarified Figure 10A and Figure 10B Other advantages of the embodiment of the clamping head 10 shown: The corresponding packaging blank has been gripped and held by the clamping head 10. Figure 11A and Figure 11B The process of transferring the packaged blank to the placement rack 62 is explained.

[0180] like Figure 11A As shown, multiple packaging blanks can be picked up by the inner fork tines 29 and brought into contact with the separation unit 18. Specifically, the inner fork tines 29 are moved along the linear guide 4 toward the frame 12. To clamp the packaging blanks firmly at the clamping head 10, a small area of ​​the sheet metal part 8 near the separation unit 18 is placed on the top packaging blank with applied force.

[0181] exist Figure 11A and Figure 11B In the embodiment shown, the placement rack 62 forms an opening 6 through which the packaging blank should be introduced via the clamping head 10.

[0182] The opening 6 is sized such that the clamping head 10 cannot fully enter the opening 6 to transfer the packaged blank to the placement rack 62. Before transfer, the sheet metal part 8 is first pivoted upwards via the cylinder 9, thereby placing it into a waiting position. Figure 11A and 11B The movement of the sheet metal part 8 makes it possible for the clamping head 10 to move very close to the opening 6 so that the packaged blank can then be transferred to the placement rack 62.

[0183] The packaging blanks can be placed into opening 6 as follows: the gripper head 10 is moved via the working arm 48 of the robot 1 until all packaging blanks to be transferred to the placement rack 62 are within the opening. Alternatively or supplementing this, the inner fork tines 29 can extend or move along the linear guide 4, allowing the packaging blanks to enter opening 6. Once the packaging blanks are within opening 6, they are lowered, and then the gripper head 10 is moved towards... Figure 11A and Figure 11B The stack 50, not shown, is positioned to clamp and receive more package blanks.

[0184] Figure 12 One embodiment of the placement rack 62 is shown, which can be provided in different embodiments of the packaging system 60 of this invention and in different embodiments of method 100. In this example, the placement rack 62 is designed as part of the adapter 3 and is placed on or carried by the support frame 14. In the adapter 3, the opening 6 is designed such that the entire clamping head 10 cannot be moved into the opening 6. Therefore, in order to transfer the packaging blank to the placement rack 62 or the adapter 3, the clamping head 10 is specifically designed as described above. Figure 10A and Figure 10B as well as Figure 11A and Figure 11B The embodiments shown and described are suitable.

[0185] The adapter 3 has multiple clamping devices 26' that can be placed on corresponding top packaging blanks to reliably place the corresponding multiple packaging blanks on the placement rack 62. Furthermore, the adapter 3 has a coupling device 23, through which the adapter 3 can be coupled to an unmanned transport vehicle or FTS, thereby providing the adapter 3 with electrical power from the unmanned transport vehicle or FTS via the coupling device 23, and also providing compressed air when appropriate. Reference numeral 43 refers to a padding strap, through which the adapter 3 can transport the picked-up packaging blanks and pass them to subsequent devices when needed. The direction of movement is... Figure 12 Arrows are used to indicate this.

[0186] Figure 13 A schematic view showing one embodiment of the packaging system 60 and another embodiment of the clamping head 10 of the present invention is provided. The packaging system 60 shown includes a supply device 80 via which packaging blank stacks 50 are supplied. A stop wall 5 of the supply device 80 is provided in the area of ​​the stacks 50.

[0187] Before the clamping head 10 picks up the corresponding plurality of packaging blanks, the corresponding plurality of packaging blanks are pressed against the stop wall 5 of the supply device 80 via the stop member 32 of the separating unit 18 (see [link]). Figures 3A to 3C The gripping head 10 includes two centering elements 39, wherein the front and rear edges of the corresponding package blanks to be picked up are aligned flush with each other. To align the outer edges of the sides of the corresponding package blanks to be received, the gripping head 10 includes two centering elements 39. Figure 13 Only one of the centering elements 39 is shown in the image.

[0188] The centering element 39 can move in a linear direction, thereby aligning the outer edges of the sides of the respective packaging blanks, which are yet to be fully picked up, flush with each other. Figure 13 In this case, the stacked 50 packaging blanks to be picked up are only partially arranged on the lower clamping unit 19.

[0189] After clamping and gripping the packaging blanks, their outer edges are aligned flush with each other as shown above. The gripping head 10 then transfers the corresponding packaging blanks to... Figure 13 The placement rack 62 is shown only schematically. The placement rack 62 may be part of a packaging apparatus that uses received packaging preforms to package beverage containers.

[0190] Figure 14 Further details are shown, which may be provided in different embodiments of the packaging system 60 of this invention and in different embodiments of method 100. Specifically in Figure 14 The text explains a method that can be used in... Figure 14The possibility of aligning multiple package blanks that have been picked up by the clamping head 10 flush with each other.

[0191] Clamping head 10 Figure 14 The upper gripping unit 17 and the lower gripping unit 19 are connected to the unshown robotic arm 1. After picking up multiple package blanks, the upper gripping unit 17 and the lower gripping unit 19 move separately, thereby allowing the upper gripping unit 17 and the lower gripping unit 19 to reach... Figure 14 The position is shown. Then, the gripper head 10 is rotated by the robot arm 1 so that the picked-up packaging blanks slide toward the separation unit 18 due to gravity, thereby aligning the outer edges of these multiple packaging blank pieces flush with each other.

[0192] according to Figure 14 The clamping head 10 of the illustrated embodiment may also include a centering element 39, as previously described. Figure 13 As shown and described, the outer edges of the sides of the respective picked-up package blanks can be additionally aligned flush with each other via these centering elements 39. Alternatively, the gripping head 10 can be rotated about an axis parallel to the first fork tooth 27 or to the outer fork tooth 29' and the inner fork tooth 29, so that the picked-up package blanks slide toward the centering element 30 under gravity, thereby aligning the outer edges of the sides of the respective picked-up package blanks flush with each other.

[0193] Figure 15 A schematic view showing another embodiment of the clamping head 10 of this utility model is shown. Figure 15 The embodiments shown continue to have the features described above. Figures 3A to 3C The described separation unit 18. The clamping head 10 further includes a frame 12, a lower clamping unit 19, and an upper clamping unit 17, wherein in Figure 15 Only the lower clamping unit 19 is shown in the image.

[0194] The clamping head 10 also includes a suction tool 49. This suction tool 49, such as... Figure 15 As shown and described, but not limited to Figure 15 The embodiment shown is not applicable, but can be configured in general and in all embodiments of the clamping head 10 previously described.

[0195] A clamping head 10 may also include multiple such suction tools.

[0196] As an alternative or supplement to this suction tool 49, the clamping head 10 may also have other clamping tools, such as at least one needle clamp, at least one adhesive clamp, or at least one clamping tool that operates via electrostatic adsorption or is supported by electrostatic adsorption, which is capable of receiving packaged blanks.

[0197] In practice, it is possible that when multiple packaging blanks are removed from stack 50 in multiple steps using the gripper head 10, at least one packaging blank from a single packaging blank in a stack 50 remains. The last packaging blank can be grasped via the suction tool 49 or via the aforementioned gripping tool and then delivered to the target location via the gripper head 10.

[0198] Furthermore, it is conceivable that packaging materials, such as covers, strapping, padding, or even pallets, can be grasped by such a suction tool 49 or via the previously described clamping tool and delivered to a predetermined target location.

[0199] like Figure 15 As indicated by the arrows, a proven implementation allows the suction tool 49 to be positioned at different locations relative to the frame 12 under the action of an actuator. Therefore, hard-to-reach packaging blanks, materials, or other items can also be gripped pneumatically.

[0200] Although the suction tool 49 is configured as part of the gripper head 10 in this example, in other embodiments of the packaging system 60 of this invention, a supplementary or alternative solution is that such a suction tool 49 may be configured as part of an additional device that pneumatically receives the last packaging blank of the stack 50, pneumatically grips packaging material, or even pneumatically receives a tray or cover and delivers it to the desired destination.

[0201] Figure 16 A schematic view showing another embodiment of the packaging system 60 of this utility model is shown. The packaging system 60 includes a robotic arm 1, which is an articulated arm robot 1'. The robotic arm 1 carries a gripper head 10, which can be configured in particular according to one embodiment described above.

[0202] In this example, two stacks 50 of packaged blanks are provided via the supply device 80. In other embodiments, there may be only one stack 50. More than two stacks 50 may also be provided via the supply device 80. Here, the two stacks 50 are located on the tray 71.

[0203] Robotic arm 1 can grip multiple packaging blanks from stack 50 at a time via gripper head 10 and place them in... Figure 16 On the placement rack 62 (not shown).

[0204] The supply device 80 includes a turntable 72 on which a stack of packaging blanks 50 is arranged. The turntable 72 is rotatable about a vertically oriented axis, thereby allowing one of the two stacks 50 to enter the contact area of ​​the robot arm 1.

[0205] Alternatively, a stack 50 may include multiple packaging blanks arranged on the stack 50 with different rotational orientations. If, for example, the packaging blanks of the stack 50 have long and transverse sides of different lengths, and the robot arm 1 is designed to receive packaging blanks with such rotational orientations via the gripper head 10, in which the long side points toward the robot arm 1 or gripper head 10, then the corresponding packaging blank to be received in the stack 50 can be rotated to a suitable rotational orientation for receiving by a corresponding rotation of the turntable 72, in which the long side points toward the robot arm 1 or gripper head 10.

[0206] To ensure that the packaging blanks of the stack 50 are aligned flush with each other, the supply device 80 includes a stop wall 5. The stop wall 5 can move horizontally under the action of an actuator, thereby aligning the corresponding stacked packaging blanks flush with each other.

[0207] The supply device 80 also includes a pressing device 63, which can be placed on one or more stacks 50 to secure corresponding packaging blanks of the respective stacks 50 to the turntable 72. When the robot arm 1 aligns the packaging blanks of the stacks 50 flush with each other via the gripper head 10, the pressing device 63 can secure the packaging blanks of other stacks 50 to prevent them from slipping off.

[0208] The central control system S is connected to sensor 41 and can identify the corresponding actual height of the corresponding stack 50 via sensor 41. Taking into account the corresponding identified actual height, the central control system S actuates the robot arm 50 to clamp and receive the packaged blank from the corresponding stack 50.

[0209] Sensor 41 may be, for example, an optical sensor, such as a camera or similar device. An alternative or supplementary solution may be that the central control system S identifies the corresponding positions of the plurality of package blanks to be received via sensor 41 and controls the robot arm 1 in consideration of the identified positions of the plurality of package blanks to be received.

[0210] Advantageously, this ensures that after being received by clamping via the clamping head 10, the corresponding multiple package blanks are in the intended target position and can therefore be safely held at the clamping head 10.

[0211] Figure 17 Showing according to Figure 16 A top view of an embodiment of the packaging device 60. The robotic arm 1 with gripping head 10, the pressing device 63, and the stop wall 5 can be seen again. A turntable 71 forms a support surface 64 on which the stack 5 is placed.

[0212] Figures 18A to 18D A schematic view showing another embodiment of the packaging device 60 of this utility model is shown. Furthermore, Figures 18A to 18D Individual steps that can be set in different implementations of method 100 are shown.

[0213] Figure 17 The embodiment of the packaging device 60 shown is the same as Figures 18A to 18D The main difference in the embodiment of the packaging device 60 shown is that the stop wall 5, the pressing device 63, and the turntable 72 are rotatable about a common horizontal axis. For this purpose, the stop wall 5, the pressing device 63, and the turntable 72 are connected to the pivoting device 74.

[0214] Such rotational motion is achieved through Figures 18A to 18C This will be explained with an overview. Figure 18A In this configuration, multiple stacks 50 of packaging blanks are positioned on the turntable 72 of the supply device 80. Each pressing device 63 is placed on one of two side-by-side stacks 50 and clamped to secure the stacks 50 to the turntable 72. From here, the pressing devices 63, the turntable 72, and the stop wall 5 rotate 180° about a horizontal axis via a pivoting device 74, such that... Figure 18B The stack of packaging blanks 5 shown is placed on the pressing device 63. Figure 18B In this configuration, turntable 72 has been raised and spaced apart from tray 71. An alternative could be to lower the pressing device 63 along with the stack 50 relative to turntable 72 and thus into... Figure 18B The location shown.

[0215] The gripper head 10 is designed to pick up the tray 71, as in the same case Figure 18B As shown in the diagram. For this purpose, the gripping heads 10 have corresponding means that can extend into the gaps of the tray 71 to pick up the tray 71. In different embodiments, the gripping heads 10 may also utilize one or more of their fork tines to extend into one or more gaps of the tray 71 and pick up the tray 71. The tray 71 may be a European-style tray. Such picking up of the tray 71 is not limited to... Figures 18A to 18D The embodiment shown is not applicable here, but can be configured in general and, more specifically, in the previously described embodiments of the packaging system 60 and the clamping head 1.

[0216] exist Figure 18B In the process, robotic arm 1 removes tray 71 from the stack of packaged blanks 50 via gripper head 10. Figure 18C In the middle, pallet 71 has left the packaging blank stack 50.

[0217] Next, the turntable 72 can be placed on the packaging blank stack 50, and then the turntable 72, the pressing device 63 and the stop wall 5 can be rotated 180° or 180° around the horizontal axis by the pivot device 74.

[0218] Packaging blanks are stacked 50 times and then... Figure 18D As shown, it is placed directly on the turntable 72, and there is no tray 71 between the turntable 72 and the stack of packaged blanks 50.

[0219] It has been confirmed that when the turntable 72 has a support surface 62 for packaging blank stacks 50, this support surface forms a plurality of grooves 7, as... Figure 8 The illustrated embodiment describes the placement rack 64. Therefore, the fork tips 29 and 29' of the lower clamping unit 19 can extend into the slot 7, thereby allowing for the simple removal of all the package blanks from the stack 50 from the turntable 72.

[0220] Figure 19A and Figure 19B An embodiment of a supply device 80 is shown, which may be provided in different embodiments of the packaging system 60 of this invention. The supply device 80 includes a centering device 85 having a plurality of centering beams 87.

[0221] like Figure 19B As indicated by the arrows, the centering beam 87 can perform a feed motion. Therefore, the packaging blanks of these stacks 50 located on the same level or at the same height are centered. Next, the centering beam 87 moves downwards and is positioned vertically at the height of another level of the stacks 50 of multiple other packaging blanks.

[0222] By the centering movement of the centering beam 87, the packaging blanks of the stack 50 located on another layer are also aligned flush with each other. The centering device 85 then subsequently aligns the packaging blanks of the stack 50 located on the respective common layer flush with each other. Thus, a gripping head 10 can safely pick up and clamp multiple packaging blanks of the respective stack 50, since the respective packaging blanks are located at their respective intended target positions.

[0223] Figure 20 A flowchart of individual steps is shown, which may be arranged in different embodiments of method 100. In step 110, the gripping head 10 is moved via a protrusion 34 that is designed as a component of the separation unit 18 of the gripping head 10 (see...). Figures 3A to 3C It extends into the stack of packaging blanks 50 and lifts multiple packaging blanks subsequently arranged on the protrusions 34 via the separation unit 18.

[0224] The protruding portion 34 is inclined at an angle between 5° and 30° relative to the contact surface 24 used for packaging the blank, along the straight line along which it moves. In particular, the angle can be 18° or substantially 18°.

[0225] In step 120, the lower clamping unit 19 of the clamping head 10 is inserted into the packaging blank stack 50 in the area of ​​the raised outer edge, so that the corresponding packaging blank to be clamped is completely carried by the lower clamping unit 19.

[0226] In step 130, the packaging blank, fully supported by the lower gripping unit 19, is gripped by the lower gripping unit 19 and the upper gripping unit 17 of the gripping head 10, and then transported in a predetermined target location via the gripping head 10 in step 140. A robotic arm 1, particularly an articulated arm robot 1', can be provided for the movement of the gripping head 140. A packaging device can be provided at the target location, through which multiple packaging blanks are transferred by the gripping head 10.

[0227] List of reference numerals

[0228] 1. Robotic arm

[0229] 1' Articulated Arm Robot

[0230] 2 Packaging System

[0231] 3 Adapters

[0232] 4 linear guides

[0233] 5. Stop wall

[0234] 6 Openings

[0235] 7 slots

[0236] 8 Sheet metal parts

[0237] 9 Piston-Cylinder Unit

[0238] 10 clamping heads

[0239] 12 Framework

[0240] 13 Actuators

[0241] 14 Support frame

[0242] 15 clamps

[0243] 16 Linear Actuators

[0244] 17 Upper clamping unit

[0245] 18 Separation Units

[0246] 19 Lower clamping unit

[0247] 20 Open-loop and / or closed-loop control devices

[0248] 23 Connecting device

[0249] 24 Contact surfaces

[0250] 25 cylinders

[0251] 26 cylinders

[0252] 26' clamping device

[0253] 27 First forked tooth

[0254] 28 Fork tips

[0255] 29 inner fork tines

[0256] 29' External fork tooth

[0257] 30 sliders

[0258] 32 Stopping components

[0259] 34. Highlighted parts

[0260] 36 Clamping Unit Interface

[0261] 37 Frame

[0262] 38 Surface

[0263] 39 Centering element

[0264] 41 Sensors

[0265] 42 Piston

[0266] 43 Pads

[0267] 46 bearings

[0268] 48 Working arm

[0269] 49. Absorption tools

[0270] 50 stacks

[0271] 51 More stacks

[0272] 52 More stacks

[0273] 53 More stacks

[0274] 54 More stacks

[0275] 55 More stacks

[0276] 56 More stacks

[0277] 57 More stacks

[0278] 60 Packaging System

[0279] 62. Storage rack

[0280] 63. Pressing device

[0281] 64 Support surface

[0282] 67 slots

[0283] 69 Conveyor Belt

[0284] 70 Centering device

[0285] 71 pallets

[0286] 72 turntables, turntable 1

[0287] 74 turntables, second turntable

[0288] 80 Supply Unit

[0289] 85 Centering device

[0290] 87. Centering Beam

[0291] 100 methods

[0292] 110 Processing Steps, First Processing Step

[0293] 120 processing steps, second processing step

[0294] 130 Processing Steps, Third Processing Step

[0295] 140 Processing Steps, Fourth Processing Step

[0296] HA lift axis

[0297] L-gap

[0298] S Central control system.

Claims

1. A clamping head (10) for handling packaged blanks, characterized in that, The clamping head includes: - Upper clamping unit (17) and lower clamping unit (19), which are designed to grip multiple packaging blanks together from a stack (50) containing a large number of packaging blanks at a time, and - A separation unit (18) is designed to lift the outer edge of a corresponding packaging blank that is clamped relative to the remaining packaging blanks on the stack (50), thereby enabling the lower clamping unit (19) to be inserted into the stack (50) of packaging blanks in the area of ​​the lifted outer edge. The separation unit (18) for lifting the outer edge is configured to include a linear actuator (16) arranged such that when the separation unit (18) lifts the outer edge of the corresponding packaging blank via at least one of the linear actuators (16), the linear lifting axis (HA) of the linear actuator is inclined relative to the contact surface (24) for the packaging blank formed by the lower clamping unit (19).

2. The clamping head (10) according to claim 1, characterized in that, The at least one linear actuator (16) is at least one cylinder.

3. The clamping head (10) according to claim 1, characterized in that, The linear lifting shaft (HA) is tilted at an angle relative to the contact surface (24), the angle being between 5° and 30°.

4. The clamping head (10) according to claim 3, characterized in that, The linear lifting shaft (HA) is tilted at an angle relative to the contact surface (24), the angle being between 10° and 25°.

5. The clamping head (10) according to claim 3, characterized in that, The linear lifting shaft (HA) is tilted at an angle relative to the contact surface (24), the angle being between 15° and 20°.

6. The clamping head (10) according to claim 3, characterized in that, The linear lifting shaft (HA) is inclined at an angle relative to the contact surface (24), the angle being approximately 18°.

7. The clamping head (10) according to any one of claims 1 to 6, characterized in that, The upper clamping unit (17) includes at least two fork tips oriented parallel to each other, and / or the lower clamping unit (19) includes at least two fork tips oriented parallel to each other.

8. The clamping head (10) according to claim 7, characterized in that, The lower clamping unit (19) includes two outer fork tips and two inner fork tips, wherein the two outer fork tips and / or the two inner fork tips are displaced such that the two outer fork tips can enter a common plane together with the two inner fork tips.

9. The clamping head (10) according to any one of claims 1 to 6, characterized in that, The upper clamping unit (17) and / or the lower clamping unit (19) are arranged at a linear guide rail, wherein the upper clamping unit (17) and / or the lower clamping unit (19) are movable along the linear guide rail to clamp and grip the respective plurality of packaging blanks.

10. The clamping head (10) according to claim 9, characterized in that, The upper clamping unit (17) is equipped with a cylinder, through which the upper clamping unit (17) can move along the linear guide rail.

11. The clamping head (10) according to any one of claims 1 to 6, characterized in that, The upper clamping unit (17) is designed to pivot to clamp the respective plurality of packaging blanks.

12. The clamping head (10) according to any one of claims 1 to 6, characterized in that, The separation unit (18) is arranged at the lower clamping unit (19).

13. The clamping head (10) according to any one of claims 1 to 6, characterized in that, The separation unit (18) is arranged at the upper clamping unit (17).

14. The clamping head (10) according to any one of claims 1 to 6, characterized in that, The separation unit (18) has a slider (30) at which at least one linear actuator (16) is arranged, wherein the slider (30) is capable of moving linearly along the guide rail of the clamping head (10) together with the at least one linear actuator (16).

15. The clamping head (10) according to claim 14, characterized in that, The gripper has at least one actuator and a toothed belt or spindle, wherein the slider (30) is capable of moving linearly along the guide rail together with the at least one linear actuator (16) via the toothed belt or via the spindle by means of the at least one actuator.

16. The clamping head (10) according to any one of claims 1 to 6, characterized in that, The separation unit (18) has a stop (32) that is movable via the at least one linear actuator (16) and is designed to flush align the outer edges of the package blank that are configured for gripping each time.

17. The clamping head (10) according to claim 16, characterized in that, The stop (32) - Connected to the at least one linear actuator (16) such that when the stop (32) aligns flush with the outer edge of the package blank for each clamping grip, the stop (32) tilts in the opposite direction to the outer edge, and / or in the gripping head (10) - The stop (32) can be moved via the at least one linear actuator (16) such that during the lifting of the outer edge, the stop (32) performs a tilting movement oriented in the opposite direction to the outer edge.

18. The clamping head (10) according to any one of claims 1 to 6, characterized in that, The separation unit (18) for lifting the outer edge of the package blank for clamping and gripping includes a protrusion (34) that is movable along the linear lifting axis (HA) by means of the at least one linear actuator (16).

19. The clamping head (10) according to any one of claims 1 to 6, characterized in that, The gripping head (10) has at least one suction tool (49) which is designed such that, instead of gripping multiple packaging blanks at a time, the gripping head (10) can pneumatically receive the packaging blanks via the at least one suction tool (49).

20. The clamping head (10) according to claim 19, characterized in that, The position of the at least one suction tool (49) can be displaced under the action of the actuator.

21. A robotic arm (1), characterized in that, The robotic arm is connected to at least one gripper (10) for handling packaged blanks according to any one of claims 1 to 20.

22. The robotic arm (1) according to claim 21, characterized in that, The robotic arm is an articulated arm robot (1').

23. A packaging system (60), characterized in that, The packaging system includes: a supply device (80) for picking up at least one stack of flat packaging blanks (50); at least one robotic arm (1) according to claim 21 or 22; and a packaging device for packaging goods using the packaging blanks, wherein the supply device (80) and the packaging device are located within the working area of ​​the at least one robotic arm (1), and wherein the at least one robotic arm (1) is designed to transfer a corresponding packaging blank gripped by its gripping head (10) to the packaging device each time.

24. A packaging system (60), the packaging system comprising: - A supply device (80) for picking up at least one stack of package blanks (50), and - A robotic arm (1) having a gripping head (10) having an upper gripping unit (17) and a lower gripping unit (19) designed to grip multiple packaging blanks together in a clamping manner from a stack (50) of packaging blanks picked up via the supply device (80), characterized in that, - The supply device (80) includes a stop wall (5) that is movable such that the stop wall (5) can contact the surface of the stacked packaging blanks picked up by the supply device (80) by means of movement, thereby aligning the respective packaging blanks flush with each other in this case.

25. The packaging system (60) according to claim 24, characterized in that, The supply device (80) includes a pressing device (63) that can be placed on at least one stack (50) of package blanks picked up by the supply device (80), thereby clamping the stack (50) at the supply device (80).

26. The packaging system (60) according to claim 24, characterized in that, The supply device (80) includes a turntable (72) designed to carry the corresponding stack of picked-up packaging blanks (50), the turntable (72) being designed to rotate about a vertically oriented axis.

27. The packaging system (60) according to claim 25, characterized in that, The supply device (80) includes a turntable (72) designed to carry the corresponding stack of picked-up packaging blanks (50), the turntable (72) being designed to rotate about a vertically oriented axis.

28. The packaging system (60) according to claim 25, characterized in that, The supply device (80) includes a pivoting device (74) connected to the pressing device (63) and the support surface (64) of the supply device (80) for stacking the packaging blanks (50) such that the support surface (64) and the pressing device (63) can rotate about a common horizontal axis by means of the pivoting device (74).

29. The packaging system (60) according to claim 27, characterized in that, The supply device (80) includes a pivoting device (74) that connects the pressing device (63) and the turntable (72) such that the turntable (72) and the pressing device (63) can rotate about a common horizontal axis by means of the pivoting device (74).

30. A packaging system (60), the packaging system comprising: - A supply device (80) for picking up at least one stack of package blanks (50), and - A robotic arm (1) having a gripping head (10) having an upper gripping unit (17) and a lower gripping unit (19) designed to grip multiple packaging blanks together in a cohesive manner from a stack (50) of packaging blanks picked up via the supply device (80), and - A placement rack (62) for corresponding clamping gripping of the package blank, characterized in that the placement rack (62) includes a support surface (64) for receiving the package blank via the robot (1), and the lower gripping unit (19) of the robot (1) includes at least two fork teeth oriented parallel to each other, wherein the support surface (64) forms at least one groove (7) sized such that the at least one fork tooth can pass through the support surface (64) via the at least one groove (7).

31. A packaging system (60), the packaging system comprising: - A supply device (80) for picking up at least one stack of package blanks (50), and - A robotic arm (1) having a gripping head (10) having an upper gripping unit (17) and a lower gripping unit (19) designed to grip multiple packaging blanks together from a stack (50) of packaging blanks picked up via the supply device (80) at a time. The feature is that the supply device (80) includes a centering device (85) via which the packaging blanks of the at least one stack (50) are aligned flush with each other.

32. The packaging system (60) according to claim 31, characterized in that, The centering device (85) includes at least one centering beam (87) designed to perform a feed motion so as to align the package blanks of the stack (50) picked up by the supply device (80) flush with each other.

33. The packaging system according to claim 31, characterized in that, - The centering device (85) includes at least three centering beams (87) designed to perform a feed motion so as to align the stacked (50) of the packaging blanks picked up by the supply device (80) flush with each other, and in the packaging system - The at least three centering beams (87) are connected to the actuator such that when the actuator is driven, the at least three centering beams (87) are raised together in the vertical direction or lowered together in the vertical direction.

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