Gripping device, system and method for picking up an open carton

Abstract

Gripping device for picking up open cartons (19), wherein the gripping device (1) comprises: - a basic body (2), - at least one first carton actuating element for establishing a mechanical connection between the gripping device (1) and the carton (19), wherein the first carton actuating element is movably mounted on the base body (2), - at least one bottom support element (10, 10a, 10b, 10c) for passing under a cardboard bottom, wherein the bottom support element (10, 10a, 10b, 10c) is movably mounted on the base body (2), characterized in that the first cardboard actuation element is designed as a movable element of a needle gripper (6, 6a) and / or the gripping device (1) comprises at least one further cardboard actuation element for gripping behind a cardboard side wall (24).

Claims

[1] Gripping device for receiving open cartons (19), the gripping device (1) comprising: - a base body (2), - at least one first carton actuating element for establishing a mechanical connection between the gripping device (1) and the carton (19), wherein the first carton actuating element is movably mounted on the base body (2), - at least one base support element (10, 10a, 10b, 10c) for driving under a cardboard base, wherein the base support element (10, 10a, 10b, 10c) is movably mounted on the base body (2), characterized by that the first carton actuating element is designed as a movable element of a needle gripper (6, 6a) and / or the gripping device (1) comprises at least one further carton actuating element for engaging behind a carton side wall (24). [2] Gripping device according to claim 1, characterized byin that the needle gripper (6, 6a) comprises a first movable section (20) which is movable relative to the base body (2), and a further movable section (21) which is movable relative to the first movable section (20), wherein the further movable section (21) comprises or has at least one gripper needle. [3] Gripping device according to one of the preceding claims, characterized by that the gripping device (1) comprises at least one further carton actuating element for engaging behind a carton side wall (24). [4] Gripping device according to one of the preceding claims, characterized by that the further cardboard actuating element comprises at least one actuating plate (15). [5] Gripping device according to claim 4, characterized by that a movement axis of the first cardboard actuating element intersects the actuating plate (15). [6] Gripping device according to one of the preceding claims, characterized bythat the floor support element (10, 10a, 10b, 10c) is plate-shaped. [7] Gripping device according to one of the preceding claims, characterized by that the base support element (10, 10a, 10b, 10c) comprises or forms sections for interaction with a gear (13). [8] Gripping device according to one of the preceding claims, characterized by that the gripping device (1) comprises a first drive device (7) for generating the drive force for the first carton actuating element and / or a second drive device (12) for generating the drive force for the further carton actuating element and / or a further drive device (16) for generating the drive force for the base support element (10, 10a, 10b, 10c). [9] Gripping device according to claim 8, characterized by that a drive device (7, 12, 16) is a pneumatic or an electric drive device. [10] Gripping device according to one of the preceding claims, characterized by that the at least one base support element (10, 10a, 10b, 10c) is mounted on an underside of the base body (2), wherein the first carton actuating element is mounted above the base support element (10, 10a, 10b, 10c) on the base body (2). [11] Gripping device according to one of the preceding claims, characterized by that the gripping device (1) comprises at least two first carton actuating elements and / or at least two bottom support elements (10, 10a, 10b, 10c). [12] System with a gripping device (1) according to one of the preceding claims, wherein the system (26) comprises a positioning device (18) for the gripping device (1). [13] System according to claim 12, characterized by that the system (26) comprises a vehicle (25) for positioning the positioning device (18) and / or an image capture device (27). [14] A method for picking up an open carton (19), comprising the steps of: - positioning a gripping device (1) according to one of claims 1 to 11 in an actuating position, - actuating the carton (19) by the first carton actuating element, - Changing the position of the gripping device (1), - Moving the at least one base support element (10, 10a, 10b, 10c) under a cardboard base. [15] A method according to claim 14, comprising the steps of: - positioning the gripping device (1) in a rear gripping position, - Moving the further carton actuating element into a rear gripping state, - Changing the position of the gripping device (1) to grip behind a cardboard side wall (24).

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