CN105691689A - Strapping head and method of handling a strapping band - Google Patents

Abstract

The present invention describes a strapping head and a method of handling a strapping band. The strapping head is provided with a band guiding channel, a band conveyer device and a tensioning device. The band guiding channel comprises a band guiding frame arranged or arrangeable circumferentially around an article group. The band conveyer device comprises a roller pair, and a strapping band is driven to be led in a roller gap of the roller pair. An end of the band guiding channel is provided with a first detector, once a forward end of the strapping band in the entering direction in the band guiding frame reaches an end of an entry path on or close to the end of the band guiding channel, the first detector is triggered. A second detector monitors a roller spacing of the roller pair. According to specification of the method, the width of the roller gap is monitored so as to determine whether the strapping band is present or not in the roller gap. In the case of an error entry, the strapping band is retracted with the same length of the strapping band present in the roller gap, and the forward end of the strapping band does not reach the end of the band guiding channel when entry is error. The retraction ends as soon as the strapping band is no longer present in the roller gap.

Description

Bundling head and the method for disposing strapping tape

Technical field

The present invention relates to the bundling head of a kind of feature with claim 1 and a kind of method of feature with claim to a method 19。

Background technology

Bundle is that a kind of being capable of disposes multiple article, the such as convenient effective type simultaneously transporting multiple article simultaneously。Therefore, multiple bundle that article together the form the most frequent deformation program for the various article of such as container for drink being sales unit is tightened。

Becoming bundle to be tightened by multiple article being grouped into article group, it is known that bundle is provided with so-called tie part, the outside of this tie part item group is placed and tensioning together。

Described article can be such as the object of the container of object that is that such as pack or that do not pack, carton, such as carafe or canned food etc or the bundle can also being made up of multiple objects, wherein, the object of bundle itself such as by means of the periphery place of article group surround bundle article tie part, such as tightened together with the form of tie part, such as coil, shrinkage hose or the packing department of cardboard, carton or support, in order to only enumerate some it is contemplated that embodiment。Utilize tie part an object or multiple object utilizing tie part to tighten together to be packed simultaneously。It is thus possible, for instance container for drink is possible not only to tighten by means of shrinkable film shell, coil or cardboard become bundle together, and can also pack simultaneously。

In order to tighten by means of tie part and become bundle by being grouped into the article of article group and thus fix together, described article are first according to arrange arrangement the desired of the article group surrounding into bundle and then utilize protection band, the displacement of so-called strapping tape when tying up。Then, by means of knot installation tensioning, fix and cut off strapping tape。

Protection limit can be introduced to protect article for strapping tape。

In order to prevent the landing of strapping tape, described article can have convergent portion, and strapping tape is the periphery tensioning of item group in this convergent portion。

Strapping tape can be provided with handle, in order to have gentle hands such as can be utilized to change places the bundle caught。Handle such as can be also secured on strapping tape with the fixing of strapping tape according to the fixing of strapping tape, or handle is it is so structured that staple or be equipped with staple on its opposed end, connects strapping tape by staple during item group。

By document WO2012/052312A1 it is known that be provided with handle in the bundle being tightened together by tie part, this handle is fastened on strapping tape or at least partially around strapping tape。Handle fastening on strapping tape such as can be undertaken by welding with the fixing identical of strapping tape。

Can use and manual tie up instrument or the strapper with so-called bundling head。

Synchronizing (Taktung) is the significant cost factor when such as place's placing articles in packaging technique and packing industry, utilizes described synchronization can dispose article as much as possible within the time short as far as possible。At this, synchronizing more high, item sales is more high and to set the rate of load condensate for this machine, equipment and device more high and therefore better。Therefore, described synchronization can be described as the quantity of article and the business of persistent period, disposes the article of this quantity within this persistent period。

In order to high synchronization can be reached, using full automatic strapper in packaging technique and packing industry, strapping tape item group is placed in very short time with the strapping tape being such as made of plastics, fixes and is cut off and such as overlapping part is welded to each other in several milliseconds in order to fixing by described strapper in combination。

Such strapper has bundling head as already mentioned, this bundling head at least equipped with conveyer device, for tensioning strapping tape the equipment for tensioner that is briefly described, include can around tighten that article group together arranges by means of strapping tape with guiding frame with guiding channel and for fix and cut off item group and equipment for fixing device is briefly described by the fixing strapping tape of tensioning。

At this, to tie up instrument identical all the time with other for the ultimate principle of the working method of strapper:

In strapping tape memorizer, ready strapping tape is sent in the band guiding frame surrounding article group of bundling head continuously, until strapping tape is entirely around article group and own overlapping along the end advanced with guiding frame with strapping tape。Then, the end of advance is fixed, such as, is clamped and cling in article group by strapping tape of pulling back, and tensioner is close to the overlapping part of strapping tape and strapping tape and is fixed by means of fixing device and cut off。

Have the strapping tape being made of plastics tie part manufacture such as by document DE102007022438B3 it is known that this strapping tape is by means of full automatic strapper item group placement, tensioning, clamping and cut-out and by adding thermal weld。

By document DE19948880A1 it is known that two overlapping ends of the strapping tape being made of plastics fix by means of laser weld。

By document DE60201785T2 it is known that two overlapping ends of the strapping tape being made of plastics fix by means of friction welding。

Accessible synchronization adverse influence average during longer interval is in that so-called feeding mistake, and when sending into mistake, strapping tape is ignored and is not arrived the end with guiding channel with the correct operation of conveyer device and therefore must be pulled back and again send into。

By the known a kind of bundling head of document DE102011075629A1, this bundling head has and includes being in that in vertical plane, item group arranges with the band guiding channel of guiding frame, band conveyer device and tensioner。In order to determine the feeding mistake of strapping tape in guiding frame, at the detector with being provided with such as limit switch form on the end of guiding channel, once strapping tape send into typically being in on the end of guiding channel or close to this end end of path along what send into that preceding end in guiding frame, direction arrives strapping tape, just trigger described detector。

Summary of the invention

The task of the present invention is in that, illustrate and a kind of there is the bundling head with guiding channel, the described band guiding frame guided around the article group together with tightening with strapping tape with guiding channel encirclement, described bundling head has a kind of simple structure, it is possible to realize to be sent to mistakenly with the strapping tape in guiding channel identify reliably and send into guaranteeing previous errors in addition tie up and take to quickly and being reliably re-fed in guiding channel。Additionally, the task of the present invention is in that, illustrate a kind of method for utilizing the operation according to such bundling head correspondingly to dispose strapping tape。

This task utilizes the feature of independent claims correspondingly to solve。Other favourable structural forms are described by dependent claims。

Therefore, the first theme includes a kind of bundling head, and this bundling head has:

-band guiding channel, described includes band guiding frame that is that circumferentially arrange around the article group together with tightening or that can arrange with strapping tape with guiding channel；

-at least for strapping tape being sent to in guiding frame and from the band conveyer device with pulling back guiding frame, and

-for make strapping tape around utilize that strapping tape shifts, that to tighten article group tensioning together, equipment into tensioner is briefly described。

Seeing along sending into direction, band conveyer device is arranged in band guiding frame upstream and is arranged in tensioner downstream, and strapping tape is fed in band guiding frame along sending into direction with preceding end。

Band conveyer device includes at least one roller pair, between the roller gap of roller pair by a roller of described roller centering along and against send into direction driveably connect strapping tape。At least one roller described to being drive roller or there is the conveying roller of the driver that pair roller works and the hold-down roller opposed with conveying roller and counter-pressure cylinder, by means of described driver can along and drive strapping tape against sending into direction。Counter-pressure cylinder transverse to the strapping tape being directed through on conveying roller towards conveying roller and away from described conveying roller ground can arrange with offseting。The skew of counter-pressure cylinder changes the width in roller gap。At this, counter-pressure cylinder such as elastic force presses against on conveying roller with loading ground or gravitational load。

The feeding mistake taken to in guiding frame is tied up in order to determine, with the end of guiding channel is provided with contact switch and/or limit switch, proximity transducer, grating, first detector of the form of the optical pickocff of image is provided, this first detector detects the preceding end of strapping tape in real time explicitly with the analytic unit implementing image recognition algorithm with the video image by the optical pickocff detection providing image, so that enumerate the first suitable detector some it is contemplated that structural form, once strapping tape along send into direction to the preceding end in guiding frame arrive strapping tape send into path be in on the end of guiding channel or close to the end of this end, just trigger this first detector。After band guiding channel surrounds band guiding frame, when reaching the end sending into path, strapping tape is around being guided by the article group surrounded with guiding frame until itself is overlapping。

Stop band conveyer device is carried out by triggering the first detector, the preceding end of fixing strapping tape, then against sending into direction operating band conveyer device, thus, strapping tape is discharged by band guiding frame and such as by radially proximating article group everywhere, until strapping tape abuts in article group, and then handle tensioner, in order to tensioning abuts in the strapping tape in article group。Then, the overlapped part (such as by this portion of material in locking manner and/or is mutually connected by means of clip) of fixing strapping tape, and the tie part so formed is separated with the strapping tape shifted near。

If such as not triggering the first detector after predetermined interval, then exist and send into mistake, this interval is equal to the persistent period being multiplied with the safety coefficient more than, strapping tape needs this persistent period, in order to arrive the end sending into path of strapping tape by previously there is the position separated with the feeding speed of strapping tape。

In order to revise feeding mistake, pulled back strapping tape by band guiding frame against sending into direction by means of band conveyer device。

Additionally, in order to make send into mistake and feeding again between time loss be kept as less, bundling head includes the second detector, this second detector monitors counter-pressure cylinder along conveying roller and by conveying roller away from skew。

Therefore, second detector so rather than as in the prior art when detecting rotational motion or the resting state of counter-pressure cylinder monitoring strapping tape whether be present in the roller gap between conveying roller and counter-pressure cylinder, and be by mean of illustrating that counter-pressure cylinder that strapping tape is not present in roller gap is monitored along the skew of conveying roller。

At this, when the second detector detects that counter-pressure cylinder abuts on conveying roller or close to during lower than the predetermined size of conveying roller, stops pulling back of strapping tape immediately, can not lower than this size when there is strapping tape。

Therefore, once strapping tape is no longer present in the roller gap between conveying roller and the counter-pressure cylinder with the roller pair being equipped with the second detector of conveyer device, between the roller gap of this roller pair by a roller of described roller centering along and driveably connect strapping tape against sending into direction, appear in and revise the signal sending into the second detector pulled back stopping strapping tape during mistake。Therefore, described signal is simultaneously used for the feeding that starts again。

Thus draw revising time income when sending into mistake, because when strapping tape is no longer walked between counter-pressure cylinder and conveying roller, it is not necessary to wait until that band conveyer device counter-pressure cylinder stops as in the prior art。Such, postpone accessible synchronization with adversely having obstruction by the inertia of counter-pressure cylinder in the prior art sending into the resting state sending into necessary cause represented after mistake for new。Additionally, exist following dangerous in the prior art, namely owing to polluting, always conveying roller or the surface along strapping tape of counter-pressure cylinder such as more rotate together behindhand, as long as thus driving conveying roller, then do not indicate halted state。

In contrast to this, having the advantage that according to the solution of the present invention, namely the existence of strapping tape presses against the counter-pressure cylinder on the strapping tape connected between counter-pressure cylinder and conveying roller with loading ground or gravitational load by skew, the such as deflection instruction such as elastic force when strapping tape exists。

After the signal of the second detector stops the pulling back of strapping tape, carry out being re-fed into of strapping tape。First this be re-fed into it can be stated that run tensioner along the feeding direction contrary with tension direction, until strapping tape is again in roller gap, in order to be then again fed in band guiding frame by strapping tape by means of band conveyer device。Alternatively, it is re-fed into being located in the band conveyer device including at least two roller pair, between the roller gap of described roller pair by one of corresponding roller along and against send into direction driveably connect strapping tape, equipped with the second detector roller to and another roller of being arranged between the roller pair equipped with the second detector and tensioner to running along sending into direction, between the roller gap of another roller pair described same by a roller of described roller centering along and driveably connect strapping tape against sending into direction, and between this strapping tape is not only incorporated into the roller gap of the roller pair equipped with the second detector, and be sent in band guiding frame。

Second detector can be such as with or roller without lever switch, proximity transducer, the optical pickocff of grating or offer image, the material of conveying roller is such as worked by described proximity transducer, the mode of electric field by the second detector and/or counter-pressure cylinder is such as affected by the dielectric constant of this material, the optical pickocff of described offer image detects the skew of counter-pressure cylinder in real time explicitly with the analytic unit implementing image recognition algorithm with the video image by the optical pickocff detection providing image, so that only enumerate the second suitable detector some it is contemplated that structural form。It is also envisaged that the electrical contact that detection is between conveying roller and counter-pressure cylinder。When there is strapping tape between conveying roller and counter-pressure cylinder, there is not described electrical contact, and when being absent from strapping tape between conveying roller and counter-pressure cylinder, described electrical contact occurs, and conveying roller and counter-pressure cylinder contact with each other。

The skew of counter-pressure cylinder can be arranged linearly along the geometrical axis that the pivot center being typically normal to conveying roller and counter-pressure cylinder extends。Alternatively, the skew of counter-pressure cylinder can be arranged around the pivot axis that the pivot center being parallel to conveying roller and counter-pressure cylinder extends。

Such as can be provided with the control unit that the device with detector and bundling head is connected, in order to control described process。Described control unit can be the parts of bundling head or strapper or following equipment, and the parts of this equipment can be equipped with the strapper of corresponding bundling head。

At least one conveying roller can be wound around by strapping tape at least in part in order to improve transferable power between conveying roller and strapping tape。

Equipment for tensioner is briefly described can include at least one idler roller and the driver that idler roller is worked for tensioning strapping tape, at least can drive strapping tape and thus around the article group tensioning strapping tape to tie up against sending into direction by means of this driver。

At least one idler roller can be wound around by strapping tape at least in part in order to improve transferable power between idler roller and strapping tape。

Counter-pressure cylinder can be opposed to arrange with at least one idler roller, wherein, connects strapping tape between at least one idler roller and at least one counter-pressure cylinder。

Alternatively or additionally, two idler rollers or an idler roller and a counter-pressure cylinder Xinghua Village cross band idler roller pair, are at least driveably connected strapping tape against feeding direction by least one band idler roller between with the roller gap of idler roller pair。

Tensioner can include one or more such band idler roller pair。

The equipment for tensioner that is briefly described for tensioning strapping tape can substitute for or is additional to one or more idler roller and includes two clamping clips correspondingly relative to each other arranged movingly abreast and/or oppositely privately and jointly in opposite directions and mutually in plane of movement。

Additionally, each described clamping clip is correspondingly arranged movingly along two mutually transverse that extend, directions separate in mathematical meaning in plane of movement。

Clamping clip is formed by the adverse movement of clamping clip opposite to each other or mutually privately along the guiding channel for strapping tape of its change width。

Additionally, the equipment correspondingly constructed being used for tensioning strapping tape includes the driver that clamping clip is worked, this driver at least jointly makes clamping clip move along guiding channel when it runs in parallel to each other。

Motor process to be regulated is had to be considered as being divided into the explanation of substantially four parts when running the driver that clamping clip is worked。In order to tensioning is passed through forming the strapping tape extended between the guiding channel of strapping tape, clamping clip is it is first necessary to close to each other along common first section moved of guiding channel in parallel to each other at least along it or contact with each other by homeposition, thus narrowing as much as possible so that the strapping tape extended through guiding channel is clamped clamping clip。This can occur in the following way, i.e. a clamping clip is advanced to the mode of another clamping clip transverse to guiding channel or mutually oppositely advanced by two clamping clips。After clamping, two clamping clips must along the second section implement common, that extend parallel to each other along guiding channel, need moving for tensioning strapping tape。This can occur in the following way, i.e. two clamping clips jointly and in parallel to each other along the first direction of guiding channel move in state that is close to each other or that contact with each other。After clamping, clamping clip must be returned in outgoing position again by its tension position。This can carry out in the following way, namely, clamping clip mutually advance first along the 3rd section and thus strapping tape is discharged into again with in guiding channel for feeding again, and finally again return in outgoing position in the state mutually advanced in the 4th section, or first implementing common the moving that clamping clip is returned along the initial position along guiding channel by tension position in the 3rd section, in the 4th section, clamping clip is again mutually advanced and is thus again discharged into by strapping tape in guiding channel for feeding again afterwards。

In principle, the first section and the second section can partly cover each other, wherein, in order to tensioning strapping tape the second section must not cover the first section at least in part。In other words, the first section can partly cover the second section, but the second section cannot cover the first section。

In opposite direction on the one hand it is contemplated that each motor process, in order to reached in initial position by tension position, because strapping tape is cut-off after the tensioning and again is sent in the band guiding channel of strapping tape。Therefore, whether common the returning being parallel to each other of clamping clip utilizes the strapping tape of tensioning between clamping clip along the direction of motion contrary with tensioning or only is undertaken being unessential by releasing clamping after release strapping tape。

Therefore, the 3rd section and the 4th section can cover completely mutually。

When motor process is contrary simply when tensioning, it is thus achieved that simplest embodiment。It is however also possible to according to the order of clamping-tensioning-releasing clamping-return imagination circulation。This has the advantage discharging strapping tape in advance together with time income by following probability, namely implements return and tie up the feeding again taken to in guiding channel simultaneously。

Putting it briefly, clamping clip implements reverse the moving and implement opposing moving along the second contrary direction of motion in opposite directions of clamping clip when it is along the common parallel motion of guiding channel at least along its first section moved along first direction of motion。

In order to change described motor process, the equipment correspondingly constructed for tensioning strapping tape includes coupling, this coupling clamping clip by means of the common motion of driver drives time at least promote one of described clamping clip for moving on guiding channel to remaining clamping clip along first direction of motion along guiding channel, and along the second contrary direction of motion implement by remaining clamping clip away from reverse moving。

Described coupling is by the common that be parallel to each other of the clamping clip when running driver and relatively combines with following motor process with the motion reciprocally carried out, in this motor process clamping clip clamping clip along guiding channel common parallel when moving at least along its along the section the moved enforcement clamping clip of first direction of motion opposite to each other with along contrary opposing the moving of second direction of motion。

Highlight, as the four of the motion of clamping clip sections are described, identical section along motor process or the different section along motor process, can carrying out opposite to each other along the direction of motion and can the carrying out privately mutually along the contrary direction of motion for releasing moving of clamping of clamping clip for the motion clamping strapping tape of clamping clip。

The strapping tape guided continuously in the region of the equipment for tensioning strapping tape has two opposed wide sides and two interconnective narrow sides。The surface formed by wide side is usually supported on plane of movement。When clamping clip move toward one another, clamping clip is preferably clamped strapping tape by the wide side of strapping tape between clamping clip。

Clamping clip can negative line feed to following size, this is smaller in size than the thickness between the wide side of strapping tape of strapping tape。

Guiding channel can least partially bent at ground and/or extend as the crow flies in plane of movement。Guiding channel is preferably parallel to plane of movement to be had and moves towards point-blank, and wherein, this trend can be parallel to, by two, the surfaces that plane of movement extends and limit。

The driver of tensioner at least can have or include for monitoring and keep can the device of predetermined strapping tape tensioning。Described device can include for detecting and can tension into the device of electric current of the measurand of ratio, such as electric drive temporary needs by predetermined strapping tape。Additionally, described device can include for reach and/or exceed at least at the measurand needing the period of moving for tensioning strapping tape of the operation worked along first direction of motion according to stopping the device of driver during the marginal value of predetermined strapping tape tensioning。

Bundling head can include the 3rd detector, and the 3rd detector is controlling position along following paths arrangement, and strapping tape is seen along feeding direction and bridged this path between tensioner and band conveyer device。If recognizing strapping tape there during sending into be absent from, then reach the end of ready strapping tape continuously and strapping tape must be replaced。This is also used for identifying sends into mistake, because controlling the position of position according to other:

A) current feeding is to send into mistake, because the curtailment of the strapping tape further provided for is enough in manufactures tie part completely；Or

B) send into is send into mistake next time, because the length of the strapping tape further provided for after continuous print is sent into no longer is sufficiently used for manufacturing tie part completely。

With in the feeding mistake of the 3rd two kinds of types mentioned of detector identification which kind of independently, produce the additional raising synchronized with the 3rd detector because be not necessary to wait until correspondingly continuous print send into be identified as vicious。Otherwise, can directly interrupt continuous print a) when identification strapping tape is not present in controlling position to send into, this feeding direction, outer is thus avoided manually to be removed by bundling head by the strapping tape released with driving device, and instead, may indicate that the required manual replacing of the strapping tape of inclination, corresponding replacing automatically can be docked, and when b), correspondingly send into next time and even do not start, have the result identical with situation a) and improve again accessible synchronization。

Alternatively or except the 3rd detector, it is possible to be provided with the 4th detector, the 4th detector produces and the strapping tape output signal that the length in the feeding path of process is proportional during sending into。Such 4th detector such as can with at least during sending into fixing with strapping tape, preferably with strapping tape dislocation the roller that rotates be connected and/or the formal construction of rotary angle transmitter of mating reaction。By such 4th detector can ratio when having to wait for detecting feeding mistake when not triggering the first detector more quickly。Thus, reversing of strapping tape can carry out more in advance when sending into mistake, and this improves accessible synchronization again。

Highlighting, the 4th detector can substitute for the first detector in principle, wherein, when the second detector recognize when pulling back strapping tape strapping tape be not present in controlling position time, this only may identify which a kind of sends into mistake。

Therefore, first detector and/or the 4th detector can itself or be collectively forming feeding detector, this feeding detector passes through strapping tape arrival along (first detector) of the reality of the end sending into preceding end, direction identification tape guiding channel and/or (the 4th detector) of supposition when sending into, wherein, synchronization high as far as possible is reached by the combination of the first detector and the 4th detector, because when being exceeded feeding path by strapping tape path of process during sending into, first detector can pass through strapping tape interrupted sending into along the actual arrival of end and the 4th detector of sending into preceding end, direction identification tape guiding channel when sending into。

It is preferably placed in the plane of level with guiding frame。

Can be multi-piece type with guiding frame, wherein, with the independent of guiding frame or multiple parts when horizontally disposed with guiding frame can radially arrange towards and away from motion around vertical central axis, in order to open and close with guiding frame and flow in succession by means of horizontal transferring device after thus can being centered around another article group bundling position, correspondingly fixing with strapping tape article group arrange band guiding frame。

Strapping tape is preferably made from plastic。

Strapping tape particularly preferably includes fixing device, and this fixing device is connected cohesively together by welding and compressing mutual material to be fixed about the part overlapping after the tensioning of the strapping tape of article group。

At this, fixing device can equipped with hold down gag and back pressure plate and be arranged between the two, by the region between hold down gag and back pressure plate movable band guide, this with guide define with first between guide and hold down gag with guiding channel part and with the 3rd band guiding channel part between guide and back pressure plate。First is connected with each other with another band guiding channel by including the second band guiding channel part with guiding frame surrounding the article group being combined with bundle with guiding channel part with guiding channel part and the 3rd, guides and be sent to the strapping tape in guiding frame in this is with guiding channel。It is in second with guiding channel part and the 3rd with the transition position between guiding channel part against the movable clamping clip of back pressure plate。First detector along the 3rd with guiding channel part, be preferably on the 3rd end with guiding channel part。If the arriving or close to the first detector, then the part being adjacent to preceding end of strapping tape and such part of strapping tape are adjacent along sending into the preceding end of direction E of strapping tape, described in be partially in the first band guiding channel part。After triggering the first detector, band conveyer device is pulled back after clamping strapping tape between clamping clip and back pressure plate strapping tape, thus, strapping tape is discharged and close to article group radial to the middle part with guiding channel by with guiding channel, until strapping tape abuts in article group。Tensioner is close to strapping tape and tensioning strapping tape adjacently。When moving by the region between back pressure plate and hold down gag with guide, cancel first and the 3rd with the separation between guiding channel part, thus, strapping tape be adjacent to the part of preceding end and the previous of strapping tape first with guiding channel part in maintain partly overlap, thus the strapping tape being made of plastics can pass through to heat by means of back pressure plate and hold down gag and compress staple that overlapping part itself is welded into item group, that form tie part and thus material be connected cohesively together。

After strapping tape is sent in guiding channel and the end of strapping tape arrive after the 3rd end with guiding channel part, first strapping tape can be clamped and then by means of clinging in article group to the band conveyer device of rear drive and finally utilizing tensioner tensioning by means of clamping clip。Alternatively, it is possible not only to recline by means of tensioner, and tensioning can be carried out。

Bundling head can include the strapping tape memorizer of such as strapping tape roll form, and strapping tape is stored on this strapping tape memorizer with winding continuously。

Bundling head can be arranged on a robotic arm, such as can move together at least along the section of transportation route by means of this mechanical hand bundling head and preferably drop to from top to bottom on article and again up away from article and be enhanced, article during article are grouped through described transportation route and be grouped into the article of article group hereafter through described transportation route。Tie part can by this way with by by fixing and that move in the horizontal direction at the horizontal transferring device extended at least one section of transportation route, be grouped into and tighten the article of article group together by means of tie part and decline and the travelling speed of bundling head to move together with horizontal transferring device is synchronously laid。

Therefore, bundling head can be the parts of strapper, strapper includes the mechanical hand of supporting bundling head in addition, the robots arm of such as portal frame, bipod, spider, four foot rests or multiaxis, this robots arm enables to move and drop to if desired in article and/or article group and again improve together with the article of bundling head and transport in continuous print process and/or article group, and described strapper also includes the strapping tape memorizer that is such as arranged on bundling head or in bundling head。

Strapper such as can include the supporting gantry robot of bundling head together or robot of cranking arm, this gantry robot or robot of cranking arm make bundling head vertically decline when applying and tying up and move together with article along the horizontal transport direction of article simultaneously。

Highlight, bundle can in order to its further transport, such as in order to its send at least in part further in conjunction with and/or in position arranged together and palletization。

Additionally, handle can in tie part bundle simultaneously or together with being located at after completing tie part and being tightened by tie part, handle can be fastened on the strapping tape of tie part or at least partially around the strapping tape of tie part。This can be divided into section by the band guiding frame of the bundling head that the article group together with tightening with bundle lays tie part, it is placed in band guiding channel to arrange on its end or to be equipped with the handle of staple, before strapping tape is sent to band guiding channel or afterwards。Alternatively or additionally, handle fastening on strapping tape can carry out likewise by welding with the fixing of strapping tape。

By means of to different, the explanation of the required step being sequentially carried out, in order to strapping tape being tightened article group placement together along staple around by means of tie part by means of bundling head, described staple clings in article group and tensioning strapping tape and fix strapping tape if desired and separated with close strapping tape by the tie part so formed, and to fix strapping tape during so running bundling head, there is mistake at this run duration and must again start anew to eliminate mistake, can be seen that, the present invention can also be realized by the corresponding method run that previously described bundling head is described for disposing strapping tape。

Such method for that dispose strapping tape, to present present invention second theme specifies, path of sending into illustrated by that guide along feeding direction along item group, at least originally overlapping in section staple is sent into by the outside of staple by the ready strapping tape of continuous print by means of at least one roller, between the roller gap of described roller pair by roller at least one described along and against send into direction driveably connect strapping tape, wherein, the end whether arriving feeding path along feeding preceding end, direction of detection strapping tape on the end sending into path。

Described method specifies, roller gap by strapping tape along its variable-width。

Additionally, described method regulation, the width in monitoring roller gap, to thereby determine that whether strapping tape is present in roller gap, wherein, when the width in roller gap decreases below predetermined size, it is absent from strapping tape, can not lower than this size when there is strapping tape。

If the preceding end detecting strapping tape arrives the end sending into path, then described method regulation, strapping tape is fixed in the region of the end sending into path, then, pulled back strapping tape by the outside of staple, until strapping tape radially clings in article group when being discharged at least in part by band guiding frame, then, tensioning clings to the strapping tape in article group, then, strapping tape separates in section, in this section, staple itself is overlappingly, such as fixed by the sealed connection of material and/or clamping clip, and it is last, the tie part so formed separates with the strapping tape guided。

If the preceding end detecting strapping tape on the contrary does not arrive the end sending into path, then exist and send into wrong and described method regulation, again by the outside of staple pull back strapping tape and at this monitor roller gap width, in order to determine whether there is strapping tape in roller gap。At this, described method specifies, carries out pulling back of strapping tape as long as with the strapping tape existed in roller gap。Such as do not change how many or roller gap width compared with the feeding being previously performed by the width in monitoring roller gap and exceed predetermined size, can not lower than this size when there is strapping tape, it may be determined that in roller gap, whether there is strapping tape。At this, the present invention it further provides for, once no longer there is strapping tape in roller gap, just terminates to pull back。By monitoring whether the width in roller gap drops to below predetermined size, can not lower than this size when there is strapping tape, it may be determined that in roller gap, whether be absent from strapping tape。

Then, described method can start anew again, supplement an about intermediate steps if desired, this intermediate steps can specify that, strapping tape is such as run by tensioner reverse and carry between the roller gap of at least one roller pair first along sending into direction, between described roller gap strapping tape by roller at least one described along and driveably connect against feeding direction。

Described method allows to use the advantage of previously described bundling head, as being not necessary to stand the shortcoming of prior art in the process。

Described method can specify that, in addition detect along along send into path send into direction seeing at least one roller whether the control position of upstream exists strapping tape, between the roller gap of described roller pair strapping tape by roller at least one described along and against send into direction driveably connect。If detecting in control position and no longer there is strapping tape there, relative to the business according to the length required for tie part of the distance of at least one roller pair and strapping tape relevant with controlling position, cancel continuous print owing to lacking strapping tape standby fully by strapping tape of pulling back immediately to send into, or the integer rounded up relative to described business even do not implement corresponding continuous print send into, between the roller gap of described roller pair strapping tape by roller at least one described along and against send into direction driveably connect。In both cases, it is not necessary to wait that strapping tape does not even arrive the end sending into path, but can indicate or automatically carry out the standby strapping tape exchange relative to new standby strapping tape of current tilt immediately。

If controlling the business according to the length required for tie part of position distance and strapping tape relative at least one roller pair less than one, then can be seen that, continuous print is sent into and is probably feeding mistake, but next feeding is probably feeding mistake, such as when carry out when following time point strapping tape be not present in control position detection, when this time point the preceding end of strapping tape equally possible arrive send into path end, between the roller gap of described roller pair strapping tape by roller at least one described along and against send into direction driveably connect。If described business is more than one and less than two, then can determine that can effectively terminate continuous print sends into for certain, but next feeding is to send into mistake。In simple terms, can determine by means of business follows the feeding after the integer part of business be due to the strapping tape lacking fully existence or be at least probably feeding mistake when detection strapping tape is not present in controlling position during sending into, thus even not implementing described feeding。

Send into owing to reaching the conclusion that strapping tape end is feeding mistake to improve continuous print, described method can be provided with along the path detection sending into the strapping tape that path is sent into, thus can with strapping tape exist and be not present in control position detection together with draw accurate conclusion, the strapping tape that namely there is also for for manufacture another tie part another time send into whether enough。

Sending into mistake to accelerate to identify, described mode is equally possible to be provided with along the path detection sending into the strapping tape that path is sent into。Thus, it is not necessary to wait and stay in the feeding preceding end, direction, edge whether detecting strapping tape on the end sending into path。Or rather, it is possible to determine the end that whether must have arrived at feeding path along feeding preceding end, direction of strapping tape by means of path detection。At this, described method can specify that, path together with coupling with path detection, by feeding preceding end, direction, the edge process of strapping tape exceedes the length sending into path, preceding end, direction is sent on the edge not even being to wait for whether detecting strapping tape on the end sending into path, but directly infers feeding mistake and strapping tape of again pulling back。

Thus, it is possible to earlier carry out pulling back of strapping tape when sending into mistake, this improves accessible synchronization again。

Highlighting, path detection can substitute for strapping tape edge on the end sending into path in principle and sends into the detection of preceding end, direction。

Not only bundling head and also that method for disposing strapping tape is associated with prior art when can alternatively or additionally have multiple beginning and/or mention the combination of the independent feature described in the document of prior art or feature at one or more。

In addition, bundling head can alternatively or additionally have multiple previously or the combination of the independent feature of embodiment that describes explicitly of following and described method or feature, the combination can alternatively or additionally with described method with independent feature that multiple previous and bundling head describes explicitly or feature is identical。

According to the advantage of bundling head of the present invention with eliminate the shortcoming of prior art according to the method for the present invention except the solution completely of providing of task relative to the advantage of prior art, it is allowed to reach higher synchronization and identify the reliability sending into mistake。

Accompanying drawing explanation

Below by the present invention and advantage thereof are explained in more detail in embodiment illustrated in the accompanying drawings。The mutual dimension scale in the drawings of each element is not always consistent with the dimension scale of reality, because simplifying some shapes and illustrating some other shape compared with other elements enlargedly to be better described。For the identical of the present invention or act on identical element and use identical accompanying drawing labelling。Additionally, for the sake of clarity only illustrate in various figures for describing accompanying drawing labelling required respective drawings。Shown form of implementation only presents such as according to the bundling head of the present invention and/or the embodiment that can how to construct according to the method for the present invention, and is not to be regarded as the restriction closed。In schematic view:

Fig. 1 is shown in and is in by the first embodiment of visible bundling head in the cross section in the plane with guiding frame formation of bundling head；

Fig. 2 a illustrates the second embodiment of the bundling head with guiding frame with multi-piece type with perspective view, in this second embodiment can radially in opposite directions and be arranged in primary importance with moving privately mutually around central axis with the independent of guiding frame or multiple parts, the band guiding frame of bundling head is closed in this primary importance；

Fig. 2 b illustrates the bundling head of Fig. 2 a in the second position with perspective view, and the band guiding frame of bundling head is opened in this second position；

Fig. 3 is shown in and is in by the first embodiment with driving device of visible bundling head in the cross section in the plane with guiding frame formation of bundling head；

Fig. 4 illustrates second embodiment with driving device of bundling head with perspective view；

Fig. 5 is shown in and is in by the 3rd embodiment with driving device of visible bundling head in the cross section in the plane with guiding frame formation of bundling head；

Fig. 6 illustrates the embodiment of bundle from the article group tightened together by means of tying up of bundling head manufacture with perspective view。

Detailed description of the invention

The bundling head 01 illustrated in whole or in part in Fig. 1 to Fig. 5 consists essentially of:

-band guiding channel 04, described includes circumferentially around utilizing strapping tape 02 to tighten band guiding frame 03 that is that article group 18 together is arranged or that can arrange with guiding channel；And

-for strapping tape 02 being sent to in guiding frame 03 and from the band conveyer device 06 with pulling back guiding frame；And

-for make strapping tape 02 around utilize that strapping tape 02 shifts, that to tighten article group 18 tensioning together, equipment into tensioner 07 is briefly described。

The band driving device 05 of bundling head 01 it is collectively forming with conveyer device 06 and tensioner 07。

Bundling head 01 is characterised by:

-see along feeding direction E, band conveyer device 06 is arranged in tensioner 07 downstream and is arranged in band guiding frame 03 upstream, and strapping tape 02 is fed in band guiding frame 03 by means of band conveyer device 06 along sending into direction with preceding end 20；

-include at least one by the roller driving roller or conveying roller 61 and hold-down roller or counter-pressure cylinder 62 to be formed to 60 with conveyer device 06, between the roller gap of described roller pair by described roller to 60 in a roller along and driveably connect strapping tape 02 against sending into direction E；

-counter-pressure cylinder 62 can be arranged towards conveying roller 61 and away from described conveying roller ground transverse to the strapping tape being directed through on conveying roller 61 with offseting, as in Fig. 3, Fig. 4 and Fig. 5 by double-head arrow A represents；

The skew A of-counter-pressure cylinder 62 changes the width in roller gap；And

-counter-pressure cylinder 62 such as elastic force presses against on conveying roller 61 with loading ground or gravitational load。

In addition, bundling head 01 is characterised by, end with guiding channel 04 is provided with the first detector 81, once strapping tape 02 along send into direction E preceding end 20 in guiding frame 03 arrive with guiding frame send into path be on the end with guiding channel 04 in the B of region or the end of the end of proximity band guiding channel, then trigger this first detector。First sensor 81 is used for determining whether strapping tape 02 is successfully sent in band guiding frame 03。

Additionally, bundling head 01 is characterised by, be provided with the second detector 82, this second detector monitors counter-pressure cylinder 62 towards conveying roller 61 and displacement away from conveying roller。Whether the second detector 82 is monitored exists strapping tape 02 in the roller formed by conveying roller 61 and the counter-pressure cylinder 62 roller gap to 60。Second sensor sends into mistake for effectively and rapidly and reliably revising in accessible synchronization on the whole, additionally, so that strapping tape 02 in order to revise send into mistake pull back and time loss between feeding again keeps little as far as possible。

The working method of this bundling head 01 can be as described below:

After band guiding channel 04 surrounds band guiding frame 03, when strapping tape 02 arrives the end sending into path, strapping tape 02 is around by the article group 18 surrounded with guiding frame 03, until this is overlapping in the B of region。

Stop band conveyer device 06 is carried out by triggering the first detector 81, the preceding end 20 of fixing strapping tape 02, then against sending into direction E operating band conveyer device 04, thus, strapping tape 02 is discharged by band guiding frame 03 and such as by everywhere radially adjacent to article group 18, until strapping tape 02 abuts in article group 18, and then handle tensioner 07, in order to tensioning abuts in the strapping tape 02 in article group 18。Then, the part (such as by this portion of material in locking manner and/or is mutually connected by means of clip) that fixing strapping tape 02 is overlapped in the B of region, and the tie part 16 so formed is separated with the strapping tape 02 shifted near。

If such as not triggering the first detector 81 after predetermined interval, then exist and send into mistake, this interval is equal to the persistent period being multiplied with bigger safety coefficient, strapping tape 02 needs this persistent period, in order to the end sending into path arriving strapping tape along the feeding preceding end 20 of direction E with the feeding speed of strapping tape together with strapping tape by previously there is the position separated of the tie part 16 of manufacture。

If the preceding end of strapping tape 02 20 does not arrive the first detector 82, mistake is sent into and against sending into direction E operating band conveyer device 06 and strapping tape 02 of thus pulling back, until the second detector 82 illustrates the minimizing meeting roller that strapping tape 02 is not present in being formed by conveying roller 61 and counter-pressure cylinder 62 to the width in the roller gap of the situation in the roller gap of 60 by corresponding signal as long as then existing。

Therefore, second detector 82 be not as in the prior art when detecting the rotational motion of counter-pressure cylinder 62 or resting state monitoring strapping tape 02 whether be present in the roller gap between conveying roller 61 and counter-pressure cylinder 62, and be by mean of illustrating that counter-pressure cylinder 62 that strapping tape 02 is not present in roller gap is monitored towards the skew of conveying roller 61。

At this, when the second detector 82 detects that counter-pressure cylinder 62 abuts on conveying roller 61 or close to during lower than the predetermined size of conveying roller 61, stops pulling back of strapping tape 02 immediately, can not lower than this size when there is strapping tape 02。

Therefore, as long as strapping tape 02 is no longer present in the roller gap between conveying roller 61 and the counter-pressure cylinder 62 to 60 of the roller being equipped with the second detector 82 with conveyer device 06, between the roller gap of this roller pair by one of described roller 61 along and driveably connect strapping tape 02 against sending into direction E, appear in and revise the signal sending into the second detector 82 pulled back stopping strapping tape 02 during mistake。Therefore, described signal is simultaneously used for the feeding that starts again。

After the signal of the second detector 82 stops the pulling back of strapping tape 02, carry out being re-fed into of strapping tape 02。This is re-fed into first can specify that, tensioner 07 is run along the feeding direction E contrary with tension direction, until in the roller gap that strapping tape 02 is again between conveying roller 61 and counter-pressure cylinder 62 to be formed, in order to then by means of band conveyer device 06, strapping tape 02 is again fed in band guiding frame 03。Alternatively, it is re-fed into being located at and includes at least two roller in the band conveyer device 06 of 60, between the roller gap of described roller pair by one of corresponding roller 60 along and against send into direction E driveably connect strapping tape 02, roller equipped with the second detector 82 to 60 and is arranged in the roller equipped with the second detector 82 to another roller between 60 and tensioner 07 to 60 edge feeding direction E operations, between the roller gap of another roller pair described same by one of described roller 60 along and driveably connect strapping tape 02 against sending into direction E, and not only it is incorporated between the roller gap to 60 of the roller equipped with the second detector 82 at this strapping tape 02, and be sent in band guiding frame 03。

The displacement of counter-pressure cylinder 62 can be arranged linearly along the geometrical axis that the pivot center being typically normal to conveying roller 61 and counter-pressure cylinder 63 extends。Alternatively, the displacement of counter-pressure cylinder can be arranged around the book pivot axis that the pivot center being parallel to conveying roller 61 and counter-pressure cylinder 62 extends。

The displacement of the counter-pressure cylinder 62 shown in double-head arrow A can by strengthening for the lever 63 of the motion shown in double-head arrow V, as figure 4 illustrates。

Second detector 82 can be such as that the roller with or without lever switchs, proximity transducer, the optical pickocff of grating or offer image, the material of conveying roller 61 is such as worked by described proximity transducer, the dielectric constant such as passing through this material affects the mode of the electric field by the second detector 82 and/or counter-pressure cylinder 62, the optical pickocff of described offer image detects the skew of counter-pressure cylinder 62 in real time explicitly with the analytic unit performing image recognition algorithm with the video image by the optical pickocff detection providing image, so that by more only it is contemplated that structural form be called the second suitable detector 82。It is also envisaged that the electrical contact that detection is between conveying roller 61 and counter-pressure cylinder 62。When there is strapping tape 02 between conveying roller 61 and counter-pressure cylinder 62, there is not described electrical contact, and when being absent from strapping tape 02 between conveying roller 61 and counter-pressure cylinder 62, described electrical contact occurs, and conveying roller 61 and counter-pressure cylinder 62 contact with each other。

Bundling head 01 can include the 3rd detector 83, and the 3rd detector arrangement is controlling position 85 place, and this control position is seen along feeding direction and is in band driving device 05 upstream, and the 3rd detector is controlling whether position 85 place detection strapping tape 02 exists。

If controlling to recognize strapping tape 02 during position 85 is in feeding at other to be absent from, then reach the end of ready strapping tape 02 continuously and strapping tape 02 must be replaced。This is also used for identifying sends into mistake, because according to the position controlling position 85:

A) current feeding is to send into mistake, because the curtailment of the strapping tape further provided for is enough in manufactures tie part completely, or

B) send into is send into mistake next time, because the length of the strapping tape 02 further provided for after continuous print is sent into no longer is sufficiently used for manufacture tie part 16 completely。

With in the feeding mistake that the 3rd detector 83 identifies two kinds of types mentioned which kind of independently, produce the additional raising synchronized with the 3rd detector 83 because be not necessary to wait until correspondingly continuous print send into be identified as vicious。Otherwise, it is absent from and when controlling 85 place, position, can directly interrupt continuous print a) sending at identification strapping tape 02, this feeding direction, outer E is thus avoided manually to be removed by bundling head 03 by the strapping tape 02 released with driving device 05, and instead, may indicate that the required manual replacing of the strapping tape 02 of inclination, corresponding replacing automatically can be docked, and when b), correspondingly send into next time and even do not start, have the result identical with situation a) and improve again accessible synchronization。

Bundling head 01 alternatively or has the 4th detector 84 except the 3rd detector 83, and the 4th detector produces and the strapping tape 02 output signal that the feeding path of process is proportional during sending into。

Such 4th detector 84 such as can with at least during sending into fixing with strapping tape 02, preferably with strapping tape 02 dislocation the roller 60 that rotates, such as counter-pressure cylinder 62 be connected and/or the formal construction of rotary angle transmitter of mating reaction。By such 4th detector 84 can ratio when having to wait for detecting feeding mistake when not triggering the first detector 81 more quickly。Thus, reversing of strapping tape 02 can carry out more in advance when sending into mistake, and this improves accessible synchronization again。

Highlight, when the second detector 82 when pulling back strapping tape 02 by by conveying roller 61 and opposed with conveying roller, that can offset relative to conveying roller 61 and thus change roller gap width, roller that the counter-pressure cylinder 62 that presses against conveying roller 61 is formed to 60 between the minimizing of width in roller gap be absent from following Dimensions recognition strapping tape time, cannot lower than this size when there is strapping tape 02。4th detector 84 can substitute for the first detector 81 in principle, and wherein, this only may identify which a kind of feeding mistake。

Therefore, first detector 81 and/or the 4th detector 84 can itself or be collectively forming feeding detector, this feeding detector passes through strapping tape 02 arrival along (first detector 81) of the reality of the end sending into direction E preceding end 20 identification tape guiding channel 04 and/or (the 4th detector 84) of supposition when sending into, wherein, synchronization high as far as possible is reached by the combination of the first detector 81 and the 4th detector 84, because when being exceeded feeding path by strapping tape 02 path of process during sending into, first detector 81 can pass through strapping tape 02 interrupted sending into along the actual arrival of end and the 4th detector 84 of sending into direction E preceding end 20 identification tape guiding channel when sending into。

Bundling head 01 can include fixing device 08, and this fixing device is connected with each other to be fixed about the part overlapping in the B of region after the tensioning of the strapping tape 02 of article group 18。

When strapping tape 02 is made of plastics as preferably arranged, fixing device 08 can set the part overlapping in the B of region after the tensioning of the strapping tape 02 for being fixed about article group 18, and described part is connected cohesively together by welding and compressing mutual material。

At this, fixing device 08 can equipped with hold down gag and back pressure plate and be arranged between the two, by the region between hold down gag and back pressure plate movable band guide, this with guide define with first between guide and hold down gag with guiding channel part and with the 3rd band guiding channel part between guide and back pressure plate；Wherein,

-the first is connected with each other by including surrounding the second band guiding channel part with guiding frame 03 of article group 18 needing to be combined with bundle 10 and band guiding channel 04 with guiding channel part with guiding channel part and the 3rd, guides and be sent to the strapping tape 02 in guiding frame 03 in this is with guiding channel；

-second can be in guiding channel part and the 3rd with the transition position between guiding channel part against the clamping clip of back pressure plate motion；And

-the first detector 81 is arranged along the 3rd band guiding channel part, it is preferable that be arranged on the 3rd end with guiding channel part。

-the first guiding channel part and the 3rd band guiding channel part only are adjacent to be in the B of region by band guide at this discretely mutually。If band guide moves out between the first guiding channel part and the 3rd band guiding channel part, then cancel separation, thus strapping tape 02 be in the first guiding channel part and the 3rd with partly overlapping in guiding channel part。

If the arriving or near the first detector 81 along sending into the preceding end 20 of direction E of strapping tape 02, then the part being adjacent to preceding end 20 of strapping tape 02 is adjacent with such part of strapping tape 02, described in be partially in the first band guiding channel part。After triggering the first detector 81, first between clamping clip and back pressure plate, clamp strapping tape 02, then, band conveyer device 06 is pulled back strapping tape 02, thus, strapping tape 02 is discharged and near article group 18 radial to the middle part with guiding channel by with guiding channel 03, until strapping tape 02 abuts in article group 18。Tensioner 07 is close to strapping tape 02 and tensioning strapping tape adjacently。When moving by the region between back pressure plate and hold down gag with guide, cancel first and the 3rd with the separation between guiding channel part, thus, strapping tape 02 be adjacent to the part of preceding end 20 and the previous of strapping tape 02 first with guiding channel part in maintain partly overlap, thus the strapping tape 02 being made of plastics can pass through to heat by means of back pressure plate and hold down gag and compress staple that overlapping part itself is welded into item group 18, that form tie part 16 and thus material be connected cohesively together。

Being preferably placed in the plane of level with guiding frame 03 of bundling head 01。

Construct with can entering such multi-piece type shown in Fig. 2 a and Fig. 2 b with guiding frame 03, wherein, with the independent of guiding frame 03 or multiple parts 30,31,32,33 when horizontally disposed with guiding frame 03 can radially arrange towards and away from motion around vertical central axis, in order to open and close with guiding frame 03 and flow in succession by means of horizontal transferring device after thus can being centered around another article group 18 bundling position, correspondingly fixing with strapping tape 02 article group 18 arrange band guiding frame 03。

At least one conveying roller 61 with conveyer device 06 can be wound around by strapping tape 02 at least in part in order to improve transferable power between band conveyer device and strapping tape 02。

Tensioner 07 can:

-include at least one idler roller 70 and the driver that idler roller is worked, at least can drive strapping tape 02 and thus can around needing the article group 18 tensioning strapping tape (Fig. 1, Fig. 3) tied up against sending into direction E by means of this driver；And/or

-including two clamping clips 71 being respectively relative to inside plane of movement toward each other or arrange with moving abreast and/or mutually oppositely privately and jointly mutually, described clamping clip forms the variable guiding channel 72 for strapping tape 02 along its width opposite to each other or mutually privately by the contrary motion of clamping clip 71；And tensioner includes the driver that clamping clip 71 is worked, this driver at least jointly moves clamping clip 71 (Fig. 5) along guiding channel 72 in parallel to each other when it runs。

At least one idler roller 70 can the power in order to improve between idler roller and strapping tape 02 transmission be wound around by strapping tape 02 at least in part。

Counter-pressure cylinder can be arranged opposed to each other with at least one idler roller 70, and wherein, strapping tape 02 connects between at least one idler roller 70 and at least one counter-pressure cylinder。

Alternatively or additionally, two idler rollers 70 or an idler roller 70 and counter-pressure cylinder can form band idler roller pair, described with the roller gap of idler roller pair between strapping tape 02 by band idler roller at least one described at least against send into direction E driveably connect。

Tensioner 07 can include one or more such band idler roller pair。

By compared with the driver that tensioning runs at least one contrary idler roller 70, tensioner 07 can be used for by strapping tape memorizer, such as strapping tape reel conveying strapping tape 02, in order to strapping tape item group 18。

Therefore, band conveyer device 06 can form or include tensioner 07, or formed by tensioner or include。

At least one driver with driving device 05, such as preferably at least one driver of tensioner 07 can have or include for monitoring and keep can the device of predetermined strapping tape tensioning。Described device can include for detect with can predetermined strapping tape tension into the measurand of ratio, such as by the device of the electric current of electric drive temporary needs。Additionally, described device can include for arrive and/or exceed accord with can predetermined strapping tape tensioning for marginal value measurand time at least causing in order to the run duration moved necessary to tensioning strapping tape 02 stops the device of driver along first direction of motion。

Bundling head 01 can be arranged on a robotic arm, such as can move together at least along the section of transportation route by means of this mechanical hand bundling head 01 and preferably drop on article 12 from top to bottom and be upwardly away from article 12 ground at this and be enhanced, article 12 during article are grouped through described transportation route and be grouped into the article 12 of article group 18 hereafter through described transportation route。Tie part 16 can by this way with by by fixing and that move in the horizontal direction at the horizontal transferring device extended at least one section of transportation route, be grouped into and tighten the article 12 of article group 18 together by means of tie part 16 and decline and the travelling speed of bundling head 01 to move together with horizontal transferring device is synchronously laid。

Therefore, bundling head 01 can be the parts of strapper, strapper includes the such as gantry robot of supporting bundling head 01 or the robots arm of the mechanical hand of robot of cranking arm, bipod, spider, four foot rests or multiaxis in addition, this robots arm make the article 12 of bundling head 01 and transport in continuous print process and/or article group 18 can together with move and drop to if desired in article and/or article group and again improve, and described strapper includes the strapping tape memorizer that is such as arranged on bundling head 01 or in bundling head。

The bundle 10 that the bundling head 01 of such as previously described strapper manufactures is utilized to figure 6 illustrates。Described bundle includes the article 12 being grouped into article group 18, and these article are tightened together by means of the tie part 16 manufactured by strapping tape 02 that is that guide in the staple of item group 18, that cling in article group 18 and that be close to and thus fixed。Safe edge can be inserted in order to protect article 12 02 time at strapping tape。

Highlight, bundle 10 can in order to the further transport of bundle, such as in order to the shipping of bundle at least in part further in conjunction with and/or in position arrangement and palletization。

In order to stop strapping tape 02 to slide, article 12 can have convergent portion 14, the periphery tensioning of strapping tape 02 item group 18 in this convergent portion。

Tie part 16 can be provided with handle 22, in order to can such as utilize have gentle hands to change places the bundle 10 caught。Handle 22 correspondingly such as can be also secured on strapping tape with the fixing of strapping tape 02 with the fixing of strapping tape 02, or handle 22 is it is so structured that staple or be equipped with staple on its opposed end, connects strapping tape 02 by staple during item group 18。

Handle 22 can in the tie part 16 bundle 10 simultaneously or together with being located at after completing tie part 16 and being tightened by tie part 16。Handle 22 can be fastened on the strapping tape 02 of tie part 16 or at least partially around the strapping tape 02 of tie part 16。Lay around the article group 18 together with tightening with bundle 10 tie part 16 bundling head 01 this can be divided into, with guiding frame 03, the section such as formed by the parts 30,31,32,33 with guiding frame 03, it is placed in band guiding channel 04 to arrange on its end or to be equipped with the handle 22 of staple, before strapping tape 02 is sent to band guiding channel 04 or afterwards。Alternatively or additionally, the handle 22 fastening on strapping tape 02 can with strapping tape 02 fixing in the same manner as undertaken by welding。

Such as can be provided with the control unit that the device 05,06,07,08 with detector 81,82,83,84 and bundling head 01 is connected, in order to control described process。Described control unit can be bundling head 01 or strapper or the parts of following equipment, the parts of this equipment can be equipped with the strapper of corresponding bundling head 01。

The method that previously described bundling head 01 allows to implement to provide as follows:

Path of sending into illustrated by that the ready strapping tape 02 of-continuous print guides along feeding direction E along item group 18 60 by means of at least one roller, at least originally overlapping in section staple is sent into by the outside of staple, between the roller gap of described roller pair by described roller to 60 at least one roller towards and against send into direction E driveably connect strapping tape 02, wherein:

-roller gap by strapping tape 02 along its variable-width；

-detection on the end sending into path, the end whether arriving feeding path along the feeding preceding end 20 of direction E of strapping tape 02；And

The width in-monitoring roller gap, in order to thereby determine that whether strapping tape 02 is present in roller gap, wherein, when the width in roller gap decreases below predetermined size, mean that and be absent from strapping tape 02, because can not lower than this size when there is strapping tape 02

Wherein:

-specify when the preceding end 20 detecting strapping tape 02 arrives the end sending into path, strapping tape 02 is fixed in the region of the end sending into path, then pulled back strapping tape 02 by the outside of staple, until such as when being discharged at least in part by band guiding frame 03 strapping tape in side, in many sides or completely radial cling in article group 18, then, tensioning clings to the strapping tape 02 in article group 18, then, strapping tape 02 separates in the section formed by region B in FIG, in this section, staple itself is overlappingly, such as fixed by the sealed connection of material and/or clamping clip, and it is last, the tie part 16 so formed separates with the strapping tape 02 guided；And

-specify when the preceding end 20 detecting strapping tape 02 does not arrive the end sending into path, again pull back strapping tape against sending into direction E, wherein, pulling back of strapping tape 02 is carried out as long as with the strapping tape 02 existed in roller gap, and once no longer there is strapping tape 02 in roller gap, just terminate to pull back。

Then, described method can again by foremost, supplement an about intermediate steps if desired, this intermediate steps can specify that, strapping tape 02 is such as run by tensioner 07 reverse and carry between at least one roller roller gap to 60 first along sending into direction E, between described roller gap by described roller to 60 at least one roller towards and driveably connect strapping tape 02 against feeding direction E。

In addition, described method can set to be seen at least one roller whether control position 85 place of 60 upstreams exists strapping tape 02 along feeding direction E for detecting, between the roller gap of described roller pair by described roller to 60 at least one roller towards and against send into direction E driveably connect strapping tape 02, wherein, when detecting no longer there is strapping tape 02 there at control position 85 place, depend on controlling position 85 relative at least one roller business ground being divided by according to the length required for tie part 16 of distance and strapping tape 02 to 60, cancel continuous print owing to lacking strapping tape 02 standby fully by strapping tape 02 of pulling back immediately to send into, or even do not implement continuous print according to the integer rounded up relative to described business to send into, between the roller gap of described roller pair by described roller to 60 at least one roller towards and against send into direction E driveably connect strapping tape 02。In both cases, it is not necessary to wait that strapping tape 02 does not even arrive the end sending into path, but can indicate or automatically carry out the standby strapping tape exchange relative to new standby strapping tape of current tilt immediately。

If at least one roller to 60 (between the roller gap of described roller pair strapping tape 02 by roller at least one described 60 towards and driveably connect against sending into direction E) another control the business according to the length required for tie part 16 of position and strapping tape 02 less than one, then can be seen that, continuous print is sent into and is probably feeding mistake, but next feeding is probably feeding mistake, such as when carry out when following time point strapping tape be not present in another control position 85 place detection, when this time point, the preceding end 20 of strapping tape 02 is equally possible arrives the end sending into path。If described business is more than one and less than two, then can determine that can effectively terminate continuous print sends into for certain, but next feeding is to send into mistake。The corresponding conclusion being conducive to the business more than two meaningfully improves around the corresponding integer part of business, and when business is more than N, N-1 feeding after continuous print is sent into can terminate effectively, but n-th follows the feeding after continuous print is sent into be send into mistake。In simple terms, can determine by means of business follows the feeding after the integer part of business be due to the strapping tape 02 lacking fully existence or be at least probably feeding mistake when detection strapping tape 02 is absent from during sending into and controls 85 place, position with another, thus even not implementing described feeding。

Send into owing to reaching the conclusion that strapping tape end is feeding mistake to improve continuous print, described method can arrange along the path detection device sending into the strapping tape 02 that path is sent into, thus can exist with strapping tape 02 and be not present in control position 85 place detection together with draw accurate conclusion, the strapping tape 02 that namely there is also for for manufacture another tie part 16 another time send into whether enough。

Sending into mistake to accelerate to identify, described mode is equally possible to be provided with along the path detection sending into the strapping tape 02 that path is sent into。Thus, it is not necessary to wait and stay in the feeding preceding end 20 of direction E, edge whether detecting strapping tape 02 on the end sending into path。Or rather, it is possible to determine the end that whether must have arrived at feeding path along the feeding preceding end 20 of direction E of strapping tape 02 by means of path detection。At this, described method can specify that, path together with coupling with path detection, by feeding direction E preceding end 20, the edge process of strapping tape 02 exceedes the length sending into path, the preceding end 20 of direction E is sent on the edge not even being to wait for whether detecting strapping tape 02 on the end sending into path, but directly infers feeding mistake and strapping tape 02 of again pulling back。

Thus, it is possible to earlier carry out pulling back of strapping tape 02 when sending into mistake, this improves accessible synchronization again。

Highlight, path detection can substitute in principle send into path end on strapping tape 02 along send into preceding end 20, direction detection。

Highlighting, bundling head 01 allows to control situation described below identically with described method。

The strapping tape receptor that situation 1-is made up of strapping tape memorizer:

Strapping tape 02 is by strapping tape memorizer taxiway bundling head 01。The roller that send into roller pair, that formed by conveying roller 61 and the counter-pressure cylinder 62 that can offset against conveying roller that can also be referred to as with conveyer device 06 rotates with less speed 60。Once strapping tape 02 send into roller on close, the counter-pressure cylinder 62 being pivotally supported is promoted by powered conveying roller 61。Be provided with if desired be connected with counter-pressure cylinder 62, the skew of the leverage that includes at least one lever 63 and the second detector 82 export signal, this signal designation strapping tape 02 is in roller in the roller gap of 60。Once strapping tape 02 is by sending into the roller width to again discharging and thus reduce roller gap, the second detector exports another signal, or interrupts the signal previously exported, or vice versa。

Situation 2-is sending into the band in guiding frame 03:

Strapping tape 02 is present in the roller gap sending into roller pair。So, strapping tape 02 is sent in the band guiding channel 03 of bundling head 01。First detector 81 is on the end with guiding channel 03, and this first detector signal represents effective feeding process。Most high threshold is determined in order to not be transported in band guiding channel 03 by too many strapping tape 02 in the case of an error。Described most high threshold such as can rotate by means of driver effective such as sending into roller pair or the predetermined feeding time and exist。

The situation 3-tensioning to the strapping tape 02 around the article group 18 being equipped with tie part 16:

When situation 2 is effective, control feeding roller is driven in return and strapping tape 02 is elongated around the article group 18 being equipped with tie part 16。Once strapping tape 02 abuts in the article group 18 being equipped with tie part 16, trigger tensioner 07 and around the article group 18 tensioning strapping tape 02 being equipped with tie part 16。Tight corresponding time point is there is back, for instance can measure sending into the voltage of driver, current intensity or the revolutional slip that roller works in order to find。Once strapping tape tensioning changes by be equipped with the article group 18 of tie part 16, described voltage, current intensity or revolutional slip just change。

The band of situation 4-mistake is sent into:

When strapping tape 02 is as sent into described in situation 3, but when keeping off, it is necessary to being fed again into of strapping tape 02。Because cutting off one section of strapping tape 02 by such as such as user or how the interference of outside like this can not be in band guiding frame 03 by precisely known multiple strapping tapes 02, so strapping tape being pulled back down in the original position of restriction。The mode that strapping tape 02 return is transported in strapping tape memorizer is undertaken by with guiding frame 03 against feeding direction E by this by sending into roller。Once strapping tape 02 leaves feeding roller pair, the taper in width of roller pair is to the size that cannot exceed when there is strapping tape 02, for instance until counter-pressure cylinder 62 abuts on conveying roller 61。Such as on the end of lever 63 or lever, opposed second detector 82 exports corresponding signal at this。Hereafter, strapping tape 02 against send into direction E see be in send into roller pair downstream, such as with in the region between conveyer device 06 and tensioner 07。So, the roller 70 of tensioner 07 can along send into direction E be driven, until strapping tape 02 be again at send into roller between roller gap in and the second detector 82 signal represent this situation。

The present invention is preferred embodiment described with reference to one。But, it is contemplated that for those skilled in the art, it is possible to conversion or the change present invention, and at this protection domain without departing from following claims。

Reference numerals list:

01 bundling head

02 strapping tape

03 band guiding frame

04 band guiding channel

05 band driving device

06 band conveyer device

07 tensioner

08 fixing device

10 bundle

12 article

14 convergent portions

16 tie parts

18 article groups

The end of 20 strapping tapes

22 handles

60 rollers

61 conveying rollers

62 counter-pressure cylinders

70 idler rollers

71 clamping clips

72 guiding channels

81 first detectors

82 second detectors

83 the 3rd detectors

84 the 4th detectors

85 control position

A offsets

B region

E sends into direction

V moves

Claims (22)

1. a bundling head (01), it has:

-band guiding channel (04), described includes circumferentially around utilizing strapping tape (02) to tighten band guiding frame (03) that is that article group (18) together is arranged or that can arrange with guiding channel；

-described with in guiding frame (03) and from the described band conveyer device (06) with pulling back guiding frame for described strapping tape (02) is sent to；And

-it is used for making described strapping tape (02) around utilizing tensioner (07) that strapping tape (02) shifts, that to tighten article group (18) tensioning together,

Wherein:

-see along feeding direction (E), described being arranged in the downstream of described tensioner (07) with conveyer device (06) and be arranged in the described upstream with transportation frame (03), described strapping tape (02) is fed in described band guiding frame (03) along sending into direction with preceding end (20)；

-described include at least one roller formed by conveying roller (61) and counter-pressure cylinder (62) to (60) with conveyer device (06), between the roller gap of described roller pair by roller at least one roller in (60) along and driveably connect described strapping tape (02) against sending into direction (E)；

-described counter-pressure cylinder (62) can be arranged transverse to the strapping tape being directed through on described conveying roller (61) with offseting；

The skew (A) of-described counter-pressure cylinder (62) changes the width in roller gap；And

-described counter-pressure cylinder (62) presses against on described conveying roller (61)；

-on the described end with guiding channel (04), it is provided with the first detector (81), once described strapping tape (02) send into being on the described end with guiding channel (04) or near the end of this end, just triggering described first detector of path along what send into that preceding end (20) in guiding frame (03), direction (E) arrives described strapping tape；And

-it being provided with the second detector (82), counter-pressure cylinder (62) described in described second detector monitors is toward and away from the skew (A) of described conveying roller (61)。

2. bundling head according to claim 1, wherein, described first detector (81) is with the formal construction of contact switch or limit switch。

3. bundling head according to claim 1, wherein, described first detector (81) is with the formal construction of proximity transducer or grating。

4. bundling head according to claim 1, wherein, described first detector (81) to provide the formal construction of the optical pickocff of image, the optical pickocff of described offer image with implement the analytic unit of image recognition algorithm explicitly, the video image that detects with the optical pickocff by described offer image detect the preceding end (20) of described strapping tape (02) in real time。

5. according to the bundling head one of claim 2 to 4 Suo Shu, wherein, described second detector (82) be with or roller without lever switch。

6. according to the bundling head one of claim 2 to 4 Suo Shu, wherein, described second detector (82) is proximity transducer or grating。

7. according to the bundling head one of claim 2 to 4 Suo Shu, wherein, described second detector (82) is to provide the optical pickocff of image。

8. bundling head according to claim 1, wherein, the 3rd sensor (83) is arranged in control position (85) place, and described control position is seen along feeding direction (E) and is in described band conveyer device (06) upstream。

9. bundling head according to claim 8, wherein, described 3rd detector (83) be with or roller without lever switch。

10. bundling head according to claim 8, wherein, described 3rd detector (83) is proximity transducer or grating。

11. bundling head according to claim 8, wherein, described 3rd detector (83) is to provide the optical pickocff of image。

12. the bundling head according to one of Claims 1-4 or claim 8, wherein, be provided with the 4th detector (84), described 4th detector produce with by the preceding end (20) of described strapping tape (02) the output signal that the length in the feeding path of process is proportional during sending into。

13. bundling head according to claim 1, wherein, described keep flat in the low plane being arranged in level with guiding frame (03)。

14. bundling head according to claim 13, wherein, described is multi-piece type with guiding frame (03), wherein, described can be radially inwardly directed to each other and deviate from arrange with moving each other around central axis with the independent of guiding frame (03) or multiple parts (30,31,32,33), in order to open and close described band guiding frame (03)。

15. bundling head according to claim 1, wherein, described strapping tape (02) is made of plastics。

16. bundling head according to claim 15, wherein, described bundling head (01) includes fixing device (08), the part overlapping after the tensioning of the strapping tape (02) that described fixing device is placed to be fixed about article group (18) and be connected with each other in locking manner by welding and compress material。

17. bundling head according to claim 16, wherein:

-described fixing device (08) equipped with hold down gag and back pressure plate and be arranged between described hold down gag and back pressure plate, by the region between described hold down gag and back pressure plate movable band guide, described be limited to first between guide and hold down gag with guiding channel part and with the 3rd band guiding channel part between guide and back pressure plate with guide；

-described first is connected with each other with band guiding channel (04) by including the second band guiding channel part with guiding frame (03) of the article group (18) that encirclement needs to be combined with bundle (10) with guiding channel part with guiding channel part and the 3rd, described with guiding channel in guide be sent to described with the strapping tape (02) in guiding frame (03)；

-second can be located at guiding channel part and the 3rd with the transition position between guiding channel part against the clamping clip of back pressure plate motion；And

-described first detector (81) is arranged along described 3rd band guiding channel part, it is preferable that be arranged on the described 3rd end with guiding channel part。

18. bundling head according to claim 1, wherein said tensioner (07):

-include at least one idler roller (70) and the driver that idler roller is worked, by means of described driver at least can drive described strapping tape (02) and it is possible to around needing strapping tape described in article group (18) tensioning tied up against sending into direction (E)；And/or

-including two clamping clips (71) being respectively relative to inside plane of movement toward each other and arrange movingly abreast and/or mutually oppositely privately and jointly mutually, described clamping clip forms the variable guiding channel (72) for strapping tape (02) along its width opposite to each other or mutually privately by the contrary motion of clamping clip (71)；

And described tensioner includes the driver that described clamping clip (71) is worked, described driver at least jointly moves clamping clip (71) along described guiding channel (72) in parallel to each other when it runs。

19. the method being used for disposing strapping tape (02), described method specifies:

(60) are sent into along the path of sending into sent into illustrated by that direction (E) guides along item group (18), at least originally overlapping in a section (B) staple by the outside of staple by the ready strapping tape of-continuous print (02) by means of at least one roller, between the roller gap of described roller pair by described roller at least one roller in (60) towards and against send into direction (E) driveably connect strapping tape (02), wherein:

-described roller gap by strapping tape (02) along its variable-width；

-detection on the end sending into path, the end whether arriving feeding path along feeding direction (E) preceding end (20) of strapping tape (02)；And

The width in-monitoring roller gap, to thereby determine that whether strapping tape (02) is present in roller gap, wherein, when the width in roller gap decreases below predetermined size, mean that and be absent from strapping tape (02), because can not lower than this size when there is strapping tape (02)

Wherein:

-specify when the preceding end (20) detecting strapping tape (02) arrives the end sending into path, described strapping tape (02) is fixed in the region of the end sending into path, then pulled back strapping tape (02) by the outside of staple, until it radially clings in article group (18), then, tensioning clings to the strapping tape (02) in article group (18), then strapping tape (02) separates in section (B), in this section, staple itself is fixed overlappingly, and the last tie part (16) so formed separates with the strapping tape (02) guided；And

-specify when the preceding end (20) detecting strapping tape (02) does not arrive the end sending into path, again pull back strapping tape (02) against sending into direction (E), wherein, pulling back of strapping tape (02) is carried out as long as with the strapping tape (02) existed in roller gap, and once no longer there is strapping tape (02) in roller gap, just terminate to pull back。

20. method according to claim 19, wherein, additionally detect and seeing be in whether at least one roller control position (85) place to (60) upstream exists strapping tape (02) towards sending into path along sending into direction (E), between the roller gap of roller pair by roller at least one roller in (60) towards and against send into direction (E) driveably connect strapping tape (02), wherein, when detecting no longer there is strapping tape (02) there at control position (85) place, depend on controlling the business ground that the distance of (60) and the required length according to tie part (16) of strapping tape (02) are divided by by position (85) relative at least one roller, cancel continuous print owing to lacking strapping tape (02) standby fully by strapping tape (02) of pulling back immediately to send into, or even do not implement continuous print according to the integer rounded up relative to described business to send into, between the roller gap of described roller pair by least one roller of described roller centering towards and against send into direction (E) driveably connect strapping tape (02)。

21. method according to claim 20, wherein, send into owing to reaching the conclusion that strapping tape end is feeding mistake to improve continuous print, arrange along the path detection device sending into the strapping tape (02) that path is sent into, it is possible to the existence with strapping tape (02) and be not present in controlling together with the detection at position (85) place to draw accurate conclusion, the strapping tape (02) that namely there is also another time being used for manufacturing another tie part (16) is sent into whether enough。

22. according to the method described in claim 19,20 or 21, wherein, in order to accelerate to identify the path detection device sending into mistake and arrange the strapping tape (02) being sent in feeding path。