DE102004024916B3 - Method for automatic tying up of especially cubic object entails guiding tying cord around several deflection elements installed on platform to form tying pattern for one side of object - Google Patents

Method for automatic tying up of especially cubic object entails guiding tying cord around several deflection elements installed on platform to form tying pattern for one side of object

Info

Publication number
DE102004024916B3
DE102004024916B3 DE200410024916 DE102004024916A DE102004024916B3 DE 102004024916 B3 DE102004024916 B3 DE 102004024916B3 DE 200410024916 DE200410024916 DE 200410024916 DE 102004024916 A DE102004024916 A DE 102004024916A DE 102004024916 B3 DE102004024916 B3 DE 102004024916B3
Authority
DE
Germany
Prior art keywords
object
gripper
platform
tying
constricting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE200410024916
Other languages
German (de)
Inventor
Dennis Dipl.-Wirtsch.-Ing. Fritsch
Thomas Dipl.-Math.techn. Ledermann
Nicole Mühlböck
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Original Assignee
Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV filed Critical Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Priority to DE200410024916 priority Critical patent/DE102004024916B3/en
Application granted granted Critical
Publication of DE102004024916B3 publication Critical patent/DE102004024916B3/en
Application status is Expired - Fee Related legal-status Critical
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B13/00Bundling articles
    • B65B13/18Details of, or auxiliary devices used in, bundling machines or bundling tools
    • B65B13/24Securing ends of binding material
    • B65B13/26Securing ends of binding material by knotting

Abstract

The method for the automatic tying up of especially a cubic object entails guiding the tying cord (10) around several deflection elements (6) installed on a platform (1), whereby the tying cord in a first section of the platform forms a tying pattern for one side of the object (11). The object is then laid over the tying pattern, and the first and second end section of the tying cord, and at least one intermediate section laid around the deflection elements outside the first section of the platform, are pulled over the object, after which the first and second end sections are interconnected on the object. The first gripper is made by common double-gripper, which is fixed to a robot arm. An independent claim is included for a device for carrying out the proposed method.

Description

  • Technical application
  • The The present invention relates to a method and a device for automated constriction of objects, in particular cuboid objects, such as. Boxes or cartons. Main fields of application of the present method and the associated Devices are in the food and beverage industry, in the gift industry, in the retail and in the mail order business as well in the packaging industry.
  • Either the constriction of cuboid Objects as well as the binding of decorative ribbons as conclusion of the constriction currently done manually. These are the cuboid objects delivered on pallets or with the help of a conveyor system and the constricting deployed cord provided on a roll. A worker takes the cuboid Put the object in his hand and wrap the cord around it once around. With his thumb he fixes the cord on the cuboid object, redirects it and winds the cord around the object by 0 °. Subsequently he cuts this piece String off the roll. He connects the new end with a cross over the object the other end and pulls the cord over this point of attachment stuck to the object. Subsequently will over the link with the two end sections of the string tied a decorative bow.
  • In addition to the manual binding of decorative loops, it is also known to fix industrially prefabricated loops during or after constriction on the object. Examples of the production of ornamental loops, which are formed by tensile stress on a drawstring, can, for example, the DE 24 60 986 A1 or the DD 224 629 A1 be removed. However, such loops can then not be solved again.
  • Next the constriction Objects are also known methods for strapping objects. At the Strapping becomes a band in a plane around a cuboid object placed. Should this cuboid Item in addition constricted in a second level he has to be shot and strapped again - with a second volume become. For These tasks are known as strapping or banding machines. These However, they are not able to tie decorative ribbons. Furthermore must to solve the constriction of the cuboid object on aids, such as knives or scissors used become.
  • In summary At present, no methods or devices are known to the Applicant, with those constricting of objects in conjunction with the subsequent binding of a decorative loop automated is feasible. Rather, this process is currently done manually and forms with it frequently a shortage of time in the packaging process. The upstream and downstream Processes are delayed by this bottleneck. This results in higher throughput times and higher Costs. Furthermore, processes interrupted by manual activities bad planable. In addition to these temporal disadvantages arise also quality deficits. The ornamental bows on the cuboid objects become when manual constriction and binding the ornamental loops of different sizes, the remaining ends are different lengths.
  • A simple replica of the processes of manual binding of the constriction and the ornamental bows would on the other hand lead to a complex device because when manually binding the decorative loops, both hands are constantly in use and multiple fingers are used simultaneously. The string is repeatedly released, pushed through other parts of the string and resumed. Furthermore, the cuboid object is rotated several times and turned. These are processes difficult to automate when imitating the manual process are. The grippers would have to very similar to the human hand be.
  • The JP 04102517 A describes a method for constricting a cuboid object with the subsequent binding of a releasable decorative loop on the object. The cord is guided in this process by means of a rotating arm to the cuboid object and the cuboid rotated in between by 90 ° to obtain a cross-shaped constriction.
  • outgoing from this prior art, the object of the present Invention therein, a method and an apparatus for automated constrict of objects using a simple technique.
  • Presentation of the invention
  • The The object is achieved with the method and the device according to claims 1 and 8 solved. Advantageous embodiments of the method and the device are the subject of the dependent claims or can be the following description and the embodiment remove.
  • In the present method for automati Siert constrictions of an object, in particular a cuboid object, a constricting means is provided, a first end portion of the constricting received and the constricting means guided around a plurality of deflectors arranged suitably on a platform, whereby the constricting means in a first region of the platform a Einschnürmuster for one side of the object forms. Subsequently, the object in the first region is laid over the constricting pattern, the first end portion or a second end portion of the constricting means and at least one intermediate portion of the constricting means outside the first portion are drawn over the object and the first and second end portions of the constricting means connected to the object. All method steps are performed automatically with one or more controlled manipulators and / or guidance mechanisms.
  • at In a preferred embodiment of the method, the operation of the Constricting agent the deflection elements with a first, at least three-dimensionally movable Gripper, which preferably also the first or second end portion and the at least one intermediate section placed around the deflecting elements the constricting agent over the Object moves.
  • On the object becomes the first and second end portions of the necking means then preferably by a node or loop together connected.
  • Farther it is an advantage, in addition to the first still a second gripper use, which must be linearly displaceable only. This second gripper is used to tighten or hold one of the two End sections in forming a link on the object.
  • The for the execution The device formed accordingly has a Platform with several deflecting elements for a constricting means, an automatically movable first gripper with which the constricting means can be placed around the deflectors, an automated linear slidable second gripper and a control device for the gripper on. The deflecting elements are arranged so that the constriction with the grippers to form a Einschnürmusters for one side of the object guided the deflectors can be and the control device for performing gripping and guiding movements according to the proposed method is trained.
  • With the present method An object is automated without rotation or manual assistance constrict. Preferably, only a three-dimensionally movable and a linear sliding gripper is used that automates to carry out of gripping and guiding movements are controllable. Therefore the handover of the constrictor transition points defined between the grippers are created can, The present method does not require any sensors for the grippers.
  • By the use of the platform with the deflectors, the integral Part of the platform or attached to this, arises with appropriate leadership of the constrictor in the first area the necking pattern, for example, by leadership of the constrictor crosswise, and outside of the first area a network. As a constrictor may, for example, a string or a flexible band can be used. For forming a link on the object becomes an end of the constrictor through a part of this Braided led and the braid with the help of this end section over the Object drawn. With suitable guidance the two end portions of the constricting means thereby become on the object linked like this like a cross, that the constricting agent can be tightened by pulling on both ends of the object. After this tightening can then over the point of attachment a knot or a loop are formed.
  • In a very advantageous development of the proposed method this loop is automatically bound in a simple way so that they return each time by pulling on one of the two ends solved can be. Therefor The two end portions of the constricting means forming one each Loop on two opposite, linearly displaceable further grippers pass, which are the loops subsequently by a linear movement in the opposite direction to a loop at the linkage point tighten. In this embodiment, the device additionally has the Both linear and automated movable gripper on, which is on both sides of a limited by the deflecting surface of the Platform opposite stand. The movement space of the two grippers overlaps in the middle, to enable the function of looping.
  • With this preferred embodiment of the present method and the associated device can thus be an object, in particular a cuboid object such as a cardboard or a box, automatically cut in a simple way and provided with a detachable decorative bow. For this purpose, only a three-dimensionally movable gripper is required. The other grippers must each be only linearly displaceable. The process allows for improved throughput in packaging processes as well as a higher level of uniformity bende quality of the formed decorative loops. The associated device has a simple structure that can be easily adapted to different sizes of objects.
  • In an advantageous embodiment of the present device and of the present method are two platforms with the corresponding Deflection elements and linearly displaceable grippers side by side arranged. The three-dimensionally movable gripper is as for both Platforms of common double gripper trained and attached to a robot arm, so by moving the robot arm with the double gripper and the linearly displaceable grippers simultaneously constricted two objects and with a loop can be provided. This halves the average constriction time of the objects.
  • Short description of invention
  • The present methods as well as the associated device are hereafter based on an embodiment explained in more detail in conjunction with the drawings. Hereby show:
  • 1 an example of a construction of the present apparatus for carrying out the method; and
  • 2a -S an example of necking and binding a bow according to the. present method in individual steps.
  • Ways to execute the invention
  • In 1 is an exemplary structure of a device according to the invention in the neck to recognize, with a cuboid object can be constricted and provided with a decorative bow. The figure shows a platform 1 , on the in definite arrangement individual bolts 6 are attached, the deflection of a string 10 serve as a means of constriction. On both sides of the through the bolts 6 clamped surface are two linearly displaceable gripper 8th . 9 arranged. Above the platform 1 becomes a 4-DOF robot gripper 2 moved, the - as well as the two linear gripper 8th . 9 and in the foreground indicated further linearly displaceable gripper 3 - Are connected to a control device, not shown, for automated movement of these elements. At a clipping 4 the platform 1 is a movable threading system 5 attached, that of the supply of the cord 10 serves.
  • The following is based on the 2a -S performing the example using the in 1 described device described. The individual figures show parts of the device under different perspectives and in different sections. First, the cord 10 through the movable threading system 5 placed in a position where they are from the robot gripper 2 can be grasped ( 2a ). The robot gripper 2 grab the string 10 ( 2 B ) and guide them around the bolts 6 according to a given pattern ( 2c ). The finished pattern is in top view 2d to recognize. This is done in an area within of the bolts 6 limited area a Einschnürmuster, in the present example, a cross formed, which is to form the constriction on one side of the cuboid object.
  • Subsequently, via this cord pattern of the cuboid object, in the present example, a box of chocolates 11 , placed on the platform with the help of a slide ( 2e ). Some of the bolts 6 form a stop for the box 11 ,
  • The string 10 gets from the robot gripper 2 then back to the front over the box 11 placed and kept under tension ( 2f ). Subsequently, the cord 10 from the gripper 2 pressed down ( 2g ) and the second gripper 3 added. This pulls the end of the string with a linear movement diagonally to the top left. At the same time the threading system 5 moved to the right rear ( 2i ). The robot gripper 2 grab the other end of the string and pull it upwards ( 2y ). The robot gripper 2 pulls the end of the string back to the right, the second gripper 3 the other end of the string left, like this in the left 2k indicated by the arrows. By tensioning the two end sections of the cord 10 with the two grippers 2 . 3 becomes a cross-shaped attachment site 7 on the box 11 educated ( 2l . 2m ). This can optionally be recorded by means of a non-illustrated hold-down. At this time, the two linearly displaceable lateral grippers 8th . 9 over the box 11 pushed ( 2n ).
  • In one embodiment of the platform 1 with retractable bolt 6 These are when pulling the string ends ( 2k ) retracted to the covering of the cord 10 over the box 11 to facilitate. Additionally, this can be done on the platform 1 Slipping aids, for example in the form of inclined ramps, be provided.
  • The robot gripper 2 now passes the rear end of the string to form a loop over the right linear gripper 8th away to the left linear gripper 8th ( 2o ). Then the robot gripper takes over 2 the other end of the string 10 from the gripper 3 and transfers the other end of the cord in the same way over the left lateral gripper 8th to the right side gripper 9 ( 2p ). The two lateral linear grippers 8th . 9 pull out the two resulting loop ends by executing a linear movement ( 2r ). The loop is tightened. 2s shows the constricted and with the finished ornamental bow 12 provided box 11 after releasing the string. The finished decorative bow 12 can be easily solved by pulling on one of the two ends again.
  • 1
    platform
    2
    robot gripper
    3
    linear gripper
    4
    neckline
    5
    threading
    6
    bolt
    7
    point of attachment
    8th
    linear gripper
    9
    linear gripper
    10
    line
    11
    box
    12
    bow

Claims (13)

  1. Method for automatically constricting an object, in particular a cuboid object, in which - a constricting means ( 10 ), - a first end portion of the constricting means ( 10 ) and the constricting means ( 10 ) to several on a platform ( 1 ) suitably arranged deflecting elements ( 6 ), whereby the constricting means ( 10 ) in a first area of the platform ( 1 ) a necking pattern for one side of the object ( 11 ), - the object ( 11 ) is placed over the Einschnürmuster in the first region, - the first end portion or a second end portion of the constricting means ( 10 ) and at least one around the deflecting elements ( 6 ) intermediate portion of the constricting means ( 10 ) outside the first area over the object ( 11 ) and - the first and second end portions of the constricting means ( 10 ) on the object ( 11 ).
  2. Method according to claim 1, characterized in that the constricting means ( 10 ) is guided crosswise in the first area.
  3. Method according to claim 1 or 2, characterized in that the first end portion of the constricting means ( 10 ) from a first gripper ( 2 ) and around the deflecting elements ( 6 ) to be led.
  4. A method according to claim 3, characterized in that the first or second end portion of the constricting means ( 10 ) and the at least one around the deflecting elements ( 6 ) intermediate portion of the constricting means ( 10 ) with the first gripper ( 2 ) over the object ( 11 ) to be pulled.
  5. Method according to one of claims 1 to 4, characterized in that the first or second end portion of the constricting means ( 10 ) and the at least one intermediate portion of the constricting means ( 10 ) forming a linkage point ( 7 ) between the end portions of the necking means ( 10 ) over the object ( 11 ), over which the constricting means ( 10 ) by a tensile stress on the first and second end portion of the object ( 11 ) is tightened.
  6. A method according to claim 5, characterized in that for tightening one of the two end portions with a linearly displaceable second gripper ( 3 ) is detected.
  7. Method according to one of claims 1 to 6, characterized in that the two end sections, forming one loop each, are arranged on two opposing, linearly displaceable third grippers ( 8th . 9 ) are passed, which tighten the loops by a linear movement to a loop.
  8. Device for automated constriction of an object, in particular a cuboid object, comprising - a platform ( 1 ) with a plurality of deflection elements ( 6 ) for a constricting agent ( 10 ), - an automatically movable first gripper ( 2 ), with which the constricting means ( 10 ) around the deflecting elements ( 6 ), - an automatically linearly displaceable second gripper ( 3 ) and - a control device for the grippers ( 2 . 3 ), wherein the control device is designed to carry out gripping and guiding movements according to the method of one or more of claims 1 to 6.
  9. Apparatus according to claim 8, characterized in that at one by the deflecting elements ( 6 ) clamped surface of the platform two opposing, linearly displaceable third gripper ( 8th . 9 ) are arranged, whose movement spaces overlap and which can be controlled by the control device for carrying out gripping and linear movements.
  10. Apparatus according to claim 9, characterized in that the control device also for the control of the third gripper ( 8th . 9 ) for performing grasping movements according to the method Ren is designed according to claim 7.
  11. Device according to one of claims 8 to 10, characterized in that a threading device ( 5 ) for the supply of the constricting agent ( 10 ) is provided.
  12. Device according to one of claims 8 to 11, characterized in that the deflection elements ( 6 ) automates at least partially in the platform ( 1 ) sink.
  13. Device according to one of Claims 8 to 12, in which two of the platforms ( 1 ) with the deflection elements ( 6 ) and the grippers ( 2 . 3 . 8th . 9 ) are arranged side by side, wherein the first gripper ( 2 ) are formed by a common double gripper, which is attached to a robot arm.
DE200410024916 2004-05-19 2004-05-19 Method for automatic tying up of especially cubic object entails guiding tying cord around several deflection elements installed on platform to form tying pattern for one side of object Expired - Fee Related DE102004024916B3 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE200410024916 DE102004024916B3 (en) 2004-05-19 2004-05-19 Method for automatic tying up of especially cubic object entails guiding tying cord around several deflection elements installed on platform to form tying pattern for one side of object

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200410024916 DE102004024916B3 (en) 2004-05-19 2004-05-19 Method for automatic tying up of especially cubic object entails guiding tying cord around several deflection elements installed on platform to form tying pattern for one side of object
EP20050007439 EP1598272A1 (en) 2004-05-19 2005-04-05 Method and apparatus for the automated tying of articles.

Publications (1)

Publication Number Publication Date
DE102004024916B3 true DE102004024916B3 (en) 2005-11-17

Family

ID=34934779

Family Applications (1)

Application Number Title Priority Date Filing Date
DE200410024916 Expired - Fee Related DE102004024916B3 (en) 2004-05-19 2004-05-19 Method for automatic tying up of especially cubic object entails guiding tying cord around several deflection elements installed on platform to form tying pattern for one side of object

Country Status (2)

Country Link
EP (1) EP1598272A1 (en)
DE (1) DE102004024916B3 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007009782A1 (en) * 2007-02-27 2008-08-28 Poly-Clip System Gmbh & Co. Kg Portion pack with a suspension loop and method and device for its attachment
WO2018061275A1 (en) * 2016-09-27 2018-04-05 東レエンジニアリング株式会社 Ribbon tying device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2460986A1 (en) * 1974-07-23 1976-02-12 Nastrificio Angelo Bolis Spa A process for making ornamental grinding or the like. decor in the packaging of geschenkartikeln
DD224629A1 (en) * 1984-06-06 1985-07-10 Obererzgebirgische Posamenten Method and device for producing tire grinding
JPH04102517A (en) * 1990-08-06 1992-04-03 Kazumi Tokunaga Automatic bow-tie tying machine

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3006271A (en) * 1956-01-14 1961-10-31 Hanfwerke Fussen Immenstadt Ag Apparatus for the mechanical tying of twine, cord, and the like
US3080811A (en) * 1958-10-11 1963-03-12 Knotex Maschb G M B H Process and device for the automatic tying of parcels
DE1536032B (en) * 1966-04-22 1971-07-29 Erwin Freudling Method and apparatus for designing a draper node
CH479459A (en) * 1967-09-14 1969-10-15 Born Ag Peter Machine with a table for tying and knotting packages or bundles

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2460986A1 (en) * 1974-07-23 1976-02-12 Nastrificio Angelo Bolis Spa A process for making ornamental grinding or the like. decor in the packaging of geschenkartikeln
DD224629A1 (en) * 1984-06-06 1985-07-10 Obererzgebirgische Posamenten Method and device for producing tire grinding
JPH04102517A (en) * 1990-08-06 1992-04-03 Kazumi Tokunaga Automatic bow-tie tying machine

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007009782A1 (en) * 2007-02-27 2008-08-28 Poly-Clip System Gmbh & Co. Kg Portion pack with a suspension loop and method and device for its attachment
US7648411B2 (en) 2007-02-27 2010-01-19 Poly-Clip System Gmbh & Co. Kg Portion pack with a suspension loop and method and device for attaching it
DE102007009782B4 (en) * 2007-02-27 2013-06-20 Poly-Clip System Gmbh & Co. Kg Method and device for attaching a suspension loop to a sachet
DE102007009782B8 (en) * 2007-02-27 2014-01-16 Poly-Clip System Gmbh & Co. Kg Method and device for attaching a suspension loop to a sachet
WO2018061275A1 (en) * 2016-09-27 2018-04-05 東レエンジニアリング株式会社 Ribbon tying device

Also Published As

Publication number Publication date
EP1598272A1 (en) 2005-11-23

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