EP4192739B1 - Machine de banderolage de produits fragiles - Google Patents

Machine de banderolage de produits fragiles Download PDF

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Publication number
EP4192739B1
EP4192739B1 EP21766612.2A EP21766612A EP4192739B1 EP 4192739 B1 EP4192739 B1 EP 4192739B1 EP 21766612 A EP21766612 A EP 21766612A EP 4192739 B1 EP4192739 B1 EP 4192739B1
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EP
European Patent Office
Prior art keywords
band
distance
length
packaged goods
guide
Prior art date
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Active
Application number
EP21766612.2A
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German (de)
English (en)
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EP4192739A1 (fr
Inventor
Alois Tanner
Christoph Künzli
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.)
Ats-Tanner Banding Systems AG
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Ats-Tanner Banding Systems AG
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Publication of EP4192739A1 publication Critical patent/EP4192739A1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B13/00—Bundling articles
    • B65B13/18—Details of, or auxiliary devices used in, bundling machines or bundling tools
    • B65B13/22—Means for controlling tension of binding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B13/00—Bundling articles
    • B65B13/02—Applying and securing binding material around articles or groups of articles, e.g. using strings, wires, strips, bands or tapes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B13/00—Bundling articles
    • B65B13/02—Applying and securing binding material around articles or groups of articles, e.g. using strings, wires, strips, bands or tapes
    • B65B13/04—Applying and securing binding material around articles or groups of articles, e.g. using strings, wires, strips, bands or tapes with means for guiding the binding material around the articles prior to severing from supply
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B13/00—Bundling articles
    • B65B13/02—Applying and securing binding material around articles or groups of articles, e.g. using strings, wires, strips, bands or tapes
    • B65B13/04—Applying and securing binding material around articles or groups of articles, e.g. using strings, wires, strips, bands or tapes with means for guiding the binding material around the articles prior to severing from supply
    • B65B13/06—Stationary ducts or channels

Definitions

  • the invention relates to a banding machine for banding stacked, soft and/or sensitive packaged goods, the unwound band being guided around the packaged goods, pulled onto the packaged goods in a return run with a target band tension, then glued or welded and finally cut off.
  • the invention further relates to a method for banding, which this banding machine carries out.
  • a band made of paper, plastic or a composite material is guided as a loop around a packaged item in a band guide that limits the expansion.
  • the tape is inserted, for example with the help of a tape drive, through an insertion opening into the tape guide until the beginning of the tape is again close to the insertion opening of the tape guide.
  • the band is blown into a loop by an air stream or pulled into a loop by a carriage.
  • the tape guide typically has an opening through which the tape enters the tape guide. This opening is also referred to here and below as the insertion opening. At the insertion opening, the beginning of the band, i.e.
  • the free end of the band is held in place, for example by clamping.
  • a tape guide channel that can be pulled away to the side or the use of negative pressure can be used.
  • the packaged goods can be inserted when the band is pushed in or pulled in, even before the loop is formed. Controlled by a sensor or triggered with a hand or foot switch, the loop is released if necessary, for example a tape guide channel is pulled away or a negative pressure is released, and the tape clamped at its free end is passed through the insertion opening withdrawn. This process of retraction is called rewinding.
  • the tape can be pulled back by the tape drive.
  • Target band tension is preferably understood to mean the force with which the band was tightened immediately before the time of gluing or welding.
  • the preselected loop length leads to a band that is too loose and slips off and in other cases to a band that compresses the stack in an uncontrolled manner and leads to wrinkles in the laundry.
  • the EP 0 881 149 A1 teaches how to shorten the time period intended for the retraction if necessary, depending on the measured height of the object, and to move on to the tensioning process more quickly than was previously usual. Neither those JP H06 278 710 nor those EP 0 881 149 A1 deal with particularly soft or sensitive packaged goods: this is how it works EP 0 881 149 A1 even suggest wrapping compressible goods with a particularly high band tension, i.e. using the wrapping for compressing.
  • the rewind i.e. the retraction of the tape
  • rollers and/or other moving parts of the belt drive therefore have a high kinetic energy during the return, which can hardly be released abruptly. Therefore, if the belt drive is only stopped at the moment when it is recognized that the target belt tension has been reached, the inertia of the belt drive will cause it to run out a little and the belt will hit the packaged goods and, even if the target belt tension is set low, damage or damage will occur Compression of the packaged goods can occur.
  • the object of the invention is therefore to create a banding machine belonging to the technical field mentioned at the beginning, with which sensitive packaged goods can be processed quickly can be banded without compressing or damaging it to an undesirable extent.
  • the banding machine comprises a band guide, a band drive, a rotary encoder and a control.
  • the tape guide is provided with at least one distance sensor. With the help of at least one measured value from the at least one distance sensor, a banding circumference can be estimated. In particular, the distance to a packaged item lying within the belt guide can be determined from the measured value.
  • a belt can be retracted using the belt drive.
  • the tape can also be pushed into the tape guide with the help of the tape drive.
  • a retracted length of the band or the difference in length can be recorded. The difference length is the difference between an inserted and the retracted length of the band.
  • the control of the banding machine according to the invention is designed to determine a setpoint taking into account the at least one measured value of the at least one distance sensor.
  • control is designed to control the belt drive in such a way that the belt is initially retracted at a first return speed when it returns. Once the retracted length or the differential length equals the setpoint, the tape is retracted at a second retraction speed that is less than the first retraction speed.
  • the control is also designed for this.
  • the banding circumference of the packaged goods relevant for banding is referred to as the banding circumference. Since a band will follow the convex circumference and in particular will not penetrate into concave sections of the circumference of the packaged goods, the banding circumference of the packaged goods is preferably the convex circumference of the packaged goods in the area in which the band should wrap around the packaged goods. The banding circumference is therefore preferably the convex circumference of the packaged goods in the cutting plane, which is defined by the band guide.
  • the banding circumference of the packaged goods From the estimated banding circumference of the packaged goods, it can be estimated how much band has to be pulled back until the band loop comes close to the packaged goods when it returns. By running the return slower when the belt loop is close to the packaged goods than at a greater distance, this prevents the belt from hitting the packaged goods at high speed or from being quickly pulled past it with relevant contact pressure. In this way, the packaged goods and belt are protected.
  • the slower speed also allows low target belt tensions to be achieved precisely. Since there is a certain amount of time available for braking the belt drive, the demands on the braking device are reduced, which makes the banding machine more reliable, requires less maintenance and is lighter. At the same time, the use of the higher initial return speed enables short cycle times, as long belt sections are quickly retracted, especially with small packaged goods. Since the method is preferably controlled via the effective retracted length or the differential length, it is robust to fluctuations in the efficiency of the acceleration of the belt and can therefore be used without adaptation to a specific belt.
  • a belt drive roller preferably drives the belt and thus represents a belt drive.
  • the belt drive is particularly preferably implemented by two belt drive rollers, which grip the belt between them in a force-fitting manner.
  • the belt drive can also be designed differently, for example in the form of a conveyor belt on which the belt rests over a certain length.
  • the rotary encoder is a measuring device that determines the length of the tape that is inserted and pulled back again or the difference in length.
  • the rotary encoder is preferably implemented by a rotary encoder roller which is driven by the movement of the belt.
  • a rotary encoder can also be implemented visually: For example, evenly arranged print marks on the belt can be recognized and counted.
  • the encoder can comprise several, spatially distributed components and parts of the control can also be part of the encoder:
  • the encoder roller can generate simple impulses that are received and processed by the control, or the encoder roller can be designed to be passive, but its movement depends on one Sensor arrangement are detected and this Sensor arrangement forwards its measured values to the control.
  • There can also be an intermediate evaluation and/or transmission unit which amplifies pulses or sensor signals and preferably evaluates them partially or completely and transmits the result to the controller and which accordingly also represents a part of the rotary encoder.
  • the band guide is preferably curved. On the one hand, this gives more options for mounting the distance sensor and also allows the use of particularly thin strips, as insertion can be better controlled. In other embodiments, however, the band guide only includes two horns, which limit the resulting band loop laterally but not upwards. In such cases, the beginning of the strap can be fixed before it is pushed in and the loop opens just by pushing it in.
  • the rotary encoder can preferably also detect the inserted length of the band. In addition to the current difference length, the rotary encoder can preferably also detect the difference length immediately before the start of the return run. These variables are preferably included in the determination of the target value. By detecting the inserted length of the tape or the difference length before the start of the return, the length of the tape in the tape guide before the start of the return is known. This is referred to below as the effectively inserted band length, U b .
  • the banding machine comprises at least two distance sensors, one of which can determine the distance to the packaged goods in a first dimension, preferably in a horizontal direction, and one of which can determine the distance to the packaged goods in a second dimension, preferably in a vertical direction.
  • the first and second dimensions are perpendicular to one another and span the tape guide plane.
  • the banding machine includes a distance sensor from whose data both the expansion of the packaged goods in the first dimension and in the second dimension is estimated.
  • the distance sensor(s) allow the banding circumference to be estimated: Since the aim of the invention is to protect the packaged goods, the banding scope is preferably estimated to be too large. A simple and quick way to obtain a suitable estimate of the banding circumference is to approximate the packaged goods cross-section by a rectangle surrounding the packaged goods cross-section and to use the circumference of this rectangle as an estimate of the banding circumference. The side lengths of this approximating rectangle result from the difference between the generally known extent of the measuring range and the measured distances to the packaged goods. The extent of the measuring range is limited by the distance sensors and, if necessary, guide elements. Such guide elements can be, for example, a conveyor surface on which the packaged goods lie, or a side wall of the belt guide on which the packaged goods rest. If the packaged goods are guided on two sides, two simple distance sensors are sufficient to estimate the circumference.
  • a simple distance sensor here is understood to mean a distance sensor that essentially delivers a measured value and in particular does not deliver any data with spatial resolution. Processing such measured values is correspondingly simple and quick.
  • a single distance sensor can provide all the necessary data: Three guide elements can limit the packaged goods and a single, simple distance sensor provides information about the remaining, unknown distance. The use of a single, simple distance sensor in conjunction with guide elements allows even easier processing of the measured value.
  • the distance sensor can also be a complex distance sensor.
  • a complex distance sensor provides more than one measured value and can, for example, provide image and distance information or multiple distance information or distance and angle information.
  • a distance sensor can also create a height profile across the entire possible width of the packaged goods.
  • the width of the packaged goods can be determined as the difference between those points where the height, starting from the edges of the measuring area, is for the first time unequal to the height of the conveyor surface, for example the conveyor table.
  • a distance sensor can also detect the smallest distance and the limit observation angle at which the boundaries of the packaged goods appear and estimate the distances from this. Similar to determining the height profile, a great deal of flexibility can be achieved with just one sensor in terms of the packaged goods that can be banded, and the requirements for the sensor are also comparatively low.
  • the boundary observation angles can be read from a normal photo.
  • the tape guide and the guide surface are preferably provided with markings or an angle scaling. The smallest distance can be estimated particularly easily from a height profile or by measuring the transit time of sensors with a hemispherical or semicircular field of view.
  • the smallest distance measured is the distance in the second dimension, in this example the vertical distance.
  • the expansion of the packaged goods in the first dimension, here in the horizontal follows from the limit observation angles.
  • the distance in the first dimension, here the horizontal distance corresponds to the difference between the extent of the measuring range in the first dimension, i.e. here the width of the tape guide, and the extent of the packaged goods in the first dimension, which here is the horizontal extent of the packaged goods.
  • the smallest distance measured is the distance to a corner of the assumed rectangle.
  • the corner of the searched rectangle must therefore lie on a circle with the measured distance as a radius around the distance sensor.
  • the rectangle sought is limited by the observed limit observation angles. Since the position of the distance sensor relative to the conveyor surface is known, the rectangle you are looking for can now be clearly determined if it is assumed that it lies on the conveyor surface. If the rectangle is now known, the distances required for determining the setpoint can be determined as the difference between the rectangle and the tape guide.
  • the banding circumference can either be estimated explicitly in the control or implicitly included in the determination of the setpoint.
  • the target value in the banding machine according to the invention is compared with the retracted length, the target value preferably corresponds to twice the sum of the distances to the packaged goods minus a buffer length.
  • the setpoint value in the banding machine according to the invention is compared with the difference length, the setpoint value preferably corresponds to the sum of twice the distances between the distance sensors or the guide elements and an overlap length minus twice the sum of the distances to the packaged goods and minus a buffer length.
  • Guide elements are surfaces that guide the packaged goods and therefore surfaces that the packaged goods touch during banding.
  • the banding circumference of the packaged goods is estimated from the specific distances by determining the circumference of the rectangle enveloping the cross section of the packaged goods.
  • the side lengths of this rectangle are the distances between the distance sensors or guide elements in two mutually perpendicular dimensions minus the distances measured or otherwise known in these dimensions between the distance sensors or the guide elements and the packaged goods.
  • the distance to the packaged goods can be determined in the direction of the second distance sensor measuring in this dimension or the second guide element.
  • Each guide element and each distance sensor defines its zero plane:
  • the zero plane of a guide element is perpendicular to the normal of the guide element and the guide element touches its zero plane.
  • the zero plane of a distance sensor has as its normal the measuring direction or the axis of symmetry of the field of view of the distance sensor.
  • the distance 0 from a distance sensor lies in its zero plane.
  • two zero planes are preferably parallel to one another.
  • Two zero planes are preferably perpendicular to the other two zero planes.
  • the tape guide guides the tape in a tape guide plane on which all zero planes are preferably vertical.
  • the distances are preferably determined parallel to and particularly preferably in the tape guide plane.
  • the distances are preferably the distance between the packaged goods and the zero plane. If several distances are determined between the packaged goods and one of the zero planes, the smallest of the recorded distances is preferably used to estimate the banding circumference.
  • the distance between the distance sensors or guide elements in the first dimension is preferably the distance between the first two parallel zero planes.
  • the distance between the distance sensors or guide elements in the second dimension is preferably the distance between the second two parallel zero planes. If there are no pairs of parallel zero planes, for example because a distance sensor is mounted in a corner of the tape guide and the axis of symmetry of its field of view is neither perpendicular nor parallel to each of the zero planes of the guide elements, the distances of the distance sensors or the guide elements in the first and/or or the second dimension is preferably determined by using the distances between zero planes of the guide elements and those points in which the distance sensor or sensors measure the zero distance.
  • the distances between the distance sensors or guide elements in the first and second dimensions are also referred to below as the extent of the measuring range.
  • the first dimension is preferably the horizontal and the second dimension is the vertical.
  • the vertical is preferably determined by the plumb direction.
  • the distance sensors and guide elements are preferably arranged on the tape guide or calibrated in such a way that the intersection lines of the zero planes and the tape guide plane approximate the course of the tape guided in the tape guide and so the extent of the tape guide corresponds to the extent of the measuring range.
  • a distance sensor is arranged at a height h above the conveyor surface on the belt guide and a vertical distance to the packaged goods v has been measured and the packaged goods lie on a conveyor surface which is a guide element and has a distance 0 from the packaged goods, then the height of the approximating rectangle h-(v+0).
  • the horizontally measuring distance sensors on the belt guide are at a distance b from each other and the horizontal distances h1 and h2 to the packaged goods have been measured, then the width of the approximating rectangle is b-(h1+h2).
  • the extent of the measuring range is b in the first dimension and h in the second dimension if the first dimension is the horizontal and the second dimension is the vertical.
  • the perimeter of the approximating rectangle is twice the sum of height and width and therefore 2(h+b-(v+0+h1+h2)).
  • the packaged goods rest against a guide element on one or two sides, the corresponding distance a i is given by this concern and is typically 0.
  • Guide elements are often part of the belt guide or are permanently installed with it. The extent of the measuring range is then given and can be stored in the control.
  • the extent of the measuring range can be varied.
  • the extent is preferably determined again and again. This can be done, for example, by measuring the distance by which the guide element in question is moved from its known starting position.
  • this can be used to carry out a measurement in the absence of a packaged item and the distance determined in this way can be used as the extension of the measuring range in the relevant dimension.
  • Such measurements can be used to calibrate a banding machine with permanently mounted distance sensors and guide elements as well as in the process with adjustable guide elements.
  • the distances arise parallel to the measuring direction, i.e. in directions parallel to the zero plane of the distance sensor, from which places where the height profile, coming from outside, first indicates the packaged goods.
  • the distance in the measuring direction i.e. in the direction of the normal of the zero plane, is preferably the smallest distance recorded in the height profile. If there are several distance sensors aligned in the same direction, arranged parallel to one another and measuring, it is also preferable to use the smallest measured distance to the corresponding zero plane.
  • the band guide that is provided with the distance sensors.
  • the distance sensors are preferably arranged and/or calibrated in such a way that they detect the distance that lies between the guided belt and the packaged goods.
  • the length of the guided tape just before the return is largely determined by the height and width of the tape guide.
  • the height h and width b of the tape guide correspond to the in this embodiment Extension of the measuring range. If the tape guide was a perfect rectangle and the distance sensors and possible guide elements were arranged exactly where the tape lies when it is inserted, the length of the inserted tape would be just 2(h+b) plus a possible, usually small, overlap length, etc .
  • U b , th 2 H + b + u
  • the band length required for banding would be U p + u , i.e. the sum of the estimated banding circumference and the overlap length. If the packaged goods are shaped differently, the length of tape required for banding is usually smaller. The sum of the estimated banding circumference and the overlap length therefore represents the estimated value of the maximum band length required.
  • the second return speed should be used in the immediate vicinity of the packaged goods.
  • the estimate explained above leads With an actually rectangular cross-section of the packaged goods and an actual length of the tape inserted into the tape guide of 2(h+b)+u, this means that with a retracted length of twice the sum of all distances, the tape just touches the packaged goods.
  • the second return speed should therefore preferably be used before the retracted length is equal to R K,min .
  • the retracted length of the tape is also called the return length.
  • the length of the tape over which it is to be retracted at least at the second return speed in the present embodiment is referred to as the buffer length P.
  • the second return speed is used as soon as the return length is twice the sum of all distances minus the buffer length.
  • the setpoint S L is therefore preferably set to twice the sum of all distances minus the buffer length.
  • a i are the measured, determined or known distances to the packaged goods in the first and second dimensions and P is the buffer length.
  • This embodiment has the advantage that no information about the design of the banding machine needs to be stored, only the measured distances and the buffer length are needed. However, this embodiment requires that the extent of the measuring range is set so that it approximately corresponds to the extent of the tape guide.
  • a i are the measured, determined or known distances in the first and second dimensions
  • P is the buffer length
  • h and b are the extent of the measuring range in the first and second dimensions
  • u is the overlap length
  • This embodiment minimizes the estimation errors, since no assumptions have to be made about the extent of the tape guide, and therefore allows the target value to be set close to the technical limit and thus to keep the processing time particularly short.
  • the technical limit here means the difference length at which the second return speed must be selected at the latest in order to reliably avoid damage to packaged goods with a rectangular cross-section.
  • the extent of the measuring range i.e. the values h and b, can also be determined in many cases by the distance sensors, namely by measuring the distances to each other or to guide elements in the absence of packaged goods.
  • the extent of the measuring range, or directly the sum 2(h+b)+u, can also be stored in the control.
  • the setpoint S L of the retracted length comprises a correction term that estimates the difference between the effectively retracted band length and the theoretical band length U b,th .
  • the difference in length before the start of the return or the inserted length of the tape is a measure of the actual extent of the tape guide.
  • This embodiment minimizes the estimation errors that can arise from the assumption that the extent of the measuring range is equal to the extent of the tape guide and therefore allows the target value to be set close to the technical limit and thus to keep the processing time particularly short.
  • the technical limit here means the return length at which the second return speed must be selected at the latest in order to reliably avoid damage to packaged goods with a rectangular cross-section.
  • This embodiment has the advantage that the determination and, if necessary, adjustment of the value u for the overlap length can be dispensed with. If the buffer length is chosen generously, i.e. so that it is significantly larger than the overlap length u, there is no danger to the packaged goods.
  • This embodiment has the advantage that no information about the dimensions of the banding machine has to be available to the control: D max and a i are measured values and P is the buffer length desired by the user.
  • a banding machine in one embodiment, it includes at least two distance sensors.
  • the distance sensors implement a first and a second Observation point at a known distance from each other.
  • One of these distance sensors can determine a small and a large limit observation angle from a first observation point.
  • the other of these distance sensors can determine a small and a large limit observation angle from a second observation point.
  • Limit observation angles are the angles at which the boundaries of the packaged goods appear for the respective distance sensor. A simple way to determine this is to determine the section of an image that is hidden by the packaged goods. If the camera's field of view and the properties of its optics are known, the locations in the image can be assigned to observation angles. In order to simplify the determination and/or to be able to calibrate the camera, the belt guide and guide elements, in particular the conveying surface, are preferably provided with markings that are particularly easy to recognize in the camera images. In further embodiments, limit observation angles can also be detected using light barrier systems or laser scanners.
  • the distance sensors are mounted in such a way that the section of the packaged goods within the belt guide lies completely in their field of vision.
  • Each of the sensors records two limiting observation angles.
  • the angles are measured from an arbitrary but known reference, namely in the tape guide plane.
  • a possible reference is the parallel to the conveyor surface in the belt guide plane or the normal to the conveyor surface. Since the angles of both limit observation angles of an observation point are preferably measured in the same direction starting from the reference, one of the limit observation angles is larger than the other and accordingly represents the large limit observation angle of the corresponding observation point.
  • the estimated banding circumference is estimated at the circumference of the polygon, the corner points of which result from the first two intersection points of the following straight lines in the band guide plane, counted from the respective observation point :
  • a first degree runs through the first observation point and includes the small limiting observation angle of the first observation point.
  • a second straight line runs through the first observation point and includes the large limiting observation angle of the first observation point.
  • a third straight line runs through the second observation point and includes the small limiting observation angle of the second observation point.
  • a fourth straight line runs through the second observation point and includes the large limiting observation angle of the second observation point.
  • a fifth straight line is preferably taken into account, which extends along the conveying surface, i.e. lies on the conveying surface.
  • the vertices of the polygon are intersection points of this line. Counted from the respective observation points, only the first two intersection points involving the first to fourth straight lines outside the observation points are taken into account.
  • the target value is compared with the retracted length, the target value then corresponds to the circumference of the tape guide minus the sum of the estimated banding circumference and a buffer length.
  • the target value corresponds to the sum of the estimated banding circumference, an overlap length and a buffer length.
  • the distance sensors are implemented, for example, by two cameras mounted on the tape guide at a known distance from one another: two limiting observation angles can be determined from the images from the cameras.
  • Each combination of a limiting observation angle of the first camera and a limiting observation angle of the second camera as well as the known distance between the first and the second camera results in an intersection point that is outside the Distance sensors, i.e. the cameras, themselves.
  • the first line first intersects the third and then the fourth line, these two intersections are valid intersections.
  • the second straight line first intersects the third and then the fourth straight line, which, also counting from the first observation point, are the first two intersection points and are therefore used to determine the polygon.
  • the polygon is a quadrilateral, the circumference of which can serve as a rough estimate of the banding circumference.
  • the conveying area as a known boundary of the packaged goods can be included in the analysis in order to refine the estimate of the banding circumference.
  • intersection points Starting from the first camera, for example, the first straight line intersects the third, fourth and fifth straight lines in this order. Since only the first two intersection points need to be taken into account, the intersection points of the first and third lines as well as the first and fourth lines are used as the vertices of the polygon. For example, starting from the first camera, the second line intersects the third, fifth and fourth lines in that order. Consequently, the intersection points of the second and third lines as well as the second and fifth lines are used as vertices of the polygon.
  • the intersection points of the first and third, the second and third, the first and fourth and the fourth and fifth lines should be used as corner points of the polygon.
  • Three of the intersection points to be considered starting from the first camera are the same as three of the intersection points to be considered starting from the second camera.
  • the polygon is accordingly a pentagon.
  • the banding circumference is estimated to be the circumference of this pentagon.
  • This embodiment has the advantage that known and easily available sensors, namely optical cameras, with a simple evaluation, namely, for example, the comparison of the known image of the tape guide with an image of the hidden one Tape guide can be used to obtain the desired estimate easily, cheaply and robustly.
  • the banding machine includes an input interface through which the user can enter information about a band.
  • the target value calculation preferably takes into account information about the mass per length of the strip.
  • the buffer length increases as the mass per length increases.
  • the mass of the belt determines the kinetic energy and momentum of the belt moving at the first return speed.
  • less kinetic energy has to be dissipated with a lighter belt. This means that in many cases a lighter belt can be braked later than a heavy one. Due to the mass-dependent nature of the buffer length, the cycle time for light belts can be further reduced.
  • the buffer length is 10 to 20 cm.
  • a packaged goods with a banding circumference of 70 cm is banded in a banding machine according to the invention, the band guide of which has a circumference of 140 cm, as follows:
  • the banding machine estimates the banding circumference at 70 cm based on the measurement of at least one distance sensor and in the In this example, a buffer length of 10 cm is stored in the control system.
  • the belt is inserted at an average speed of 2.8 m/s.
  • the band loop is formed within half a second.
  • the belt drive is reversed in its direction of action and now pulls the belt back with a similar acceleration as when it was pushed in, so that the first return speed is also approx. 2.8 m/s.
  • this first return speed is only used to retract the first 60cm of the total 140cm inserted.
  • This setpoint of the retracted length is the difference between the circumference of the tape guide, here 140 cm, and the Sum of the estimated banding circumference of 70 cm and the buffer length of 10 cm.
  • the aim is for the second return speed of, for example, 0.1 m/s.
  • the force with which the belt is moved is reduced to the target belt tension selected here of 0.1 N.
  • the buffer length of 10 cm allows the belt drive to be braked comparatively gently over a time interval of over 0.05 seconds.
  • a banding machine includes either an input interface and/or at least one detection sensor.
  • a target band tension can be set via the input interface.
  • the detection sensor can detect a type of packaged goods, for example based on an identification code. If a detection sensor is used, the banding machine preferably also includes a memory with a database in which a target band tension is assigned to this type of packaged goods.
  • the target belt tension can be adjusted to the respective packaged goods.
  • the target band tension can be chosen higher if the packaged goods are to be securely held together by the band and lower if the packaged goods are easily deformed and this deformation is undesirable.
  • a stack of terry cloth towels can be banded with a higher target band tension than a stack of ironed napkins, where deformation would lead to undesirable wrinkling.
  • the detection sensor uses at least one of the distance sensors.
  • the type of packaged goods is recognized based on dimensions of the packaged goods and/or on the basis of reflection properties and/or its appearance.
  • This embodiment does without additional sensors and still offers the user the convenience of being able to forgo manual input to change the target belt tension when changing the Pacl good type. While the dimensions of the packaged goods arise as a sort of by-product of the distance measurement and are therefore easily accessible, the additional recording of the reflection properties can also be used to determine package types of similar sizes or with a similar height profile differentiate from each other. If cameras are used as distance sensors, the type of packaged goods can also be determined based on their appearance.
  • the optical distance sensor is a laser triangulation in which the location at which a laser that was reflected on the surface hits an internal image sensor is observed, the expansion of this point and the intensity of the reflected radiation contain information about the Surface structure and its reflectivity in the wavelength range of the measuring laser:
  • the terry cloth towels reflect the laser, for example more diffusely and less strongly than the ironed napkins, so that these two Pacl types can be distinguished based on their reflection properties. Even if an interferometric measuring principle or a transit time measurement is used, the intensity of the reflected light can be recorded and used to detect the Pacl good type.
  • the second return speed is selected depending on the target band tension. In particular, the lower the target belt tension, the smaller the second return speed is selected.
  • the second return speed is selected to be greater, the more elastic the selected band is.
  • the belt In order to achieve a low target belt tension without having previously exceeded it, the belt should be retracted at such a speed that the belt tension caused by the inertia of the belt drive is always smaller than the target belt tension. If this condition is met, the target belt tension can be adjusted by controlled retraction with the belt drive.
  • the second return speed is preferably selected such that, due to the inertia of the belt drive, a belt tension results in just below the target belt tension. This means banding is particularly quick.
  • a compressible test body can be banded with the desired tape at different return speeds and it can be determined how strongly the test body was compressed. Given the known properties of the test specimen, the highest belt tension that occurred during the process can be derived from this compression. This allows a table to be created in which the return speed and inertia-related belt tension are recorded. By interpolating this data, a rule can then be determined with which the highest second return speed that can be used for a given target band tension can be estimated for the given banding machine and the given band.
  • the second return speed is preferably calculated for a specific belt by determining in a first step which length of belt may still be retracted from the detection of contact with the packaged goods in order not to exceed the target belt tension. If this length is known and also the braking acceleration that the belt drive can and should provide, it can be calculated which is the speed that drops to zero with the braking acceleration over the specific length. In many cases the band length of the first step this calculation will depend on the length of the band. For this calculation, the circumference of the band is therefore preferably used as an estimate for the length of the band. Since this estimate can lead to values for the second return speeds that are too high, the second return speed actually used can deliberately be chosen to be smaller than the determined value, for example to 75%, 80% or 90% of the estimate.
  • the distance sensors are optical sensors.
  • Laser triangulation, the determination of the light transit time or interferometry are particularly preferred as the measuring principle of the sensors.
  • Optical sensors measure the distances without contact and with great precision. The packaged goods to be banded are therefore not affected.
  • Laser triangulation, light transit time determination and interferometry could also be used for optical distance determination.
  • Laser triangulation, light transit time determination and interferometry have the advantage that the sensor data can be easily evaluated and the distance values can therefore be determined quickly and with little computing power.
  • the preferred optical measuring principles also have the advantage that, in the event of a supposed malfunction, the user can check comparatively easily whether a measuring light is being emitted and where it hits the packaged goods. With lasers in the visible wavelength range, it is usually sufficient to darken the surroundings. Lasers of other wavelengths can be checked accordingly using a suitable indicator card. If the tape guide on the side opposite the distance sensor is at least partially provided with a corresponding, for example fluorescent, indicator color, the user can intuitively and immediately recognize the field of vision and the functioning of the distance sensor. Providing the tape guide with a fluorescent or other striking indicator color can also simplify the determination of the limit observation angles when using cameras as distance sensors.
  • the distance sensor can capture both an image and distances.
  • the distances are recorded via radar or echolocation, for example using ultrasound.
  • the distance sensors detect the distances to the packaged goods along routes in the tape guide plane or in one or more parallel planes in the immediate vicinity and output the smallest detected distance value to the control of the banding machine. In this way, errors in the estimation of the banding circumference can be avoided, which can be attributed to the fact that a distance sensor measured the distance at an unsuitable point, for example next to the packaged goods.
  • the band is pushed through an insertion opening into the band guide.
  • the insertion opening is located below a conveyor surface.
  • Two distance sensors are essentially opposite each other on the tape guide and determine the distance from opposite directions horizontal distance to the packaged goods.
  • Another distance sensor is located above the conveyor surface on the belt guide and determines the vertical distance to the packaged goods.
  • the packaged goods are conveyed on the conveyor surface. This is therefore a guide element and the distance to the conveying surface is zero. Since the conveying surface serves as a guide element, it is guaranteed that the packaged goods rest on the guide element.
  • the remaining three distances are measured by, preferably simple, distance sensors. It is therefore sufficient that each of the distance sensors measures the distance in one direction. The distance sensors can therefore be constructed comparatively simply and the measurement is carried out quickly.
  • the tape is pushed through an insertion opening into the tape guide.
  • the insertion opening is located next to the conveyor surface.
  • a first distance sensor is located on the tape guide opposite the insertion opening and determines the horizontal distance to the packaged goods.
  • a second distance sensor is located on the belt guide above the conveyor surface and determines the vertical distance to the packaged goods.
  • This embodiment has the advantage that the comparatively voluminous components of the banding machine, which are located in the vicinity of the insertion opening, are arranged next to the band guide. This means that space remains free below the band guide and can be used, for example, for a conveyor section of the finished banded packaged goods.
  • the plane in which the insertion opening lies also preferably serves as a guide element in this embodiment. Since the band is pushed in through the insertion opening and pulled back again, positioning the packaged goods at a distance from this plane would otherwise either cause the resulting band to become too large or the target band tension would be chosen so high that the packaged goods would be pulled through the band when returning would be drawn to the level of the insertion opening.
  • the embodiment therefore comprises two guide elements: the conveying surface and the plane of the insertion opening. Two of the four possible distances are therefore known and the remaining two distances can be determined with the first and second distance sensors.
  • This embodiment therefore has the advantage of enabling a good and quick estimate of the banding circumference even with just a few distance sensors and banding sensitive packaged goods gently and quickly.
  • the tape is pushed through an insertion opening into the tape guide.
  • the insertion opening is located above a conveyor surface.
  • Two distance sensors are located essentially opposite each other on the belt guide and determine the horizontal distance to the packaged goods from opposite directions.
  • Another distance sensor is located in the plane of the insertion opening and determines the vertical distance to the packaged goods.
  • the conveying surface is preferably height-adjustable. The control preferably sets the height of the conveying surface depending on the distance measured by the vertically measuring distance sensor such that the packaged goods rest on the plane of the insertion opening at the time at which the belt is retracted.
  • Another application example is the banding of compressible goods, such as bundles of celery stalks:
  • the conveyor surface can be moved or adjusted in such a way that there is a target height between the conveyor surface and the level of the insertion opening.
  • the packaged goods adapt to this target height due to their compressibility.
  • the subsequent gentle banding can be carried out with a low target band tension, so that the packaged goods are only compressed laterally to the desired, small extent.
  • a height-adjustable conveyor surface can be taken into account in the setpoint calculation as follows: When determining the extent of the measuring range, the Conveying surface detected in its basic position by the vertically measuring distance sensor. The basic position is preferably the lowest position of the conveying surface. The packaged goods are then placed on the conveyor surface in their basic position and the distance to the packaged goods is measured there. This is the distance value that is then included in the setpoint calculation. Alternatively, both vertical distances can be assumed to be 0 and the raising of the conveyor surface can be depicted in a correspondingly reduced extent of the measuring range.
  • the distance sensor for determining the vertical distance is dispensed with and instead the conveying surface moves towards the plane of the insertion opening until a predetermined resistance opposes this movement.
  • This resistance can just correspond to the target band tension.
  • the original distance can be determined via the travel path of the conveyor surface.
  • a banding method comprises the following steps: Distances and/or limiting observation angles to a packaged item lying within the tape guide are determined or the banding circumference is estimated using at least one measured value from at least one distance sensor.
  • a band is inserted into the band guide.
  • a target value is determined taking into account the specific distances and/or the limit observation angles or the estimated banding circumference
  • the tape is initially retracted at a first return speed.
  • the retracted length of the band or a difference length, i.e. the difference between the inserted and retracted length of the band, is recorded.
  • the tape is retracted at a second return speed.
  • the second return speed is smaller than the first return speed.
  • the method is preferably carried out on the banding machine according to the invention.
  • the same belt drive preferably accelerates and brakes the belt when inserting and rewinding.
  • the method also includes the steps of terminating the return and connecting the band to itself as soon as a target band tension is reached.
  • the band can be tensioned just enough so that it corresponds to the target band tension and, for example, on the one hand, does not slip off the packaged goods and, on the other hand, the band does not damage or significantly compress the packaged goods.
  • the return is ended and the tape is connected to itself as soon as a certain length of tape has been retracted or as soon as a desired difference length has been reached.
  • the return is terminated and the band is connected to itself as soon as a target band tension has been reached or a certain band length has been retracted or as soon as a desired difference length has been reached, depending on which of these criteria occurs first.
  • Fig. 1 shows a banding machine 10 with a height-adjustable chassis 12 on lockable wheels 14.
  • a rolling disk 18 with a band roller 20 is rotatably mounted on a cross strut 16 of the chassis 12.
  • a tape 22 is unwound via a tape storage 24, which includes three stationary deflection rollers 26 and three deflection rollers 30 mounted on a tensioned, pivotable lever 28.
  • the tape storage 24 serves as a reserve.
  • the tape storage 24 can accommodate the tape 22 that is retracted during rewind.
  • the tape 22 is pulled into a tape channel 32, which is arranged in a machine housing 34 with a table 36.
  • the table 36 represents a conveying surface and a guide element.
  • Further machine elements are arranged in this machine housing 34, in particular a belt drive roller 38, a transport roller 42 which, when a lever 40 is in the appropriate position, presses the belt 22 onto the belt drive roller 38 or allows it to run freely, a transport roller 42 with the Belt 22 exactly rotating encoder roller 44, a welding and cutting unit 48, and a control 60 electrically connected to the drive of the belt drive roller 38 and the encoder roller 44, in this case a digital control.
  • the belt is frictionally connected by the belt drive roller 38 and Transport roller 42 is grasped and pushed in and retracted by the movements of the belt drive roller 38 and/or the transport roller 42.
  • the belt drive is implemented by the belt drive roller 38 and the transport roller 42 and the rotary encoder by the rotary encoder roller 44.
  • the insertion opening 37 of the belt guide 50 is located at the exit of the belt channel 32.
  • the table 36 also realizes the level of the insertion opening 37 in this case.
  • the band guide 50 in the area of stacked packaged goods 52 is in the present case an arcuate structure which, together with the table 36, defines a substantially rectangular interior space.
  • the band guide 50 is open to the interior space it surrounds.
  • a laterally open and laterally retractable tape guide channel 55 is arranged inside the tape guide 50. In an insertion position, the band guide channel 55 prevents the band from leaving the band guide 50 at an undesirable time during insertion or the band loop formed.
  • the tape guide 50 carries a total of three simple distance sensors 1a, 1b, 1c, which determine the distance to the nearest surface of the packaged goods 52.
  • the simple distance sensors 1a, 1b, 1c are arranged in such a way that the measuring direction of the simple distance sensor 1a points in the direction of the table 36 while the measuring directions of the simple distance sensors 1b and 1c both point into the interior and both at a 90 ° angle to the measuring direction of the simple distance sensor 1a stand.
  • the distance sensors 1a, 1b and 1c transmit the measured distances to the digital control 60, which determines a setpoint from this.
  • a switch 56 is arranged under a flap cover 58.
  • This switch 56 can also be designed as a foot switch. Actuating the switch 56 activates the belt drive, which pushes the belt 22 into the belt guide 50 at high speed.
  • the belt drive is activated by a sensor signal after the machine has been turned on by actuating switch 56.
  • the sensor signal can, for example, be the signal of one of the distance sensors 1a, 1b, 1c and the activation can take place with a time delay in order to provide the user with this To allow positioning of the packaged goods 52.
  • the sensor signal can also be the signal of a packaging sensor, which determines in any way that the packaged goods 52 lie in the band guide 50 in a manner suitable for banding.
  • the beginning of the band 22 is clamped with the band start clamp 47.
  • the tape guide channel 55 is first pulled away to the side and thus the tape loop is released. Then the tape drive pulls the tape 22 back and thus around the inserted, stacked tape Packaged goods 52, which is referred to as return. To do this, the belt drive roller 38 is rotated in the opposite direction.
  • the return initially occurs at a first return speed.
  • the encoder roller 44 continuously monitors the return length, i.e. which length of the band 22 has already been retracted, or the difference length. With the difference in length, the encoder roller 44 detects the band movements with a positive sign when inserting and with a negative sign when retracting. The tape lengths are recorded in each case.
  • the controller 60 compares the value of the rotary encoder, here realized by the rotary encoder roller 44, with the setpoint: If it is recognized that the values are the same, the speed of the belt drive roller 38 is reduced in such a way that the belt speed ultimately corresponds to the second return speed.
  • the target belt tension is set, for example, on the clutch or on the drive of the belt drive roller 38:
  • the drive can therefore no longer drive the belt drive roller 38 when the target belt tension is reached.
  • the control 60 triggers the action of the welding and cutting unit 48: The band loop is closed and separated from the remaining band 22.
  • the packaged goods 52 are banded and can be removed.
  • the angular momentum of the belt drive roller 38 is also adjusted together with the speed in such a way that the tensile force transmitted to the belt corresponds to the target belt tension.
  • the pressure of the transport roller 42 on the belt drive roller 38 is reduced in such a way that the band slips between the transport roller 42 and the band drive roller 38 when the target band tension is reached and therefore cannot be tensioned more than the target band tension.
  • FIG. 2 shows the situation before the rewind begins:
  • the tape cannot be recognized because it is still in the tape guide 50.
  • Packaged goods 52 in the space surrounded by the belt guide 50 on the table 36.
  • a sensor or the user's actuation of a switch or pedal triggers the return.
  • the band 22 is released if necessary and then retracted, initially at a first return speed 62. In doing so, it emerges from the band guide 50 and forms an increasingly smaller band loop.
  • the return speed is reduced to the second return speed. This reduces the speed at which the band loop reduces.
  • the belt drive can be stopped precisely and quickly due to the lower speed, so that the packaged goods 52 after banding, shown in Figure 4 , is not compressed and its edges are undamaged.
  • the band 22 still surrounds the packaged goods tightly. After the band loop has been closed and separated from the remaining band by the welding and cutting unit 48, the banded packaged goods can be removed.
  • Figure 5a shows a view in the conveying direction of the packaged goods 52 of the arcuate band guide 50 of a banding machine.
  • Packaged goods 52 are located on a conveyor surface 35, for example a conveyor belt.
  • the belt drive roller 38 and the welding and cutting unit 48 are arranged next to the conveyor surface 35.
  • the insertion opening 37 is also located laterally next to the conveying surface 35. In this example, the plane of the insertion opening 37 is therefore unequal to the conveying surface 35.
  • the band 22 is, just like in the in Figure 1 banding machine described, accelerated in a band channel 32 by a band drive roller 38.
  • the band 22 is pushed through an insertion opening 37 into the band guide 50 until the beginning of the band has reached its end position and is fixed by a band start clamp 47.
  • the packaged goods 52 lie on the conveying surface 35.
  • the side wall of the machine housing 34, in which the insertion opening 37 is located, represents a guide element.
  • the side wall of the machine housing 34 realizes the plane of the insertion opening 37.
  • the packaged goods 52 lie both on this guide element in the form of the side wall of the machine housing 34 as well as on the conveying surface 35.
  • Two distance sensors 1a, b are mounted on the arcuate tape guide 50.
  • a horizontally aligned distance sensor 1b measures the distance in the direction of the guide element formed by the side wall of the machine housing 34.
  • the vertically aligned distance sensor 1a measures the distance in the direction of the conveying surface 35. The distances that the two distance sensors 1a and 1b measure are transmitted to the controller 60.
  • a memory of the controller 60 Stored in a memory of the controller 60 is how far the horizontally oriented distance sensor 1b is from the guide element formed by the side wall of the machine housing 34, how far the vertically oriented distance sensor 1a is from the conveying surface 35 and over what length the belt 22 is overlapped in the finished band 23, i.e. the overlap length.
  • a buffer length is also stored in the controller 60.
  • the controller 60 determines the setpoint from the stored data and the measured distances.
  • a rotary encoder roller 44 on the belt channel 32.
  • the rotary encoder roller 44 runs with the belt 22 and records its revolutions. In this example, the revolutions when inserting the tape are counted positively and the revolutions when rewinding are counted negatively.
  • the counter reading of the encoder roller 44 is therefore a measure of the difference length.
  • the encoder roller 44 is the encoder.
  • the current difference length is transmitted to the controller 60.
  • the return begins:
  • the control 60 ensures that the belt 22 is released if necessary and instructs the drive of the belt drive roller 38 to rotate it in the opposite direction so that the belt 22 moves at the first return speed.
  • the controller 60 compares the difference length transmitted by the encoder roller 44 with the setpoint. If the difference length equals the setpoint, the drive of the belt drive roller 38 is instructed to drive the belt drive roller 38 such that the belt 22 moves at the second return speed.
  • the coupling between the band drive roller 38 and its drive is adjusted such that the band drive roller 38 cannot exert more tensile force on the band than the target band tension: If the band loop has reached the target band tension, the band drive roller 38 and the band 22 come to a standstill. The encoder roller 44 no longer changes its counter and the controller 60 recognizes that the band loop can be closed by welding to form a band 23 and should be separated from the rest of the band 22. The welding and cutting unit 48 does this. The packaged goods 52, now banded, can be removed or transported away on the conveyor surface 35.
  • Fig. 5b shows a view perpendicular to the conveying direction of the packaged goods 52 of the banding machine Figure 5a .
  • the conveying surface 35 is interrupted in the area of the belt guide 50 in order to enable the belt 22 to wrap around the packaged goods 52.
  • Fig. 6a shows a view of the arcuate band guide 50 of a banding machine in the conveying direction of the packaged goods 52.
  • a packaged item 52 is fed in on a conveyor belt.
  • the belt drive roller 38 as well as the welding and cutting unit 48 and the insertion opening 37 are arranged above the conveying surface 35.
  • the conveying surface 35 is mounted on height-adjustable legs 39.
  • the banding process is analogous to that in terms of Figure 1 and 5a described.
  • the vertical measuring method Distance sensor 1a now determines the distance to the packaged goods 52 while the conveying surface 35 is in its lowest position, its basic position, and the control 60 forwards this information to the legs 39, which then raise the conveying surface 35 with the packaged goods 52 to such an extent that it comes into contact with the side wall of the machine housing 34, in which the insertion opening 37 is located.
  • This measured distance which has now been compensated for by the legs 39, is one of the distances that is included in determining the setpoint.
  • the other two distances are determined by two horizontally measuring distance sensors 1c and 1b.
  • the distance between the distance sensors 1c and 1b as well as the distance between the distance sensor 1a and the conveying surface 35 in its basic position are stored in the controller 60.
  • the overlap length and the buffer length are also stored.
  • the controller 60 determines the setpoint from these values.
  • Fig. 6b shows a view perpendicular to the conveying direction of the packaged goods 52 of the banding machine Figure 6a .
  • the conveying surface 35 is interrupted in the area of the belt guide 50 in order to enable the belt 22 to wrap around the packaged goods 52. It can also be seen that the distance sensor 1a is arranged next to the insertion opening 37 in order to provide space for the band channel 32, the welding and cutting unit 48 and the band 22.
  • Fig. 7a illustrates the different distances 2a-2d, 51a and b as well as the band 23 around a packaged goods 52 with a non-rectangular cross section and the banding circumference 53 estimated for this packaged goods 52.
  • the packaged goods 52 is a bowl which is indented in the middle of its lid, i.e. is locally concave.
  • the band 23 should not follow this concave section, but rather spans it. However, the band 23 lies against the convex surfaces of the packaged goods 52.
  • the band 23 therefore appears in a trapezoidal shape in its cross section.
  • the circumference of the trapezoid is now estimated by the circumference of the surrounding rectangle. This is the estimated banding circumference 53.
  • the surrounding rectangle is indicated with a dashed line.
  • the banding circumference 53 is determined by positioning distance sensors 1a-c,f or guide elements at known distances from one another in such a way that measurements are taken in a first and a second dimension that are perpendicular to one another.
  • the tape guide level is the level at which the viewer can access the Figure 7a looks.
  • the distances between the distance sensors 1a-c, f are designated 51a and 51b. This is the extent of the measuring range.
  • One of the opposing distance sensors could also be replaced by a guide element. In this case, however, the packaged goods 52 should rest against the guide element.
  • the distance sensors 1a-c, f then determine the smallest distance that the packaged goods 52 have from their zero plane. These are the distances 2a-2d.
  • the zero plane of a distance sensor 1a-f is the plane from which the distance is determined and to which the distance sensor 1a-f would detect a distance of 0 at least at one point.
  • the normal of the zero plane is the measuring direction of the distance sensor 1a-f or the axis of symmetry of the field of view of the distance sensor 1a-f.
  • Fig. 7b illustrates the estimation of the banding circumference 53 when the distance sensors 1d and 1e can determine the limit observation angles 3e, 3d, 4e, 4d and the distance between the distance sensors 1d, 1e is known.
  • the distance sensors 1d and 1e are mounted on the tape guide 50 at a known distance from each other.
  • the packaged goods 52 cover a part of the tape guide 50 that the distance sensor 1d or 1e would detect without the packaged goods 52.
  • the angles at which the limits of the packaged goods 52 appear for the respective distance sensor 1d, 1e are the limit observation angles 3e, 3d, 4e, 4d.
  • the connecting line of the two distance sensors 1d, 1e serves as a reference 5 from which the angles are measured.
  • both distance sensors 1d, e use the same reference 5.
  • the packaged goods 52 are also guided on a conveyor surface 35.
  • the position of the conveying surface 35 in relation to the distance sensors 1d, 1e is also known.
  • the position of the intersection points in space can be determined mathematically:
  • the intersection of the straight lines emanating from distance sensors 1d, e are corner points of triangles, one side of which and the angles adjacent to it are known.
  • Intersection points of a straight line emanating from a distance sensor 1d, e and the conveyor surface 35 are corner points of right-angled triangles, of which the length of a side and another angle are known:
  • the side is just the height of the corresponding distance sensor 1d, e above the conveyor surface 35
  • the banding circumference 53 is then estimated to be the circumference of the polygon, which results from the intersection points taken into account.
  • the return length can also be used for comparison with the target value, although the target value must be determined appropriately.
  • the target belt tension can be set in a different way and can also be measured and monitored directly.
  • the banding machine can be equipped with additional sensors, for example detection sensors that can detect the type of packaged goods.
  • the first and second dimensions can be the horizontal and the vertical.

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Claims (15)

  1. Banderoleuse (10) comprenant un guide-bande (50), un entraînement de bande (38), un codeur rotatif (44) et une commande (60),
    a) le guide-bande (50) étant pourvu d'au moins un capteur de distance (la, b, c, d, f) et
    b) la dimension de bande (53) pouvant être estimée à l'aide d'au moins une valeur de mesure de l'au moins un capteur de distance (la, b, c), car notamment une distance (2a-d) à un produit emballé (52) placé dans le guide-bande (50) peut être déterminée à partir de la valeur de mesure et
    c) une bande (22) pouvant être retirée à l'aide de l'entraînement de bande (38), et
    d) le codeur rotatif (44) permettant de détecter
    i) la longueur de bande retirée ou
    ii)la longueur différentielle, qui est la différence entre la longueur insérée et la longueur retirée de la bande,
    caractérisée en ce que
    e) la commande (60) est conçue pour déterminer une valeur cible en tenant compte de l'au moins une valeur de mesure de l'au moins un capteur de distance (la, b, c), et
    f) la commande (60) est conçue pour commander l'entraînement de bande (38) de manière que la bande (22) soit d'abord retirée à une première vitesse de recul pendant le recul et dès que
    i) la longueur retirée ou
    ii)la longueur différentielle
    correspond à la valeur cible, la bande (22) soit retirée à une deuxième vitesse de recul qui est inférieure à la première vitesse de recul.
  2. Banderoleuse (10) selon la revendication 1, comprenant au moins deux capteurs de distance (1a, b, c, f), dont l'un peut déterminer la distance au produit emballé (52) dans une première dimension et l'autre la distance au produit emballé (52) dans une deuxième dimension.
  3. Banderoleuse (10) selon l'une des revendications 1 à 2,
    i) la valeur cible étant égale à deux fois la somme des distances (2a-d) au produit emballé (52) moins une longueur tampon si la valeur cible est comparée à la longueur retirée,
    ii) la valeur cible étant égale à la somme de deux fois les distances (2a-d) des capteurs de distance (1a-f) ou d'éléments de guidage les uns par rapport aux autres et correspondant à une longueur de chevauchement moins deux fois la somme des distances (2a-d) au produit emballé (52) et moins une longueur tampon si la valeur cible est comparée à la longueur différentielle.
  4. Banderoleuse (10) selon la revendication 1, comprenant au moins deux capteurs de distance (1d, 1e) qui réalisent un premier et un deuxième point d'observation à une distance connue l'un de l'autre, l'un des capteurs de distance (1d) pouvant déterminer un petit et un grand angle d'observation limite (3d, 4d) à partir d'un premier point d'observation et l'autre capteur de distance (1e) pouvant déterminer un petit et un grand angle d'observation limite (3e, 4e) à partir d'un deuxième point d'observation.
  5. Banderoleuse (10) selon la revendication 4,
    i) la dimension de banderolage estimée (53) étant estimée à la dimension du polygone dont les sommets sont les deux premiers points d'intersection, en dehors des points d'observation, comptés à partir du point d'observation respectif, des droites suivantes situées dans le plan de guidage de bande :
    (1) une droite qui passe par le premier point d'observation et qui inclut le petit angle d'observation limite (3d) du premier point d'observation,
    (2) une droite qui passe par le premier point d'observation et qui inclut le grand angle d'observation limite (4d) du premier point d'observation,
    (3) une droite qui passe par le deuxième point d'observation et qui inclut le petit angle d'observation limite (3e) du deuxième point d'observation,
    (4) une droite qui passe par le deuxième point d'observation et qui inclut le grand angle d'observation limite (4e) du deuxième point d'observation,
    (5) de préférence une droite sur la surface de transport (35),
    ii) la valeur cible étant égale à la dimension du guide de bande (50) moins la somme de la dimension de bande estimée (53) et d'une longueur tampon si la valeur cible est comparée à la longueur retirée,
    iii) la valeur cible étant égale à la somme de la dimension de bande estimée (53), d'une longueur de chevauchement et d'une longueur tampon si la valeur cible est comparée à la longueur différentielle.
  6. Banderoleuse (10) selon l'une des revendications 3 à 5, la longueur tampon étant de 10 à 20 cm.
  7. Banderoleuse (10) selon l'une des revendications 1 à 6, laquelle comporte une interface d'entrée par laquelle une tension de bande cible peut être réglée et/ou au moins un capteur de détection qui peut détecter un type de produit emballé, par exemple à l'aide d'un code d'identification, et de préférence une mémoire pourvue d'une base de données dans laquelle une tension de bande cible est associée à ce type de produit emballé.
  8. Banderoleuse (10) selon la revendication 7, le capteur de détection utilisant l'un au moins des capteurs de distance (la-f) et le type de produit emballé étant détecté sur la base des dimensions du produit emballé (52) et/ou des propriétés de réflexion et/ou de son apparence.
  9. Banderoleuse (10) selon l'une des revendications 7 à 8, la deuxième vitesse de recul étant choisie en fonction de la tension de bande cible et la deuxième vitesse de recul étant notamment choisie en étant d'autant plus petite que la tension de bande cible est petite.
  10. Banderoleuse (10) selon l'une des revendications 1 à 9, les capteurs de distance (la-f) étant des capteurs optiques et utilisant de préférence la triangulation laser, le temps de propagation de la lumière ou l'interférométrie comme principe de mesure.
  11. Banderoleuse (10) selon l'une des revendications 1 à 10, la bande (22) étant acheminée par une ouverture d'insertion (37) jusque dans le guide-bande (50) et l'ouverture d'insertion (37) étant ménagée au-dessous d'une surface de transport (35) et deux capteurs de distance (la-f) se faisant sensiblement face sur le guide-bande (50) et déterminant la distance horizontale au produit emballé (52) depuis des directions opposées, et un autre capteur de distance (1a-f), qui est situé au-dessus de la surface de transport (35), déterminant la distance verticale au produit emballé (52).
  12. Banderoleuse (10) selon l'une des revendications 1 à 10, la bande (22) étant acheminée par une ouverture d'insertion (37) jusque dans le guide-bande (50) et l'ouverture d'insertion (37) étant située à côté d'une surface de transport (35) et un premier capteur de distance (la-f) étant situé sur le guide-bande (50) en regard de l'ouverture d'insertion (37) et déterminant la distance horizontale au produit emballé (52) et un deuxième capteur de distance (la-f) étant situé sur le guide-bande (50) au-dessus de la surface de transport (35) et déterminant la distance verticale au produit emballé (52).
  13. Procédé de banderolage, comprenant les étapes suivantes :
    • déterminer des distances (2a-d) et/ou des angles d'observation limites (3d, e, 4d, e) par rapport à un produit emballé (52) situé dans le guide-bande (50), ou estimer une dimension de banderolage (53) à l'aide d'au moins une valeur de mesure d'au moins un capteur de distance,
    • de préférence, insérer une bande dans le guide-bande (50),
    • déterminer une valeur cible avec prise en compte des distances déterminées (2a-d) et/ou des angles d'observation limites (3d, e, 4d, e) ou de la dimension de bande estimée (53),
    • retirer la bande à une première vitesse de recul,
    • détecter une longueur retirée de la bande ou détecter une longueur différentielle, c'est-à-dire la différence entre la longueur insérée et la longueur retirée de la bande,
    • à partir de l'instant où la longueur de bande retirée ou la longueur différentielle correspond à la valeur cible, retirer la bande à une deuxième vitesse de recul qui est inférieure à la première vitesse de recul.
  14. Procédé selon la revendication 13, le même entraînement de bande accélérant et freinant la bande (22) lors de l'insertion et lors du recul.
  15. Procédé selon l'une des revendications 13 à 14, comprenant l'étape suivante : arrêter le recul et relier la bande à elle-même dès qu'une tension de bande cible est atteinte.
EP21766612.2A 2020-10-16 2021-08-23 Machine de banderolage de produits fragiles Active EP4192739B1 (fr)

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EP20202392.5A EP3984896A1 (fr) 2020-10-16 2020-10-16 Machine de banderolage de produits fragiles
PCT/EP2021/073294 WO2022078658A1 (fr) 2020-10-16 2021-08-23 Machine pour le cerclage doux de marchandises sensibles

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EP4192739B1 true EP4192739B1 (fr) 2023-10-04

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US11851221B2 (en) 2022-04-21 2023-12-26 Curium Us Llc Systems and methods for producing a radioactive drug product using a dispensing unit

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Publication number Priority date Publication date Assignee Title
CH544694A (de) * 1973-02-26 1973-11-30 Erapa Ag Einrichtung zum Stillsetzen der Bandeinführung an einer Maschine zum selbsttätigen Umschnüren bzw. Umreifen von Packstücken mit Kunststoffband
CH668402A5 (de) * 1985-03-15 1988-12-30 Konrad Feinmechanik Ag A Verfahren und maschine zur umreifung eines packgutes mit einem umreifungsband.
US5146847A (en) * 1991-04-01 1992-09-15 General Motors Corporation Variable speed feed control and tensioning of a bander
CH685197A5 (de) * 1992-01-09 1995-04-28 Automatic Taping Systems Breitbandbinden von gestapeltem Packgut.
JP3146269B2 (ja) 1993-03-26 2001-03-12 新明和工業株式会社 結束機
DE19722066A1 (de) 1997-05-27 1998-12-03 Smb Schwede Maschinenbau Gmbh Umreifungsmaschine zum Umreifen von Objekten mit einer objekthöhenabhängigen Rückspanneinrichtung
US6968779B2 (en) * 2000-03-15 2005-11-29 Enterprises International, Inc. Apparatus and methods for wire-tying bundles of objects
CH696398A5 (de) 2003-11-21 2007-05-31 Automatic Taping Systems Verfahren zum Banderolieren von gestapeltem, weichem und/oder empfindlichem Packgut

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PL4192739T3 (pl) 2024-03-18
EP4192739A1 (fr) 2023-06-14
CN116829462A (zh) 2023-09-29
EP3984896A1 (fr) 2022-04-20
TW202218944A (zh) 2022-05-16
US20230391483A1 (en) 2023-12-07
ES2968861T3 (es) 2024-05-14
WO2022078658A1 (fr) 2022-04-21

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