EP3116787B1 - Procédé de commande des paramètres d'un système de banderolage - Google Patents

Procédé de commande des paramètres d'un système de banderolage Download PDF

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Publication number
EP3116787B1
EP3116787B1 EP15710748.3A EP15710748A EP3116787B1 EP 3116787 B1 EP3116787 B1 EP 3116787B1 EP 15710748 A EP15710748 A EP 15710748A EP 3116787 B1 EP3116787 B1 EP 3116787B1
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EP
European Patent Office
Prior art keywords
strapping
control unit
strapped
loop
data
Prior art date
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Active
Application number
EP15710748.3A
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German (de)
English (en)
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EP3116787A1 (fr
Inventor
Marco BENDER
Reinhard Broghammer
Rainer Ihle
Daniel TREU
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Mosca GmbH
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Mosca GmbH
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Publication date
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Priority to EP19155799.0A priority Critical patent/EP3501995B1/fr
Publication of EP3116787A1 publication Critical patent/EP3116787A1/fr
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Publication of EP3116787B1 publication Critical patent/EP3116787B1/fr
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Classifications

    • 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
    • B65B13/185—Details of tools
    • B65B13/187—Motor 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
    • 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
    • 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
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
    • B65B57/12—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of wrapping materials, containers, or packages
    • 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
    • B65B59/00—Arrangements to enable machines to handle articles of different sizes, to produce packages of different sizes, to vary the contents of packages, to handle different types of packaging material, or to give access for cleaning or maintenance purposes
    • B65B59/001—Arrangements to enable adjustments related to the product to be packaged
    • 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
    • B65B59/00—Arrangements to enable machines to handle articles of different sizes, to produce packages of different sizes, to vary the contents of packages, to handle different types of packaging material, or to give access for cleaning or maintenance purposes
    • B65B59/02—Arrangements to enable adjustments to be made while the machine is running
    • 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
    • B65B13/20—Means for compressing or compacting bundles prior to bundling
    • 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
    • B65B13/24—Securing ends of binding material
    • B65B13/32—Securing ends of binding material by welding, soldering, or heat-sealing; by applying adhesive
    • B65B13/325—Ultrasonic welding
    • 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
    • B65B2210/00—Specific aspects of the packaging machine
    • B65B2210/04—Customised on demand packaging by determining a specific characteristic, e.g. shape or height, of articles or material to be packaged and selecting, creating or adapting a packaging accordingly, e.g. making a carton starting from web material

Definitions

  • the invention relates to a method and a device or a system for strapping objects, and more particularly to a method for controlling the parameters of a strapping system.
  • Strapping machines are for decades proven devices for attaching strapped loops, usually made of plastic tape, to items such as packages, stacks of magazines, filled crates, etc.
  • the items are usually transported on a conveyor in a tape guide frame.
  • a flat strapping tape is fed to the tape guide channel in the tape guide frame by means of a tape drive.
  • the thus formed band loop is pulled out of the band guide channel and stretched around the object to be strapped.
  • the formed belt loop is separated from the tape leader, and the two ends of the belt loop are pressed against each other and bonded together.
  • the connection of the loop ends is usually done by welding.
  • closure units are used which heat the strip material by a heating element (hot plate or hot wedge) or by ultrasonic sonotrode and presses molten strip sections against each other.
  • the WO 2008/019991 The applicant describes such a strapping machine.
  • the strapping station is located in the region of the strap guide frame, so that the loop formed by the strap guide frame is fixed at a certain position in a certain position around the object in the strapping position.
  • the strapping band may e.g. be moved with lances along the object to be strapped or be guided by extendable tape guide channels.
  • the article conveyor typically includes multiple components.
  • the strapping machine may include an infeed conveyor that transports unrestrained strapping articles to the strapping station.
  • the strapping machine may include an outlet conveyor that transports the article away from the strapping station after strapping.
  • other conveyor components are arranged in front of the inlet conveyor and / or behind the outlet conveyor.
  • These further conveying components can be, for example, simple roller conveyors with a slight gradient, on which the object to be strapped is transported in the direction of the fall due to its weight.
  • driven roller conveyors or belt conveyors can also be used.
  • Stautakt machine Especially before the strapping machine Often a Stautakt machine is used, the transported at predetermined times isolated objects to the infeed conveyor of the strapping machine.
  • strapping machines are usually provided with Umreifungsangesmitteln that support the movement of the object to be strapped or the strapping itself.
  • at least one stop can be provided, against which the object to be strapped is transported.
  • two stops are used, which are arranged in a direction transverse to the transport direction with a distance from each other.
  • a hold-down can be used for strapping objects such as a newspaper stack. This ensures that the objects lie directly on each other when strapping.
  • a packing press which pushes air out of the objects to be strapped or compresses these objects against an elastic restoring force.
  • the control unit is usually a PLC (programmable logic controller, English: Programmable Logic Controller, PLC).
  • PLC provides a programmable controller on a digital basis and has been replacing hardwired controllers programmed with their interconnects and electronic components for several years.
  • a PLC usually has inputs for input signals, outputs for output signals, an operating system and an interface via which programs can be loaded onto the PLC. In the manufacturing company, the PLC is then programmed so that a basic setting of a machine is realized.
  • PLC-controlled strapping machine goes from the publication WO2004 / 067383 A1 out.
  • a service technician of the manufacturing company may change the programming of the PLC so that its controls can be adapted to the needs of the particular user as well as the individual requirements of the location in which the machine is installed.
  • the publication WO03 / 074361 A1 discloses a (cigarette) manufacturing and packaging plant and a method and apparatus for controlling it.
  • the change from a product of a first type to a product of a second type on the one hand unnecessarily much time elapses because complex adjustments to be made to individual or all production units, appropriate starting material is to provide or present starting material on the Eligibility for use for a second type of product is to be checked and, on the other hand, substantial errors occur after the change until finally the operator has correctly adjusted all production units to the product to be manufactured during the operation of the line. Therefore, a parameter set is provided for each product.
  • the corresponding parameter set is selected, for example, at an operator station with input and output functionality such as a screen and keyboard.
  • the publication DE 10 2011 011 627 A1 describes a strapping device with a device for generating a definable clamping force of the strapping.
  • a device for detecting properties of the article to be strapped controls the device for generating the definable clamping force, wherein in particular strength, level and / or internal pressure-related article parameters are detected.
  • Microcontrollers are semiconductor chips which contain a processor and additional components which perform additional peripheral functions. On a microcontroller are usually memory and program memory. It is often referred to as a one-chip system or "system-on-a-chip".
  • a microcontroller In combination with the existing but also new drive means, measuring sensors and other elements of the strapping machine, the use of a microcontroller allows completely novel methods for carrying out the strapping or for the flexible change of the strapping parameters.
  • the position detecting means position of the object by the detection and monitoring of the conveyor line and conveying direction of the conveyor at any time the exact position of the object can be calculated.
  • the signals of the detection device are transmitted to a control unit which, on the basis of this movement data, controls the conveying device so that the object is transported into one or more predetermined strapping positions.
  • the control unit activates the strapping process in the strapping position, so that the loop is attached exactly at the predetermined position.
  • the position detecting means may detect the position of the leading edge of the object and the loop position in the control unit may be stored as a predetermined distance from the leading edge.
  • a first strapping at a predetermined distance e.g. 10 cm, defined by the leading edge of an article to be strapped, such as a parcel.
  • the leading edge of a parcel during transport to the strapping station, is the first parcel section which is engaged by a fixed distance position detecting means to the strapping station.
  • the use of the sensed leading edge provides the control unit with information about the next incoming object to be strapped as early as possible. Consequently, the necessary precautions can be taken to initiate the optimum strapping process.
  • the conveyor should not be stopped abruptly when the object to be strapped has reached the predetermined position in the strapping. With an abrupt stop of the conveyor device, the object to be strapped would slide further forward due to its inertia on the conveyor device. The exact position of the object to be strapped in the strapping station would be disturbed by this slipping process and unpredictable. In addition, there is a risk of tipping over, especially in the case of an article consisting of stacked elements due to brakes that are too fast.
  • speed ramps are specified, which achieve a steady decrease in the conveying speed with preferably constant deceleration.
  • the predetermined ramp which defines the degree of deceleration (deceleration), prevents impermissibly high negative accelerations.
  • Ramps can also be defined for the acceleration of the object to be strapped in order to prevent inadmissibly high positive acceleration values.
  • a first position detection means can be arranged at a large distance from the strapping station on the strapping machine and detect there the position of the front edge of the object. For example, if the strapping machine has an infeed conveyor and a discharge conveyor, the first position detecting means may be located at the beginning of the infeed conveyor, i. at the end of the inlet conveyor, which has the greatest distance from the strapping station.
  • the roving object can For example, be transported from an upstream conveyor unit, for example, from a Stautakt machine to the conveyor of the strapping machine.
  • the upstream conveying unit may have a different conveying speed than the conveying device of the strapping machine. In this case, it depends on the size of the friction coefficient between the bottom of the object to be strapped and the conveyor of the strapping machine on the one hand and the upstream conveyor unit on the other hand, whether the object moves at the speed of the upstream conveyor unit or the speed of the conveyor of the strapping machine.
  • a second position detection means may be arranged near the strapping station and detect the position of the leading edge of the object. With the value of the detected position of the front edge of the object detected by the second position detection means, the value of the detected conveyor line can be checked and possibly corrected.
  • the control unit can also assume control tasks depending on the detected measured values.
  • a rough sequence control of the conveying process of the conveying means is performed by the position of the front edge of the object detected at a large distance from the strapping station.
  • the article is transported to the strapping station and transported to some extent by the tape guide frame in the strapping station so that it can be strapped in the predetermined position.
  • the leading edge arrives in the region of the strapping station, it is again detected and the value of the conveyor line can be corrected using the value of the actual position of the leading edge.
  • the slip which would change the exact position of the strap, is eliminated.
  • the object to be strapped will largely be carried solely by the conveyor of the strapping machine, so that from this point on the speed of the object will be substantially exactly equal to the speed of the conveyor of the strapping machine.
  • the position detection means can detect the position of the rear edge of the object and the loop position can be stored in the control unit as a predetermined distance from the trailing edge.
  • a plurality of position detection means may be provided which measure the trailing edge to possibly match the movement distance of the object relative to the movement of the conveying device. It can also be arranged position detection means such as photocells in upstream conveyor units, so that the length of the object to be strapped was determined well before arriving at the Umreifungsstation. The length of the object and thus the position of the trailing edge can be passed to the control unit as part of package accompanying data.
  • containers or packaging with predetermined dimensions in particular predetermined lengths may be used, with machine-readable markings such as imprinted codes or RFID transponders attached to the objects.
  • the length value is coded in the information of the RFID transponder or of the machine-readable code (barcode or QR codes) and can be read out by a reading device at or near the strapping station.
  • an identifier associated with the object is stored, which is assigned to certain dimensions and in particular length values.
  • the detection of the position of the trailing edge is helpful in order to determine the exact positioning of the object to be strapped and to correct the position values determined from the movement data of the conveying device.
  • the loop position in the control unit may be set as the center between the leading edge and the trailing edge. Conventional strapping arrangements of longer items often include center strapping.
  • the object may first be transported by the conveying device to the position detecting means until the leading edge is detected, then transported further until the trailing edge is detected, from the conveying path the length of the object is determined and then the article in the Umreifungsposition is transported. If necessary, the article can be transported back if the length of the article is greater than the distance between the strapping station and the furthest position detection means. Even with such a measurement of the object, in the presence of a plurality of position detection means at different locations of the strapping machine, the measured value of further position detection means can be used to correct the length data determined by the conveyor path.
  • the article When strapping longer objects, the article can be transported into a plurality of strapping positions, in each of which a loop is formed on the object.
  • conventional strapping of a longer article has a loop near the leading edge, e.g. at a distance of 10 cm, and a loop at an equal or similar distance from the trailing edge. For even greater length, add a loop in the center of the item.
  • the article can be transported in a first Umreifungsposition and provided with a loop having a predetermined distance from the leading edge and then subsequently each further transported by predetermined distances in a next Umreifungsposition and provided with a loop. This process is repeated until the distance of the strapping station and thus the resulting distance of a loop to the trailing edge of the object to be strapped falls below a threshold, i. too small.
  • a optimal strapping pattern can be calculated individually for the package. For this purpose, a first loop position with predetermined distance from the front edge (eg 10 cm) and a second loop position with a predetermined distance from the trailing edge can be predetermined. This results in the distance between the foremost and rearmost loop. This distance can be divided by a nominal distance between two successive loops. The resulting value can be truncated or rounded and forms the number of loops to be attached. The distance between the leading and trailing loops is divided by the resulting integer and the resulting value defines the distance between two successive loops. After each strapping, the object is conveyed forward by this distance.
  • an unambiguous, machine-readable identifier for example a barcode, a QR code or an identifier stored in an RFID transponder
  • this can be read out at the beginning of the strapping process or shortly before.
  • the features associated with the article that are significant to the strapping process may be stored in a central data store and retrieved. Due to the length of the object, the control unit can calculate, for example, optimum setpoint values for the loop positions. Alternatively, the setpoint values for the loop positions can also be stored assigned to the identifier and simply read out by retrieving the data assigned to the identifier.
  • a camera for detecting the optical features of the article can be used in a variety of ways to control the strapping process and in particular to define the loop position.
  • the camera can be arranged, for example, on the tape guide frame.
  • the packet length can be determined.
  • the setpoint values for the loop position are determined by calculating them either dependent on the packet length or retrieving them from a data memory in which different loop positions are stored for different packet lengths.
  • a machine-readable code on the object can also be identified and read in the image recorded by the camera. In the machine-readable Code can either be an identifier for the item coded, in a data store properties of the item or directly set values for the loop position are stored.
  • the setpoint values for the loop position are then determined either by read-out from the data memory or by evaluation of the property or properties and assignment or calculation of corresponding setpoint values.
  • the setpoint values for the loop positions can be directly coded in the machine-readable codes.
  • Machine-readable codes such as barcodes or QR codes are coded alphanumeric strings which are printed on a surface in machine-readable form. In these strings, the spacing of the loop positions may be included, for example, from the leading edge, the trailing edge, or the center of the packet, particularly as metric values, eg, numerical value representing the distance in millimeters.
  • an address field or a machine-readable code can be recognized on the article.
  • newspaper packages are often provided with a cover sheet on which address information of the recipient is printed alphanumerically and / or in machine-readable form (bar code, QR code). If a strapping band is placed over these address fields, the automatic reading of the address can be hindered.
  • the position of areas that should not be covered can be determined. If setpoint values for the loop position are within these ranges, they may be changed such that strapping positions are outside of the address fields or the other areas not to be strapped.
  • limit values of the positive and / or negative acceleration by the conveying device exist for certain objects to be strapped.
  • newspaper stacks may not be accelerated at least prior to strapping so that the stacked newspapers slip to each other.
  • the positive and / or negative acceleration of the conveyor device by the control unit can be numerically set to a value permissible for the respective strapping operation. Simultaneously with the activation of the strapping position, the timely beginning of the deceleration of the object is consequently determined by the control, so that the permissible amount of the acceleration is not exceeded.
  • the permissible value of the acceleration can also be reset for each strapping process as a function of detected properties of the object to be strapped.
  • the strapping system may include a first position detection means at a large distance from the strapping station, a second position detection means near the strapping station, wherein the value of the detected conveyor path of the conveyor device is checked and possibly corrected by the value of the position of the front edge of the object detected by the second position detection means.
  • a single light barrier is usually arranged at a small distance above the conveyor or an upstream conveyor unit to include the passage of the leading edge of flat objects.
  • a light barrier strip has the advantage over a light barrier that the height of the objects can hereby also be detected if the light sources are distributed over the possible height range. With horizontally juxtaposed light sources, the length can be detected.
  • the combination of a horizontal and a vertical light barrier bar allows the detection of length and height.
  • a camera is nowadays a cost-effective position detection means. If the camera is arranged laterally of the conveying device, a marking can be mounted on the opposite side of the conveying device in order to determine with the camera exactly the positioning of the leading edge of an object when the marking is obscured by the leading edge. Similarly, the trailing edge can be determined when the mark is visible again. Height markings above the conveyor allow the detection of the height of the transported object with a camera. In the case of a fixed camera on the strapping machine, an absolute position value can be assigned to each of the pixels recorded by the camera. In this case, the markings can be omitted since the extent of the object up to a certain pixel (pixel) can be assigned directly to a position value.
  • Modern drive motors are already equipped with rotary encoders which emit signals associated with the rotational movements of the motor. These signals are in particular electrical impulses, which are respectively generated after the rotation of the shaft by a predetermined angular amount.
  • the signal output means may be, for example, Hall sensors which detect the positions of elements of the drive motor (e.g., the rotor poles) coupled to the motor shaft.
  • Commercially available drive motors generate, for example, 15 signals per revolution of the motor shaft.
  • a reduction gear is interposed. This reduction gear, for example, has a reduction ratio of 36/1, so that there are 540 signals per revolution of the drive roller or 3 signals per 2 degrees rotation angle of the drive roller.
  • a strapping system may include a recognition device for detecting at least one property of the article, which passes the property specifying data to the control unit which uses that data to determine at least one loop position setpoint.
  • the recognition device may be a scanner for reading a printed machine-readable code or a reading antenna for reading an RFID transponder.
  • the recognition device may alternatively or additionally be a camera which detects optical features of the article, including identifying and reading printed codes.
  • rotary encoders on the drive motors for the strapping aid can be used to detect the movement path and direction of movement.
  • the control unit always has information about where the strapping tool is located.
  • the control unit can control the movement of the Umreifungsangesffens so that the strapping process can be completed in the shortest possible time and an optimal Umreifungstex can be achieved.
  • Powered strapping tools on strapping machines which optimize the orientation and position of the object to be strapped during the process, are for example stops, hold-downs and / or pack presses.
  • a stop is a body that can be moved into the movement path of the conveyor.
  • the conveyor transports the article until it abuts against the stop.
  • the conveyor further promotes, slipping under the underside of the article. Due to the frictional forces between the conveyor and the bottom of the article this is pressed against the stop and thereby aligned.
  • two stops are provided on both sides of the center line of the conveying device, so that the object is aligned along a line perpendicular to the conveying direction.
  • a hold-down is a movable bar which is moved on top of the object to be strapped.
  • the item to be strapped is a stack of magazines, it is ensured that the top sheets of the stack of magazines lie smoothly against each other and are not damaged by the ribbon loop.
  • a packing press works on a similar principle, but exerts a greater force on the object to be strapped and compresses it. After strapping, the object can no longer spring back due to the straps made of a fixed strapping band.
  • the strapping tool can be moved by the drive device to a reference position and the motion detection unit can detect the movement data of the strapping tool in relation to this reference position.
  • the rotation angle dependent signals from the drive motors of the Drive devices are made possible to determine the direction and in predetermined increments the amount of rotation of the motor shaft. From this, taking into account the gear ratios of the motion transmitting means, a value for the direction and the amount of displacement of the driven strapping tool can be directly calculated.
  • An absolute position can not be derived from the signals of the drive motors.
  • the control unit does not have information about the absolute position of the strapping or the Umreifungsakusmittel.
  • the Umreifungsakusmittel is moved to a reference position, for example against an end stop.
  • the end stop can be provided with a switch which emits a signal to the control unit.
  • the control unit receives this signal, the position of the strapping tool is known.
  • one or more encoders to be arranged along the movement path of the strapping aid, which in each case emit a signal when the strapping aid moves past, wherein the signal from each of the encoders signals that the reference position assigned to it is reached.
  • the Umreifungsangessch were driven after each strapping against the end stop.
  • the absolute position of the Umreifungsangesstoff during operation is known, so that the Umreifungsangesstoff can be controlled depending on their determined from the movement data positions on the best possible setpoints and not at the end of a strapping process against the end stop must be moved.
  • a detection device may detect at least one property of the article transported by the conveyor, and the driving device of the strapping tool may control the target values for controlling the driving device depending on the detected property.
  • properties such as width or height of the object to be strapped can be detected.
  • the set value for the height, in which the hold-down or the packing press must be moved in order to allow the supply or the removal of the object to be strapped may be selected a few millimeters or centimeters above the top of the item to be strapped. The same applies to a packing press.
  • the width of the objects to be strapped can be recorded as a property.
  • the attacks are moved in the strapping machines of the applicant laterally into the conveyor line.
  • the setpoint values for the positions of the stops may be a few millimeters or centimeters outside the width of the article in order to allow trouble-free transport of the article to be strapped through the stops.
  • the laterally fed into the conveyor line attacks serve as already mentioned, the alignment of the object to be strapped.
  • the object is driven with the conveyor against the stops.
  • the conveyor is also further moved when the object concerns at least one of the stops, so that acts on the friction on the underside of the object, a force that pushes the object in the direction of the attacks. If the object is aligned obliquely to the stops, its front edge will rest against only one of the two stops.
  • the stops By detecting the width of the article, the stops can be controlled to a target distance between stops which is only slightly less than the width of the article. As a result, the two stops are as far outside as possible against the front edge. This causes the highest possible torque and a reliable orientation of the article on the conveyor.
  • the control unit can turn off the drive device in case of an impermissible deviation of the detected movement data from a desired value or operate in the opposite direction.
  • the motion detection unit detects the movement of the strapping tools by evaluating the motor signals representing the degree of rotation of the motor shaft of the drive motor. Since the microcontroller also has a processor clock, the motion data can be set in relation to the time and converted into the current speed or acceleration.
  • the speed profiles are known during trouble-free operation or can be determined by trial runs. These desired speed profiles can be stored.
  • the speed or acceleration of the strapping tool deviates from a desired value before contacting the object to be strapped, in particular if the speed is appreciably below the desired speed, this may be an indication that an object or a person is obstructing the movement of the strapping tool.
  • the drive of the strapping tool can be switched off immediately or even moved back a certain distance. Even too high a speed value can also indicate problems For example, damage to the coupling of the drive motor with the Umreifungsangeskar or the absence of an object to be strapped. Also in this case, stopping the Umreifungsangesffens, if possible coupled with a signal to alert the staff, helpful.
  • the system can be characterized in that a movement detection unit continuously acquires the movement data of the strapping tool and transmits it to a control unit, wherein the control unit controls the drive device based on numerical set values by means of the movement data.
  • the aforementioned Umreifungsangesmittel may comprise one or more of the motor-driven auxiliary units of the strapping machine, in particular a stop, a hold-down or a pack press.
  • a detection device may be provided which detects at least one property of the transported object, with set points for controlling the driving device of the strapping tool depending on the detected property (e.g., height or width of the object to be strapped).
  • set points for controlling the driving device of the strapping tool depending on the detected property (e.g., height or width of the object to be strapped).
  • other setpoint values such as the pressure force as a function of further properties, such as, for example, the strength of the object, can also be defined.
  • control unit may control the driving device for the Umreifungsangesstoff such that the Umreifungsangessch depending on the detected property, in particular the height or width of the object to be strapped, after the strapping process only as far out of the transport path of the object is moved out that a free onward transport the object is possible.
  • the Umreifungsangesmittel (laterally in the transport path moving attacks or moving from top to bottom packed presses and downholder) must be moved back only to the extent that the finished strapped object and the next object to be strapped can be transported freely past the Umreifungsakusmitteln. Moving the Umreifungs,sffen back to its stop positions with maximum distance from the transport path is not required.
  • the control unit may in practice be adapted to switch off the drive device in the event of an impermissible deviation from a setpoint value for the movement data, in particular the speed and the acceleration of the strapping aid, or to actuate it in the opposite direction.
  • a graphical editor is provided with which the strapping position is determined by manually entering a marking of the representation of the object to be strapped and converted into strapping positions that can be approached for the strapping machine.
  • At least one Umreifungsangesmittel can also be displayed on the display device and marked by means of a manual input a position of the Umreifungsangesschs in the displayed representation, wherein the marked position is converted into position data for the control unit and transmitted to this.
  • the user can also define desired positions for the strapping tools.
  • the manual entry is made by a conventional input device for a computer, e.g. by a mouse, a touchpad or a trackball or by touching the surface of a touch-sensitive display device.
  • the strapping setpoints may also be numerically entered via a keyboard and then displayed on the display device in the representation of the object.
  • entire strapping recipes are stored in a data storage connected to the control unit, that is to say data sets in which the strapping positions but also other strains relevant to the strapping, such as the maximum acceleration of the object to be strapped, the straining force of the strap, are stored.
  • a set of strapping parameters may be selected and applied by the strapping machine controller to the strapping process.
  • one data set can be used for several consecutive strapping operations. It is crucial that whenever the properties of the object to be strapped change other strapping parameters can be used.
  • the strapping parameters can be flexibly changed for each strapping operation.
  • the data sets with the setpoint values for the strapping parameters can also be calculated during the supply of the object to be strapped on the basis of recognized properties (length, height, width, weight, etc.) of the object to be strapped and stored in the main memory of the control unit. Again, this is a form of flexible adaptation of the strapping parameters in each strapping operation where the properties of the object to be strapped change.
  • a data set with set values for the strapping parameters can be transmitted to the control unit as parcel accompanying data and for the strapping process to be used for selecting a set of set values for the strapping parameters.
  • the data records with the optimal strapping parameters can also be set far in front of the strapping machine or before the specific strapping process, for example in conjunction with standard properties of standard packaging.
  • These setpoints can then be transmitted to the control unit either as a data record together with the corresponding object. From a central control computer, a data record can be transmitted via data lines to an interface of the control unit for each packet to be strapped.
  • a plurality of data records can be stored in a central data memory assigned to an identifier, wherein the identifier is attached to the article to be matured.
  • an imprinted machine-readable code barcode, QR code, etc.
  • an RFID transponder is suitable as the identifier. The identifier is read out by a reading device of the strapping machine and the record to be used is retrieved from the central data memory using the identifier.
  • the strapping parameters can also be stored directly in the machine-readable code or in the data memory of the transponder.
  • a suitable reading device for example a reading antenna for the RFID transponder or a camera or a scanner for reading the printed machine-readable code is then attached to the control unit.
  • the length, height, width, etc., of the package can be recognized and a data set defined for specific value ranges of length, height, and width can be retrieved from the data memory of the machine become.
  • the selection of the setpoint with setpoint values can also be made by calculating the setpoint values taking into account at least one of the recognized properties (length, height, width, weight, etc.).
  • a camera as a recognition device allows the recognition of several properties, in particular the recognition of address fields, printed bar codes and other areas on the surface of the object to be strapped, which must not be covered by a strapping.
  • this strapping system may be characterized in that a data memory is provided, which is connected to the control unit and supplies the control unit with data sets with set values for the strapping parameters.
  • the strapping system may include the above-described detection device for detecting at least one property of the object and transmitting to the control unit the data specifying the property of the object, the data being used to select a set of strapping parameters based on the at least one property of the object ,
  • the properties that can be detected, for example, with the recognition device, as well as the Umreifungsparameter, which can be controlled for example with the control unit, have already been mentioned before. The same applies to the technical devices that can be used as a recognition device.
  • a method of strapping at least one article having a strap loop on a strapping machine with a closure assembly including at least a first clamp for the front end of the strap loop, a second clamp for the rearward end of the strap loop and a welding device, wherein at least one belt loop formed from a strapping around the object, tensioned and closed by the closure unit, wherein a main shaft via cam at least the terminals and the welding device moves and is rotated during the closing operation by a drive motor in at least one predetermined angular position ,
  • a control of the closure unit by such a main shaft has proven to be very robust and reliable.
  • the cams on the main shaft control the movement of the components of the closure unit very reliable.
  • the terminals usually have a cam driven by a cam of the main shaft clamping punch, which is pressed against an abutment plate, so that one end of the formed belt loop is clamped to the abutment plates.
  • They move the welding device of the strapping machine against the areas of the strapping band to be welded between the clamps.
  • the welding device often consists of a fusion welding device with a heating element which locally melts the plastic material of the strapping band.
  • ultrasonic welding devices are used, which introduce energy via sonotrodes into the strip material and thereby melt it in the contact area of the strip sections to be welded. Both welding devices must be brought to a reliable system against the band sections to be welded.
  • the static factors affecting the main shaft stopping path can be compensated by adjusting the static positioning of the control cams.
  • the resistance to the rotation of the main shaft but also affect variable factors, such as the temperature, humidity, lubrication of the components of the strapping machine, age of the lubricant, pollution and wear. All these factors influence the stopping distances. You can change at short notice. Temperature and humidity in the vicinity of a strapping machine can change significantly within a few minutes, so that during operation of the strapping machine, said stray results in the actual angular position of the main shaft achieved by the cam control.
  • a signal is continuously transmitted from the detection device to the control unit, which represents the rotation angle of the main shaft.
  • the signal can also be taken from the direction of rotation, since the main shaft is rotated as needed, eg in case of disturbances contrary to the usual direction of rotation.
  • the control unit compares a stored setpoint value for the angular position with the actual value of the angular position determined from the transmitted data. If the actual value deviates from the setpoint, the drive of the drive motor is changed. This can already be done when approaching the next angular position.
  • the main shaft will become one during each closing operation
  • Belt loop approached a variety of angular positions, which are assigned to different processing steps in generating and tensioning the belt loop around the object to be strapped and the welding of the loop ends.
  • the stop operation for the drive motor of the main shaft can be initiated according to earlier or later, in order to achieve the target value for the second angular position exactly.
  • the control device can modify the activation of the drive motor for the next start-up of the same angular position.
  • the proposed adaptive control of the drive motor control as a function of measured deviations between desired position and actual position allows a maximum precision in the control of the predetermined angular positions to be achieved, which always results in optimal control of the setpoint values of the angular positions, even under variable conditions.
  • the optimum achievement of the desired values of the angular positions also ensures optimum functioning of the components actuated by the main shaft.
  • the cams of the main shaft may in practice move a plurality of components involved in the strapping process, the most common of which are listed below.
  • the closure assembly includes clamps, each having a clamp that can be pressed against an abutment plate to define one end of the band loop.
  • a first clamp secures the front end of the strap loop after forming the strap loop.
  • a second clamp secures the rear end of the strap loop around the object after tensioning the strap loop.
  • the clamps of the closure unit can be moved from the cam of the main shaft from an open position in which the clamping stamps have a distance from the abutment plate in a clamping position in which the clamping punch are pressed against the abutment plate and back.
  • the welding device of the closing unit can be moved from the cam from an inactive position to a welding position. If the welding device is a melting / welding device with heating element, the heating element, e.g. a heating tongue or a heating wedge, against which moves two sections of the strap to be welded. After heating, the heating element is withdrawn and another stamp pushes the tape sections to be welded against each other until they are cooled and the welding is firm.
  • the heating element e.g. a heating tongue or a heating wedge
  • a sonotrode In an ultrasonic welding device, a sonotrode is moved against two superposed belt sections, which are supported against a counter-plate. The sonotrode is placed in high-frequency vibrations and thus leads energy into the weld. To cool the weld, the vibration of the sonotrode is stopped and the weld is cooled without further input of energy. Subsequently, the sonotrode is again moved away from the strapping.
  • Other welding devices are Reibsch spavorraumen by Friction due to mechanical movement between the two band sections to be welded generate heat.
  • At least one belt drive can be moved from an engagement position by being coupled with transport belts for the strap, into a release position in which there is no movement coupling between the belt drive and the transport rollers.
  • a first drive which shoots and pulls the belt into the belt guide frame at high speed
  • a second belt drive also called tension drive, which clamps the drawn belt at low speed and high torque.
  • the first low torque band drive may be permanently coupled to the strap transport rollers.
  • the tensioning drive should be decoupled during high speed shooting and retraction of the strapping.
  • the clamping drive is engaged and disengaged by one of the cams.
  • an upper slide of the shutter assembly forming the abutment plate or abutment plates can be moved from a closed position to an open position and back. In the closed position closes a gap in a support table of the strapping machine. In the area of this gap, the formed belt loop is welded by the closure unit. In the open position, the upper slide releases the gap, so that the formed and closed belt loop can pass through the gap and abut against the strapped object.
  • a first angular position is a reference position or sync position.
  • a reference position mark is attached to the main shaft or connected to the main shaft, which cooperates with a sensor whose signal is sent to the control unit.
  • the sensor thus detects a physical structure, e.g. a cam which is mounted on the main shaft.
  • the reference position can be traversed during each strapping process so that the actual values of the rotation angles can be precisely detected on the basis of the signals of the detection device. In the reference position, however, the setpoint / actual value comparison does not take place since only one actual value is detected here in order to rule out errors in the actual value calculation for subsequent angular positions.
  • a first angular position of the main shaft which can be approached during the strapping process, is associated with the withdrawal of the excess strip material. This angular position is driven after the shooting of the strapping in the tape guide frame, after the free end of the tape against a Sensor moves and actuates this. In this position, the first clamp clamps the free end of the tape firmly. Further, the drive direction of the first tape drive is inverted to pull back excess tape material.
  • the next angular position of the main shaft is assigned to the welding position.
  • the second clamp is closed by pressing the second nip against the abutment plate to define the second end of the tensioned belt loop, and a blade cuts the belt loop from the tape supply.
  • the second clamping punch and the cutting edge are also actuated by cams of the main shafts.
  • the welding device is moved to the welding position. In other words, the heating element is moved against the two band sections to be welded.
  • a sonotrode of an ultrasonic wave welding device is moved against the band sections to be welded.
  • the next angular position of the main shaft is associated with the cooling of the weld.
  • this angular position may be identical to the welding position.
  • the supply of ultrasonic energy is turned off by the sonotrode.
  • the heating element is moved out of the weld in the cooling position and the heated band sections are pressed against each other via a stamp. This stamp can also be moved by the main shaft.
  • the next angular position is the opening position.
  • This open position all terminals are opened and the welding unit is moved away from the formed belt loop.
  • the upper slide, which carries the abutment plate, is moved out of the gap in the support table of the welding machine.
  • the formed belt loop can now pass through the gap and move against the underside of the strapped object.
  • the cover elements of the tape guide frame are open as a rule.
  • the opening position is therefore usually approached as an error position when problems arise during a strapping process.
  • the strapping band can both be moved out of the tape guide frame, and be pulled out of the closure unit.
  • a zero position is approached in which all components of the strapping machine remain until the next loop formation.
  • the object to be strapped is transported further until a new loop is to be formed. Further, in the zero position, the strapping tape is shot into the tape guide frame.
  • the closing elements of the tape guide frame are also actuated by the main shaft, they are in the closed position when the main shaft is in the zero position.
  • the reference position or synchronization position is preferably between the zero position and the retraction position, so that it is traversed at the beginning of each new looping operation and the position determination is adjusted.
  • the detection device for the angular position of the main shaft can be formed by a rotary encoder of the drive motor, which emits electrical signals, in particular pulses when rotating the motor shaft of the drive motor.
  • sensors such as Hall sensors are arranged in known manner, which generate pulse signals during rotation of the motor shaft.
  • the drive motor may be connected via a reduction gear to the main shaft.
  • the rotary encoder of the drive motor in a practical embodiment of the order of 700 pulses in one revolution of the main shaft from. The rotation of the main shaft can thus be resolved at a precision of about 0.5 degrees.
  • the reference position also called synchronization position
  • the reference position is defined by a cam on the drive shaft which is detected by its own sensor (e.g., Hall sensor).
  • the synchronization or reference detection compensates for rounding errors or other errors in the position determination, since the absolute angular position of the main shaft is known after each full revolution in the reference position.
  • the detection device may be an additional device, for example one or more light barriers, which cooperate with incremental discs mounted on the main shaft.
  • incremental disks have alternately transparent and opaque portions and allow high-resolution rotation angle detection.
  • Such an incremental disk may also include a reference mark, so that in this case the reference position is applied to the incremental disk of the detection device.
  • the invention further relates to a strapping machine with a closure unit, which has at least one clamp for the front end of the belt loop, a second clamp for the rear end of the belt loop and a welding device, wherein a main shaft on cam moves at least the terminals and the welding device and during the Closing operation is rotated by a drive motor in at least one predetermined angular position.
  • the in the Fig. 1 illustrated strapping machine 1 is used for strapping objects 7 with a strapping 2, which is withdrawn from a supply device 4 from a supply roll (not shown) and fed to a tape magazine 5. From there, the strapping band 2 is fed by means of a belt conveyor 6 through a tensioning device 8 to a belt guide channel in a belt guide frame 9, so that the belt forms a loop.
  • the tape guide frame 9 has the shape of a U with the opening below, so that the strap 2 is guided from the first side of the support for the article 7 by means of the tape guide frame 9 U-shaped around the object 7 to the other side of the support.
  • the strapping machine 1 generates a belt loop at a certain position.
  • the tape is then pulled back by the drive of the belt conveyor 6, so that the belt loop fits snugly against the object 7.
  • the tensioning device 8 is activated, so that the belt loop is pulled around the object 7 with a predetermined high tension force.
  • the loop beginning is connected to the loop end by means of a closure unit 10.
  • the closure unit 10 consists in practice of a welding device, for example of an ultrasonic welding device, which welded together the two ends of the formed packing loop.
  • a closure unit is for example in the document EP 1 479 611 A2 described.
  • the closure unit 10 welds the film-like plastic material of which the strapping 2 consists.
  • the conveying device for the article 7 is in Fig. 1 not shown.
  • a control unit 11 for the strapping machine 1 is in Fig. 1 shown on the right side of the strapping machine 1.
  • the control unit 11 has a circuit board 3 with a microcontroller which controls or regulates the functions of all functional elements of the strapping machine 1.
  • the control unit 11 also controls the drives for Umreifungsakuskar, in particular additional units of the strapping machine 1.
  • Fig. 1 is the first auxiliary unit to recognize a hold-22, which presses from above on the object to be strapped 7.
  • a left stop 25 and a right stop 26 can be seen, which align the object to be strapped 7 before the strapping process.
  • the two stops are attached to the tape guide frame 9 and driven counter-synchronously, that is, they have the same distance to the center of the strapping machine 1 at any time. The function of the stops 25, 26 is described in more detail below.
  • the Fig. 2-5 show schematic plan views of each one strapping machine 1 with upstream and downstream Stautakt devisern 15, 16 and with the packages to be strapped 7, 7 '.
  • the strapping machine 1 itself has two conveying devices.
  • the inlet conveyor 13 and the outlet conveyor 14 each consist of a pair of synchronously driven conveyor belts.
  • the upstream accumulation conveyor 15 and the downstream accumulation conveyor 16 may be any conveying means, such as belt conveyors or roller conveyors.
  • the conveying direction for the article 7 to be strapped is shown above the input-side accumulation conveyor 15 as an arrow.
  • the conveying direction of all conveyors can also be reversed.
  • All illustrations show a first position detecting device 17 near the end furthest from the tape guide frame 9 of the infeed conveyor 13.
  • the tape guide frame 9 defines the strapping position.
  • a belt loop is formed by the strapping machine in the center plane of the tape guide frame 9.
  • the embodiment of the strapping machine in Fig. 4 and 5 has another position detecting device 18 near the tape guide frame 9.
  • a third position detecting device 19 is arranged in this embodiment in the region of the belt guide frame 9 remote from the end of the discharge conveyor 14.
  • the position detection devices 17, 18, 19 usually consist of light barriers.
  • Each light barrier 17, 18, 19 has a light source and a light sensor. The light sensor receives the light from the light source a short distance above the inlet conveyor 13 and the outlet conveyor 14. In this way, it is ensured that the position detecting means 17-19 detect both flat and tall objects.
  • the position detecting means 17 located near the input side accumulation conveyor 15 sends a signal to the control unit 11 of the strapping machine 1 as soon as an object 7 is transported from the input side accumulation conveyor 15 to the intake conveyor 13.
  • the inlet conveyor 15 is driven by a drive motor 57 (FIG. Fig. 6 ), which has a rotary encoder.
  • the rotary encoder generates when turning the drive shaft of the drive motor 57 at predetermined angular intervals signals that are sent to the control unit 11.
  • the signals are schematic in Fig. 6 shown as a square wave. It It can be seen that two signals with the same frequency but a phase offset from the drive motor 57 of the inlet conveyor 13 are delivered. Due to the phase offset, the different directions of rotation can be identified by the control unit.
  • the distance between two signals of the drive motor 57 may correspond to a conveying path of the intake conveyor 13 in the order of 0.3 to 0.6 mm.
  • the outlet conveyor 14 is driven by a corresponding drive motor 58.
  • this drive motor 58 outputs signals to the control unit 11, which correspond to the conveying path of an object on the outlet conveyor 14 and can detect the conveying direction.
  • the conveying direction and conveying path of the inlet conveyor 13 and the outlet conveyor 15 are detected, it is from the first detection of the position of the object when passing the input-side light barrier 17 at any time possible, the position of an on the conveyors 13, 14 of the strapping machine 1 object 7, 7 'to determine.
  • This position determination can be made even more precise by the second position detection means 18 and the third position detection means 19.
  • the upstream Stautakt machine 15 may have a different conveying speed than the inlet conveyor 13 of the strapping machine. In this way, a slip between the conveyor belt of the inlet conveyor 13 and the object to be strapped 7, 7 'arise.
  • a second position detecting means 18 is provided near the tape guide frame 9, it can detect the actual position of the leading edge of the object 7, 7 'to be strapped near the strapping plane of the tape guide frame 9. In this way, any existing slip between the object to be strapped 7, 7 'and the inlet conveyor 13 can be compensated.
  • a position detecting means 19 may be provided (see Fig. 4 and 5 ). This then allows the operation of the strapping machine 1 in both directions.
  • the position detection means 19 detects in the drawn conveying direction, the trailing edge of the object to be strapped 7 during removal and indicates when the strapping machine 1 is completely free for another object to be strapped.
  • the positional control of the object 7, 7 'to be strapped is carried out by using the position detecting means 17, 18, 19 and the conveying direction and conveying path detecting device of the intake conveyor 13. After detecting the leading edge of the object 7, 7' to be strapped, its position is continuously known because it can be calculated from the conveying path and conveying direction of the conveying device, ie the inlet conveyor 13. Near the tape guide frame 9, this position value can be corrected once again, if here the second position detection means 18 is provided. Due to the incremental signals that the detection device for detecting the conveying direction and conveying path, the position can be controlled with an accuracy of less than 1 mm.
  • the trailing edge of the object 7, 7' to be strapped is also detected at the position detection means 17. Since the conveyor line is known, this can be the length of the object to be strapped 7, 7 'derive. This also makes it possible to avoid disturbances caused by empty strapping. In prior strapping devices, the strapping positions were fixed by fixed timing of the strapping machine. If, for some reason, the object to be strapped was too short, a loop of tape was still formed. Such Leerumreifitch can lead to disturbances of the strapping machine. With the present development, such disturbances can be avoided.
  • the strapping at this position can either be avoided or the object 7, 7' to be strapped can be displaced by the control unit 11 of the strapping machine 1 in that the position of the strapping lies securely within the contours of the object 7, 7 'to be strapped.
  • Such a displacement can also take place when it is determined that a loop is to be generated with too little distance from the leading edge or from the trailing edge of the object to be strapped.
  • the length of the object to be strapped By determining the length of the object to be strapped, it is also possible to precisely approach the center of the object 7, 7 'to be strapped.
  • a first article 7 to be strapped is shown, the length of which is already detected when the first strapping is applied.
  • the object to be strapped 7 'in Fig. 5 is longer. Its total length can be detected only when its center has already been transported past the strapping plane of the tape guide frame 9.
  • it may be moved to a position where its length becomes known by the signal of the position detecting means (photocell) 17 because the trailing edge of the object 7' to be strapped is at the position detecting means 17 passes by. Subsequently, the object to be strapped 7 'can be transported back to produce a Mittenumreifung exactly in its center.
  • the machine control can also easily facilitate the further transport and omit the center strapping.
  • the length of the object 7 ' can be determined in advance and transmitted to the control unit. In this case, center strapping is possible without the trailing edge of the object having passed through the light barrier 17.
  • the strapping images that form with this strapping machine can have any structure. Below, exemplary structures of the strapping images will be described.
  • the recognition device 20 may be a printed code scanner (barcode or QR code). It can also be a camera which takes a picture of the strapping zone below the tape guide frame 9. The camera can also identify and read printed codes in the captured image. Further, as a recognition device 20, a reading antenna for RFID transponders can be used, which can be attached to the objects to be strapped 7, 7 '. Of course, the recognition device 20 can also have several components (camera and RFID reader antenna). respectively. Characteristics of the object to be strapped can be recognized by the recognition device 20, as a result of which the strapping position can be varied.
  • a camera can recognize as a recognition device 20 dimensions or other properties of the object to be strapped, which have an influence on the loop position.
  • further properties of the object can be identified. For example, the strength of the article may be coded or the weight so that the correct belt tension or the required number of strappings can be set for the article with the corresponding properties.
  • a camera when using a camera as a recognition device 20 and areas on the object can be identified in which no belt loop should be arranged.
  • the object 7 to be strapped has an address field 21.
  • the address field 21 for example, a barcode with information about the object to be strapped 7 or with address information can be arranged.
  • the address information may also be printed on the address field 21 as a readable alphanumeric indication.
  • the dotted lines in Fig. 5 show the area that is captured by the camera as the recognition device 20. If an address field 21 is identified by the camera 20, the control unit 11 of the strapping machine 1 can control the conveying devices 13, 14 of the strapping machine 1 such that the strap loops are not generated on the address field 21.
  • the Fig. 7 shows the front view of the tape guide frame 9 and arranged on the tape guide frame 9 blank holder 22.
  • the hold-22 is used for example when strapping objects 7 as newspaper stacks. Before applying the belt loop, the hold-down 22 is pressed from above on the object to be strapped 7, so that individual elements of the article 7 firmly against each other. For larger objects 7, in particular packed pallets, instead of a hold-down 22, a pack press can press from above onto the object 7 in order to compress it.
  • Fig. 7 also schematically shows the drive motor 23 for the hold-22. Also, this drive motor 23 is equipped with a rotary encoder that emits signals upon rotation of the motor shaft of the drive motor 23 at regular intervals.
  • the hold-down 22 forms a first Umreifungsangesstoff the strapping machine 1.
  • the control unit 11 of the strapping machine 1 controls the hold-down 22 on the basis of this movement data to numerically predetermined setpoints.
  • the movement path of the hold-down 22 has at least one stop position. Two positions of the holddown are in Fig. 7 shown.
  • the upper position P 0 is the upper stop position of the hold-down 22.
  • the hold-down 22 is in the uppermost position P 0 hazards.
  • the current position of the hold-down 22 is known in each case on the basis of the movement data, namely the signals of the drive motor 23.
  • the position P 0 in this case is the reference position with respect to which the current position of the blank holder 22 is determined by means of the movement data.
  • the strapping machine 1 can be coupled to detection devices that detect at least one property of the objects transported by the conveyor device, the recognition device can be a camera that allows the height of the object or the length of the object to be determined via image evaluation. There may be provided a height measuring device that works with optical or acoustic signals. Such a height measuring device is known in various embodiments. In particular, the height of the object to be strapped 7 is considerable for the operation of the strapping machine 1 with hold-down 22.
  • the hold-down 22 took the uppermost stop position P 0 after each strapping operation.
  • the hold-down 22 is only to be arranged a certain distance above the object 7 to be strapped.
  • This safety distance 24 is in Fig. 7 hatched drawn and provided with the reference numeral 24.
  • the hold-down 22 is at the safety distance 24 above the object to be strapped 7.
  • the lifting of the blank holder 22 is sufficient to this position P 1 .
  • the strapping process and in particular the transport process for the object 7 to be strapped can be considerably accelerated.
  • the hold-down 22 rests on the top of the object to be strapped and exerts a compressive force on it.
  • the Fig. 8 shows the tape guide frame 9 the other, in Fig. 1
  • the Umreifungsakuskar namely two synchronously driven stops 25, 26.
  • the stops 25, 26 are driven by a drive motor 28 and are coupled so that they have the same distance from the center of the tape guide frame 9 at any time. In the maximum distance Do, the two stops 25, 26 against outer movement stops.
  • the drive motor 28 in turn outputs rotation angle signals during rotation.
  • the stops 25, 26 are moved to maximum distance D 0 from each other. This position is the reference position of these strapping tools.
  • the abutment against a center stop can be used as a reference position against which the stops 25, 26 abut with minimum clearance.
  • the control unit 11 takes into account in the control of the stops 25, 26 again at least one property of the object to be strapped, in particular its width. This is detected by one of the recognition devices already described above.
  • the stops 25, 26 are brought to such a distance from each other that they are within the contour of the object to be strapped 7 as close as possible to the outer edges. This is in Fig. 8 the distance D 1 between the two stops 25, 26.
  • the conveying device of the strapping machine 1, in particular the inlet conveyor 13 promotes the object to be strapped 7 with respect to Fig. 8 towards the viewer too.
  • the object to be strapped 7 thus encounters with his in Fig. 8 visible front against the two stops 25, 26 on.
  • the stops 25, 26 are set to the largest possible distance from the center of the strapping machine 1, so that they are still safe within the contours of the object to be strapped 7. This ensures that an object to be strapped 7, which is moved by the inlet conveyor against the stops 25, 26, aligns with the plane of the stops 25, 26, if it is slightly inclined. Even if the object to be strapped 7 from individual items, the magazines o.ä. is made, the entire front surface of the object to be strapped 7 at the plane which is formed by the two stops 25, 26, aligned.
  • the stops 25, 26 are moved apart when the object to be strapped 7 is transported further. So far, the stops 25, 26 were moved apart in their initial position with the distance Do. In the present development, it is sufficient to move the stops 25, 26 into a position in which the object to be strapped 7 can easily pass through the stops 25, 26. In Fig. 8 This position is reached when the stops 25, 26 have a little smaller distance than Do to each other. This distance can be redetermined for each package width (width of the object to be strapped 7). In this way, on the one hand it is ensured that the object to be strapped 7 is moved safely between the stops 25, on the other hand, it is avoided that the stops 25, 26 have to cover unnecessary travels, which takes up unnecessary time.
  • the control unit 11 can monitor the movement data and compare with setpoints. If the acceleration or velocity of these strapping tools is inadvertently deviated from a predetermined set point at any time, the movement of the strapping tool can be stopped or the strapping tool 22, 25, 26 driven a certain distance in the opposite direction. The deviation from the motion data may indicate that the strapping tool encounters resistance and that further drive in the predetermined direction could result in damage to either the article or the strapping tool.
  • a warning signal can be delivered to a service technician at the same time.
  • the Fig. 9 shows a first screen representation for programming a strapping machine according to the present development.
  • the screen itself can either be arranged directly on the strapping machine 1. It may alternatively be connected to a control computer which has a local Network or Wide Area Network (WAN) as the Internet is connected to the strapping machine 1.
  • WAN Wide Area Network
  • Icon 101 on the left side indicates the pass where no strapping takes place.
  • the icons 102 to 107 denote six different strapping formulations.
  • the icon 108 activates the programming screens on which the strapping can be determined by the strapping machine 1.
  • Fig. 10 shows a programming screen on which the strapping positions can be numerically defined.
  • a screen display 109 can be seen with a package on a conveyor belt.
  • This screenshot shows the overall picture with all strapping.
  • three strapping positions are defined in three mutually arranged representations 110-112.
  • the strapping position shown above is defined by a distance of 100 mm from the leading edge of the package.
  • the middle strapping position is defined by a distance from the center of the packet. No value is given here, so this distance is zero.
  • the strapping position shown below is defined by a distance from the trailing edge of the package, here again 100 mm. Any number of strapping positions can be added. If necessary, the positions have to be split over several screens.
  • the positions can be entered numerically eg via a keyboard.
  • the illustrations to the right of the strapping positions refer to the belt tension. This is shown graphically here with a symbol for the standard belt tension. However, it can also be set numerically as a percentage of a predefined standard belt tension.
  • FIGS. 11 to 13 Possible resulting strapping images are in the FIGS. 11 to 13 shown.
  • Fig. 11 shows a first Einzelreiokfung at a distance from the leading edge, a second Einzelumreifung in the middle and a third Einzelumreifung with a distance from the trailing edge.
  • This variant is the same as the screen display in Fig. 10 defined strapping.
  • the Fig. 12 shows a Mehrfachhreifung, here a quadruple strapping, with a predetermined distance from the leading edge and a corresponding Mehrfachierreifung with a predetermined distance from the trailing edge.
  • a Trainumreifung here a109umreifung is provided.
  • the Fig. 11 shows a first Einzelreiokfung at a distance from the leading edge, a second Einzelumreifung in the middle and a third Einzelumreifung with a distance from the trailing edge.
  • This variant is the same as the screen display in Fig. 10 defined strapping.
  • FIG. 13 shows a front strapping at a predetermined distance from the leading edge and a rear strapping at a predetermined distance from the trailing edge. In between there is a plurality of equidistant strapping. In this way, depending on the length of the package to be strapped, a Mehrfachumreifung be made with each uniform spacing between two individual strapping. The distances between the equidistant strapping can be entered on the input screen or calculated automatically by the control unit 11 with an optimal value based on the measured packet length.
  • the representations of the Fig. 11 to 13 can be used to display the article as well as the strapping to be applied to it on a screen of a strapping editor. Instead of entering the distances numerically, the distance here is simply by highlighting one of the strapping representations with a mouse and by clicking and dragging on the object to be strapped.
  • the strapping positions defined on the screen are converted into numerical data for determining the loop position on the object and set by the control unit of the strapping machine 1.
  • the control unit 11 controls the conveying device 13, 14 for the object to be strapped 7 such that in each case a loop is produced at a position predetermined on the screen by means of the strapping editor.
  • a data memory which is connected to the control unit 11.
  • the data memory 29 may be a data memory integrated in the control unit 11.
  • Known writable data storage devices such as hard disks, SSD memories are suitable for integration into the control unit 11 of the strapping machine 1.
  • ROM data memories such as CDs can also be provided with the data records of the nominal values.
  • a CD or DVD may be used to change the stored data.
  • the strapping machine 1 or a computer networked with it is provided with a reading unit for such data carriers.
  • the strapping machine 1 can also be connected to the Internet or a closed computer network.
  • the manufacturer of the strapping machine 1 can overwrite a writable data memory of the control unit 11 with updated data.
  • the control unit 11 of the strapping machine 1 can access a data memory 29 via the Internet or another data network, on which strapping parameters specified by the manufacturer or user of the strapping machine 1 are stored. Any combination of internal and external data storage is possible.
  • a data record with set values for the strapping parameters which are set by the control unit on the strapping machine 1 can be selected.
  • the data set includes not only the strapping positions and the belt tensions, but may also include the position of the blank holder 22, the stops 25, 26 of a packing press or other auxiliary equipment or strapping aids controlled by the control unit 11 of the strapping machine 1.
  • the data record can also be supplied in the form of package accompanying data to the strapping machine 1.
  • These parcel accompanying data can be stored, for example, in an RFID transponder, which is fastened to the object 7 to be strapped. Alternatively, they can be entered in a printed machine-readable code. This code can be read by a reading device of the strapping machine 1 (e.g., camera, code scanner, receiving antenna for reading out RFID transponders).
  • Simple identifiers (eg via RFID transponders or printed codes) which are assigned to the data records can also be attached to the package. After the identifier has been read, these data records are read from a local data memory of the strapping machine 1 or via a network from a remote data memory 29.
  • the dataset with the strapping parameters may be selected by detecting at least one property of the object.
  • Strapping machines are often located in logistics centers where only a limited number of items are strapped. Each item may be associated with a certain strapping program. The items are then identified either by particular identifiers that are read out, or simply by their height, width, length, weight or contour. The contour recognition can in turn be ensured with a camera 20 which is attached to the strapping machine 1.
  • Fig. 14 and 15 show, by way of example, a structure of the data records for nominal values of the strapping process.
  • First is in Fig. 14 listed the Umreifungstruck, which may include a variety of strapping positions.
  • Second is the tape tension in Fig. 14 listed. This can either correspond to the standard belt tension of the strapping machine or be selected depending on the height. Any other belt tension selection procedures, including manual entry, are possible.
  • nominal values can also be specified in the section "transport”. These can include the maximum transport speed, the start and stop ramp, ie the acceleration during acceleration and the deceleration during braking, a strapping release over a distance of the conveyed track for interval strapping and other values.
  • the section "Machine Options" are the setpoints for additional units and strapping tools. The set values for the hold-down and the stops are in Fig. 15 specified more precisely.
  • the Fig. 17 shows a front view and the Fig. 18 a rear perspective view of a closure unit of a strapping machine according to the development described here.
  • the details are particularly in the perspective rear view of Fig. 18 to recognize.
  • a tape drive 30 and a tensioning drive 31.
  • the tape drive 30 is continuously coupled to a drive roller 32, which is coupled by the strap 2 (not shown in FIGS. 41-44).
  • the tensioning drive 31, however, is pivotally mounted on a rocker 34, so that it can be pressed against a second tensioning roller 35, depending on the operating state of the machine with the tensioning roller 33 driven by it.
  • a welding device 36 which welds the ends of a formed belt loop.
  • terminals which are formed by clamping punches 37, 38 which are pressed against an abutment plate and pinch the beginning and the end of a formed belt loop.
  • the welding device 36 welds the belt areas lying between the clamps 37, 38 together.
  • At least the two clamping punches 37, 38 and the welding device 36, but preferably all movable components of the closing unit 39 are called by a main shaft 40, also called king shaft driven.
  • a main shaft 40 also called king shaft driven.
  • a plurality of cams 41 to 46 are arranged on the main shaft 40.
  • the cam 41 controls the first clamping punch 37.
  • the cam 42 controls the second clamping punch 38.
  • the cam 43 controls the welding device 36.
  • the cam 44 controls a top slide 47, which is displaced to during welding an abutment for the clamping punch 37 and 38th and to form the welding device 36. In the second sliding position, it releases a gap in the strapping machine, so that the band loop formed can emerge from the closure unit 39.
  • cam 45 actuates the rocker 34 with the tensioning drive 31 and moves it on or off.
  • a cam 46 opens and closes the tape guide frame. During the shot of the tape in the tape guide frame this is closed. To pull out the loop formed in the tape guide frame this is opened.
  • the main shaft 40 is controlled in precise angular positions according to the present development. This is done by means of signals of the drive motor 48 for the main shaft 40. This is in Fig. 19 to recognize in Fig. 18 but not shown because of the better clarity.
  • the drive motor 48 has a rotary encoder, which emits at least one signal pulse per degree of rotation of the main shaft 41. Preferably, two signal pulses are emitted per degree of rotation.
  • the drive motor 48 is coupled via a reduction gear 49 with the main shaft 40. Several revolutions of the drive motor 48 are thus required to cause a single revolution of the main shaft 40.
  • a cam plate 50 is mounted, which cooperates with a proximity switch 51.
  • the proximity switch 51 outputs a signal to the control unit 11 of the strapping machine 1 when the cam plate 50 is in a position where one of the cams 52-55 is located near the proximity switch 51.
  • the five positions marked on the cam plate 50 still correspond to the position control for the main shaft according to the prior art.
  • Each of the five positions associated with a cam 52-55 corresponds to a target angular position with the main shaft 40.
  • the various angular positions in which the main shaft 40 can be rotated at each strapping cycle are described above.
  • the cam disks 41-46 move each component controlled by the main shaft 40 into the angular positions marked by in each case one of the cams 52-55 into a position which is assigned to the corresponding operating state of the strapping machine 1. For this reason, the marked angular position should be controlled as precisely as possible.
  • the control unit 11 of the strapping machine 1 receives via a signal line 56, the signals of the drive motor 48 for the main shaft 40, which each correspond to a certain angle of rotation of the main shaft 40. Consequently, the cams 52-55 on the circumference of the cam plate 50 for detecting the actual value of the rotation angle of the main shaft 40 are no longer required.
  • One of the cams 52-55 is sufficient for the control unit 11 of the strapping machine 1 to detect the signal of this cam as a reference for the absolute angular position of the main shaft 40. The other cams on the cam 50 can be removed.
  • the drive motor 48 is due to the reduction of the reduction gear 49 at each revolution of the main shaft 40 over 700 signal pulses representing a rotation of the main shaft 40 each by a certain angular segment, to the control unit 11 on the strapping machine 1. It follows that the control unit 11th the strapping machine 1 can resolve the rotational position of the main shaft 40 with an accuracy of 0.5 °.
  • cams 52-55 may be arranged on the circumference of the cam plate 50.
  • a single cam 52-55 or a similar mark is sufficient, which is assigned to a specific rotational position of the main shaft 40 and automatically recognizable. Consequently, the control unit 11 of the strapping machine 1 can respectively set the optimum rotation angle of the main shaft 40.
  • the braking of the main shaft 40 can be initiated earlier by deactivating the drive motor 48 or can be initiated later, so that the next approached angular position of the main shaft 40 corresponds exactly to the desired value.
  • the achieved actual value in the preceding strapping cycle can be taken into account in order to vary the control of the drive motor 48 by the control unit 11. If, for example, the actual value is greater than the setpoint in the closing position, the braking can be initiated earlier the next time this position is approached. If the setpoint is smaller, the braking can be initiated later.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Basic Packing Technique (AREA)

Claims (12)

  1. Procédé de cerclage d'objets, comprenant les étapes suivantes consistant à :
    • transporter un objet (7, 7') au moyen d'un dispositif de transport (13, 14) vers un poste de cerclage,
    • former au moins une boucle d'une bande de cerclage (2) autour de l'objet (7, 7') au moyen d'un dispositif de cerclage,
    • relier les extrémités de la boucle ensemble,
    • commander des paramètres de cerclage au moyen d'une unité de commande (11),
    • mémoriser des enregistrements de données avec des valeurs de consigne pour les paramètres de cerclage dans une mémoire de données (29) qui est connectée à l'unité de commande (11),
    • sélectionner un ensemble de données avec des valeurs de consigne pour les paramètres de cerclage par l'unité de commande (11) pour chaque opération de cerclage, caractérisé en ce que les paramètres de cerclage comprennent au moins la position de cerclage, et en ce que l'unité de commande (11) comprend un microcontrôleur.
  2. Procédé selon la revendication 1, caractérisé en ce qu'un ensemble de données avec des valeurs de consigne pour le paramètre de cerclage est transmis à l'unité de commande (11) en tant que données de référence de paquet et est utilisé dans une opération de cerclage pour sélectionner un ensemble de données avec des valeurs de consigne pour le paramètre de cerclage.
  3. Procédé selon la revendication 2, caractérisé en ce que l'ensemble de données est mémorisé dans une mémoire de données lisible par machine (29) attachée au paquet, en particulier un transpondeur RFID ou un code lisible par machine imprimé dessus, et est lu avant le début du processus de cerclage au moyen d'un dispositif de lecture connecté à l'unité de commande (11).
  4. Procédé selon la revendication 1, caractérisé par les étapes suivantes consistant à :
    • identifier au moins une caractéristique de l'objet (7, 7') par un dispositif d'identification (20) et transmettre les données spécifiant la caractéristique de l'objet (7, 7') à l'unité de commande (11) ;
    • sélectionner un ensemble de données avec des valeurs de consigne sur la base des données spécifiant au moins une caractéristique de l'objet (7, 7') par l'intermédiaire de l'unité de commande (11).
  5. Procédé selon la revendication 4, caractérisé par l'identification d'au moins l'une des caractéristiques suivantes :
    • hauteur de l'objet (7, 7') ;
    • largeur de l'objet (7, 7') ;
    • longueur de l'objet (7, 7') ;
    • poids de l'objet (7, 7') ;
    • solidité de l'objet (7, 7') ;
    • contour de l'objet (7, 7') ;
    • couleur de l'objet (7, 7').
  6. Procédé selon au moins l'une des revendications précédentes, caractérisé en ce que l'ensemble de données comprend des valeurs de consigne pour au moins l'un des paramètres de cerclage suivants :
    • distance de la position de cerclage par rapport au bord avant de l'objet (7,7') ;
    • distance entre la position de cerclage et le bord arrière de l'objet (7, 7') ;
    • nombre de cerclages ;
    • tension de bande de la bande de cerclage (2) ;
    • position d'une butée pendant l'opération de cerclage ;
    • position de la butée lors du transport de l'objet (7, 7') ;
    • position d'un élément de retenue ou d'une presse à empaqueter pendant le transport de l'objet (7, 7') ;
    • force de pression de l'élément de retenue ou de la presse à empaqueter pendant le processus de cerclage.
  7. Procédé selon l'une des revendications 4 à 6, caractérisé en ce que la au moins une caractéristique de l'objet (7, 7') est identifiée par au moins l'un des dispositifs d'identification (20) suivants :
    • une cellule photoélectrique ;
    • une bande de cellules photoélectriques, constituée d'une pluralité de sources de lumière espacées les unes des autres sur un premier côté des moyens de transport et d'une pluralité de capteurs de lumière espacés de manière correspondante sur un second côté opposé au premier côté des moyens de transport ;
    • un dispositif de lecture du code imprimé ;
    • une antenne de lecture pour transpondeur RFID ;
    • une caméra (20).
  8. Système de cerclage d'objets, présentant les particularités suivantes :
    • au moins un dispositif de transport (13, 14) pour transporter un objet (7, 7 ') vers un poste de cerclage,
    • au moins un dispositif de cerclage pour former autour de l'objet (7, 7') une boucle d'une bande de cerclage (2),
    • au moins un dispositif de liaison pour relier les extrémités de la boucle ensemble,
    • une unité de commande (11) pour commander une pluralité de paramètres de cerclage, comprenant la tension de la bande de cerclage (2) agencée autour de l'objet (7,7 ') est attachée par une bande (2), et une mémoire de données (29) qui est connectée à l'unité de commande (11) et qui fournit à l'unité de commande (11) des ensembles de données avec des valeurs de consigne pour les paramètres de cerclage, caractérisé en ce que le paramètre de cerclage comprend la position de cerclage, et en ce que l'unité de commande (11) comprend un microcontrôleur.
  9. Système de cerclage selon la revendication 8, caractérisé par au moins un dispositif d'identification (20) pour identifier au moins une caractéristique de l'objet (7, 7') et pour transmettre des données spécifiant la caractéristique de l'objet (7, 7') à l'unité de commande (11), dans lequel les données sont utilisées pour sélectionner un ensemble de données avec des valeurs de consigne pour les paramètres de cerclage sur la base de la au moins une caractéristique de l'objet (7, 7').
  10. Système de cerclage selon la revendication 9, caractérisé en ce que le au moins un dispositif d'identification (20) est conçu pour détecter au moins l'une des caractéristiques suivantes :
    • hauteur de l'objet (7, 7') ;
    • largeur de l'objet (7, 7') ;
    • longueur de l'objet (7, 7') ;
    • poids de l'objet (7, 7') ;
    • solidité de l'objet (7, 7') ;
    • contour de l'objet (7, 7') ;
    • couleur de l'objet (7, 7').
  11. Système de cerclage selon l'une des revendications 8 à 10, caractérisé en ce que l'unité de commande (11) est conçue pour commander au moins l'un des paramètres de cerclage suivants :
    • distance de la position de cerclage par rapport au bord avant de l'objet (7,7') ;
    • distance entre la position de cerclage et le bord arrière de l'objet (7, 7') ;
    • nombre de cerclages ;
    • tension de bande de la bande de cerclage (2) ;
    • décélération et accélération du dispositif de transport (13, 14) :
    • position d'une butée pendant l'opération de cerclage ;
    • position de la butée lors du transport de l'objet (7, 7') ;
    • position d'un élément de retenue ou d'une presse à empaqueter pendant le transport de l'objet (7, 7') ;
    • force de pression de l'élément de retenue ou de la presse à empaqueter pendant le processus de cerclage.
  12. Système de cerclage selon l'une des revendications précédentes 9 à 11, caractérisé en ce qu'il comporte au moins l'un des dispositifs d'identification (20) suivants :
    • une cellule photoélectrique ;
    • une bande de cellules photoélectriques, constituée d'une pluralité de sources de lumière espacées les unes des autres sur un premier côté des moyens de transport et d'une pluralité de capteurs de lumière espacés de manière correspondante sur un second côté opposé au premier côté des moyens de transport ;
    • un dispositif de lecture du code imprimé ;
    • une antenne de lecture pour transpondeur RFID ;
    • une caméra (20).
EP15710748.3A 2014-03-12 2015-03-11 Procédé de commande des paramètres d'un système de banderolage Active EP3116787B1 (fr)

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EP3116787A1 (fr) 2017-01-18
EP3501995A1 (fr) 2019-06-26
EP3501995B1 (fr) 2021-05-05
DE102014103334A1 (de) 2015-09-17

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