Strapping device for strapping band rolls and associated method

Abstract

The invention relates to a strapping device for strapping band rolls (1), in particular metal band coils (1), with a receiving device (3) for the predominantly vertical alignment of the respective band roll (1). Furthermore, a strapping robot (4) and an articulated robot (5) are provided, wherein the strapping robot (4) feeds a strapping band (2) to the articulated robot (5) and / or a hold-down device (7, 8), and wherein both robots (4, 5) traverse the band roll (1) at least circumferentially and connect the corresponding band ends together in a closed position. According to the invention, the receiving device (3) is designed as an arm (3) for the suspended reception of the respective band roll (1). For this purpose, the arm (3) extends through an eye (1a) of the band roll (1).

Description

[0001] The invention relates to a strapping device for strapping band rolls, in particular metal band coils, with a receiving device for predominantly vertical alignment of the band roll in question, and with a strapping robot and an articulated arm robot, wherein the strapping robot feeds strapping band to the articulated arm robot and / or a hold-down device, and wherein both robots at least circumferentially circulate the band roll and connect the corresponding band ends together in a closing position.

[0002] Such strapping devices are typically used to prevent the strapping from winding up on manufactured strapping rolls, and especially on metal strapping coils. For this purpose, the strapping is usually wrapped around the circumference of the strapping roll or metal coil, and the ends are joined together. This can be done by crimping steel strapping or by friction welding plastic strapping.

[0003] The most recent and generic prior art, as defined by US 8,051,770 B1, involves placing the metal band coil or roll to be strapped vertically on supports at its base. This allows for both circumferential strapping and so-called eye strapping through the eye of the band roll. However, this sometimes requires lifting the band roll from the supports and repositioning it, as otherwise, circumferential strapping in the area of ​​the supports would not be possible. Due to the considerable weight of such band rolls, and especially metal band coils, this work typically requires the use of industrial trucks, such as forklifts.

[0004] Furthermore, the known method involves processing only a single strip roll or metal strip coil at a time. This is quite time-consuming. The invention aims to remedy this.

[0005] The invention addresses the technical problem of further developing such a strapping device in such a way that the handling of the strap roll, and in particular the metal strap coil, for applying regular circumferential strapping is simplified. Furthermore, a particularly suitable method for this purpose is to be specified.

[0006] To solve this technical problem, a strapping device of the generic type within the scope of the invention is characterized in that the receiving device is designed as an arm for the suspended receiving of the respective strap roll, wherein the arm for this purpose passes through an eye of the strap roll.

[0007] In contrast to the nearest prior art according to US 8,051,770 B1, which promotes a supporting mounting of the strapping roll, the invention expressly utilizes a suspended mounting of the strapping roll. For this purpose, the mounting device is designed as an arm for the suspended mounting of the strapping roll. Specifically, the arm extends through an eye of the strapping roll. This effectively suspends the strapping roll "in the air" and holds it vertically by the arm, thus simplifying the subsequent application of the strapping, particularly in the circumferential direction, without requiring any additional manipulation of the strapping roll, for example, with a forklift or similar material handling equipment.

[0008] As explained in the introduction, strapping prevents the strap roll from becoming unwound. Furthermore, the arm is usually designed as part of a rotating mechanism. This rotating mechanism preferably has three additional arms, generally spaced 90° apart and horizontally aligned, connected to a common vertical post. The vertical post is mounted in a pivot bearing at its base or may itself have such a pivot bearing. Rotations of this vertical post, or of the arms, around the stationary post allow the individual arms of the rotating mechanism to be selectively moved into either a working or strapping position.

[0009] The vertical post is usually additionally equipped with a crossbar to which the previously mentioned hold-down device can be advantageously attached. The crossbar is fixed in the working or strapping position. In contrast, the arms can each be rotated in a horizontal plane around the vertical post as a vertical axis, as generally described in DE 35 43 692 A1. This makes it possible to place or suspend a strap roll to be strapped onto the arm in a receiving position. From this receiving position, the arm can then be moved into the strapping or working position by a horizontal rotation of the rotating mechanism. A strapping coil previously equipped with one or more strapping bands in the strapping position can then be attached to the arm.A corresponding strap roll can then be moved from the strapping position to the unloading position simultaneously with the horizontal rotation of the turntable. This eliminates the need for complex transport measures and allows for quick handling of the strap roll. This means that the turntable's typically four arms each occupy the strapping position, the loading position, and the unloading position. A fourth position can then serve as a reserve position, for example, as either a loading or unloading position.

[0010] As previously explained, the arm of the rotary joint, in its strapping position, is associated with the crossbar for the hold-down device mounted thereon. For this purpose, the hold-down device advantageously has at least one hold-down shoe that can be moved along the crossbar. The hold-down shoe is mounted on a longitudinal guide. This longitudinal guide extends along the length of the crossbar, allowing the hold-down shoe to be moved along this longitudinal direction. The hold-down shoe and the longitudinal guide together define the hold-down device.

[0011] The hold-down device or hold-down shoe typically suppresses the previously mentioned "winding up" of the strap roll or metal coil mounted on the arm until the circumferential strapping prevents it from winding up. The hold-down shoe can then be removed.

[0012] The design is usually such that the arm is configured to hold several metal strip coils. In fact, according to the invention, the procedure is usually as follows: a so-called master coil is first split and divided into individual coils produced in this way. The individual coils are then each fitted with circumferential strapping using the strapping device according to the invention. This prevents the individual coils from "winding up" on themselves. Of course, continuous strip rolls or metal strip coils can also be strapped in this way.

[0013] In the case of multiple individual coils or multiple coils of metal strip suspended from the arm, the usual procedure is to arrange the coils concentrically. The arm then reaches through each coil's eye. Furthermore, it has proven advantageous to use a measuring device for measuring the distance and gap between the individual coils. This measuring device is typically a laser distance meter. It is also beneficial to mount the measuring device on one of the robots, preferably an articulated robot. This allows the measuring device to not only measure the distance between the robot or its articulated arm and the coil being strapped, but also to detect the gap, its size, and its position between the individual coils.Depending on these values, a control unit that controls the two robots and evaluates the values ​​from the measuring device ensures that the robots are controlled in a coordinated manner and work together to strap the band roll circumferentially. The procedure is usually as follows: starting from the hold-down device, the strapping robot and the articulated robot strap the band roll circumferentially in essentially the same phase, moving in opposite directions. Furthermore, the system is designed so that the two robots meet near a low point on the band roll to join the ends of the strapping band that has been wrapped around the roll. At this low point, the strap ends are then joined together.

[0014] The movement of the two robots is controlled by signals from the measuring device. This device transmits the position or distance of the robot equipped with the measuring device, and in particular the articulated robot, to the belt roll to be measured or the gap between two belt rolls to a control unit. From this distance measurement, the spatial position of the belt roll to be wrapped can be derived. In some cases, the measuring device attached to the articulated robot may perform several distance measurements.

[0015] The measuring device can also detect any gap between individual coils, so that the control unit can ultimately determine the spatial position of the adjacent or adjacent individual coils suspended from the arm and use this information to control the robot arms. This also allows individual coils of virtually any width and width division to be fitted with the desired circumferential strapping. This is not permitted under the prior art defined in US 8,051,770 B1, because the base supports for resting the respective strap roll prevent this.

[0016] Furthermore, this allows the two robots to be flexibly mounted in a fixed position on the floor. In contrast, the known method according to US 8,051,770 B1 requires a rail guide for each robot, which significantly increases the design complexity and thus the manufacturing costs. As a result, the strapping device according to the invention can be flexibly accommodated in a factory hall, even and especially where space is limited. This is further enhanced by the fact that a supply of strapping material for the strapping robot, as well as the robot itself, can be positioned flexibly and practically without location constraints, because the rail guide, which is mandatory in the prior art, is eliminated. These are the key advantages.

[0017] The strapping robot in question is generally equipped with a strapping unit comprising at least one strapping feed unit and one strapping closing unit. The strapping feed unit transports and feeds the strapping and cuts it to length. The strapping closing unit, on the other hand, joins the ends of the strapping to be connected, either by crimping, as with metallic strapping, or by friction welding, as with plastic strapping. This is, of course, only an example and should not be considered a limitation.

[0018] The invention also relates to a method for strapping band rolls and, in particular, metal band coils. The procedure involves the strapping robot feeding strapping to the articulated robot and / or the hold-down device. When the strapping robot feeds the strapping to the articulated robot, the articulated arm of the articulated robot grasps the relevant end of the strap, and the two robots can then strap the band roll in essentially the same phase, moving in opposite directions around its circumference. The strapping usually begins at the hold-down device, which not only prevents the band roll from being wound up but also ensures that the strapping is held against the band roll being strapped. Starting from the hold-down device, both robots then perform the described in-phase, opposite-direction circumferential movement, each completing almost a semicircle.This allows the two robots to meet near the lowest point in order to couple the ends of the strapping band together at the lowest point.

[0019] The invention will now be explained in more detail with reference to a drawing that illustrates only one embodiment; the drawing shows: Fig. 1 The strapping device according to the invention, shown by way of example in a starting position, Fig. 2 the object according to the Fig. 1 at the beginning of a strapping process with the two robot arms in the area of ​​the hold-down device, Fig. 3; the end of the strapping process starting from the Fig. 2 and the meeting of the two robot arms near a low point to connect the tape ends, Fig. 4, the object according to the Fig. 1 bis 3 in the course of a movement of both robot arms towards an adjacent single coil and Fig. 5 the end of the strapping process of the rear single coil in the example case.

[0020] The figures show a strapping device for strapping band rolls 1. In this exemplary embodiment, the band rolls 1 are metal band coils, specifically individual coils 1, namely four individual coils 1, which are successively strapped circumferentially using a strapping band 2. For this purpose, the strapping device shown in the overview has, according to the Fig. 1 via a receiving device 3, which serves for the predominantly vertical alignment of the respective strap roll 1. In addition, a strapping robot 4 and an articulated robot 5 with end-connected and foldable articulated arms 6 are provided. Both robots 4, 5 are stationary and mounted on a floor.

[0021] With the help of the two robots 4, 5, the belt roll or the individual coils 1 are at least circumferentially moved around and strapped with the strapping band 2, as can be seen in the Fig. 2 and 4can be understood and in a closed position according to the illustrations in the Fig. 3 and 5 connected to each other at their respective ends.

[0022] According to the invention, the receiving device 3 is designed as an arm for the suspended receiving of the respective strip roll 1, the arm 3 passing through an eye 1a of the strip roll 1 or of the respective individual coil 1. The exemplary embodiment shows that a total of four individual coils 1 are suspended on the arm 3. This is, of course, only an example and is by no means limiting. The individual coils 1 may have been previously produced from a so-called master coil by splitting. It can be seen that the individual coils 1 are suspended on the arm 3, taking into account the respective distances A. Furthermore, a hold-down device 7, 8 is implemented.

[0023] The hold-down device 7, 8 is attached to a crossbeam 9. The hold-down device 7, 8 actually consists of a hold-down shoe 8 and a longitudinal guide 7 along which the hold-down shoe 8 can be moved. The longitudinal guide 7 extends along the longitudinal direction of the crossbeam 9. The crossbeam 9 with the hold-down device 7, 8 attached to it is located above the arm 3, specifically as shown in the example in the Fig. 1 The strapping position shown. The two robots 4, 5 are stationary in the specified strapping position and are fixed to the floor. Furthermore, both robots 4, 5 have a mounting point on either side of the strap rolls or individual coils 1.

[0024] The crossbeam 9 and the arm 3 are both connected to a vertical post 10. The vertical post 10 and the crossbeam 9 attached to it, with the hold-down device 7, 8, are designed to be stationary. In contrast, the arm 3 is part of a rotating mechanism, which consists of four arms 3a, 3b, 3c, and 3d. The four arms 3a to 3d are aligned in a horizontal plane and spaced 90° apart from each other. Because this is a rotating mechanism 3a to 3d, the arms 3a to 3d can rotate about a vertical axis defined by the vertical post 10 in a horizontal plane. This allows the individual coils 1 held by arm 3 or 3a to be moved, for example, from the strapping position as shown in the illustration. Fig. 1 to a removal position 3b, 3c. In this removal position 3b, 3c, the individual coils 1 equipped with the strapping band 2 can be removed from the respective arm 3, for example with a forklift or other industrial truck. A further fourth position of the turntable 3a to 3d, which belongs to the position of the arm 3d, may, on the other hand, function as a receiving position in which previously unstrapped individual coils 1 are placed on the respective arm 3d in order to then be transferred to a 90° rotation of the turntable 3a to 3d in the illustration according to the Fig. 1 to reach the strapping position with arm 3a in the indicated counterclockwise direction. One of the two removal positions 3b, 3c can also be configured as a reserve position 3b, in which the individual coils 1 can be either removed or suspended. However, this is not shown in detail.

[0025] It can be seen that the metal band coils or individual coils 1 are arranged concentrically to each other. Furthermore, the design is such that their respective eye 1a is jointly opened by the arm 3 or 3a in the strapping position after the Fig. 1 The process is carried out. Additionally, a measuring device 11 is provided, which, according to the exemplary embodiment, is arranged on the articulated robot 5, and more precisely at the end of its articulated arm 6. The measuring device 11 serves to measure the distance of the robot 5 to the individual coils 1, or rather to measure the aforementioned gap with distance A from each individual coil 1 to the adjacent individual coil 1. In the exemplary embodiment, the measuring device 11 is a laser distance measuring device or laser distance meter. The measuring device 11 is not only connected to one of the two robots 4, 5, and specifically to the articulated robot 5, but is also electrically connected to a [missing information - likely a specific device or component] in the Fig. 1 The control unit 12 is connected to the robots 4 and 5. The control unit 12 controls the two robots 4 and 5. Furthermore, the control unit 12 can deduce the spatial position of each individual coil 1 from values ​​of the measuring device 11, as well as the distance A between adjacent individual coils 1. As a result, the control unit 12 is able to precisely control the two robots 4 and 5 so that their respective front ends can be used to strap the desired individual coil 1. In addition, the control unit 12 ensures that the hold-down shoe 8 is moved along its longitudinal guide 7 according to signals from the measuring device 11. For this purpose, the hold-down shoe 8, or a corresponding drive for the hold-down shoe 8, is also connected to the control unit 12.

[0026] The strapping robot 4 is equipped with a strap feed unit 13 and a strap closing unit 14. The strapping band 2 is fed via the strap feed unit 13. For this purpose, the strapping band 2 is wound onto a spool supply 15 and can be unwound from this by means of the strap feed unit 13 and fed to the single coil 1 to be strapped. The strap closing unit 14 ensures, in the closing position, that the strapping band is properly secured. Fig. 3 and 5 This ensures that the ends of the strapping band 2 are coupled together. For this purpose, the strap feed unit 13 may not only supply the strapping band 2, but also be equipped with a separating device that cuts off the respective band end from the supply on the spool 15.

[0027] The procedure is as follows. Starting from the initial position or basic stance in the Fig. 1 This will initially occur during the transition from the representation in the Fig. 1 to Fig. 2 The procedure is such that both robots 4 and 5 are moved with their front ends towards the clamping shoe 8 of the clamping device 7. In this context, the clamping shoe 8 ensures that the front single coil 1 to be strapped is not wound up. The position of the front ends of robots 4 and 5 can be detected beforehand using the measuring device 11 and evaluated by the control unit 12, as previously described. For this purpose, the measuring device 11 can, for example, perform various distance measurements along the circumference of the single coil 1 to be strapped and also detect the position of the eye 1a. This provides three-dimensional data of the single coil 1 to be strapped to the control unit 12, which can then be aligned with the position of the clamping shoe 8.In any case, at the beginning of the strapping process, the two robots 4 and 5 move to the position shown in the diagram. Fig. 2 on, in which both robot arms 4, 5 are arranged with their front ends in the area of ​​the hold-down shoe 8 of the hold-down device 7, 8.

[0028] Starting from this position in the Fig. 2 The strapping robot 4 now ensures that the strapping band 2 is dispensed and grasped by the front end on the articulated arm 6 of the articulated robot 5. At the same time, the strapping band 2 may be guided under the hold-down shoe 8, which may have been slightly raised or moved laterally for this purpose. In any case, starting from the position in the Fig. 2 e.g. held in place by means of the clamping shoe 8 on the circumference of the single coil 1 to be strapped.

[0029] If now, during the transition from the Fig. 2 to Fig. 3 As both robots 4 and 5 strap the single coil 1 to be strapped circumferentially in essentially the same phase and in opposite directions, the two robots 4 and 5 meet with their respective front ends near a low point of the single coil 1 to be strapped, in order to join the corresponding strap ends. For this purpose, the front end of the articulated robot 5 first grasps the strap end provided by the strapping robot 4, and then the articulated robot 5 is moved to the position in the Fig. 3 The strapping robot 4 is controlled and at the same time, with the addition of strapping band 2, it also moves into the position shown in the diagram. Fig. 3 near the lowest point of the circular disc-shaped single coil 1. Here, the hold-down shoe 8 is slightly raised or moved along its longitudinal guide 7 so that the strapping band 2 can be moved circumferentially around the single coil 1 to be strapped. At the same time, the strapping band 2, which is held under tension circumferentially around the single coil 1 by the two robots 4, 5 during this process, ensures that the single coil 1 does not unwind. The hold-down shoe 7, 8 is therefore no longer needed during this process.

[0030] After being in the position according to the representation in the Fig. 3 or, if the ends of the strapping band 2 have been joined together near the lowest point of the disc-shaped single coil 1 to be strapped, and if the strapping band 2 has previously been fed in using the band feed unit 13, cut and tensioned using the band closing unit 14, and the band ends have been joined, then the two robots 4 and 5 can now be moved to strap an adjacent single coil 1 in the hanging orientation on the arm 3. This movement process is described in the Fig. 4 The diagram shows that the hold-down shoe 8 was first moved along the longitudinal guide 7 towards the single coil 1 at the rear. This presupposes that the measuring device 11 not only recorded the distance A in the gap beforehand, but also the position of the single coil 1 at the rear.

[0031] During the transition from the representation in the Fig. 4 to Fig. 5 It can now be seen that the rear single coil 1 is again circumferentially wrapped by the two robot arms 4, 5 in opposite directions and in sync, and that both robot arms 4, 5 trace the circumference of the respective single coil 1 with their front ends until they reach the point where the Fig. 5 The strap ends of strapping band 2 have reached the common low point shown for connecting them and meet at this low point. Finally, the strap ends are joined together.

[0032] Once individual or all of the coils 1 have been fitted with the strapping band 2 around their circumference in the strapping position, the rotary joint 3a to 3d can be moved to position 3b or 3c, in which the strapped coils 1 are then removed from the respective arm 3. This can be done using a forklift (not shown).

Claims

1. Strapping device for strapping band rolls (1), in particular metal band coils (1), comprising a receiving device (3) for predominantly vertical alignment of the band roll (1), and comprising a strapping robot (4) and an articulated robot (5), wherein the strapping robot (4) feeds a strapping band (2) to the articulated robot (5) and / or a hold-down device (7, 8), and wherein both robots (4, 5) at least circumferentially circulate the band roll (1) and connect the corresponding band ends together in a closed position, characterized by the fact that the receiving device (3) is designed as an arm (3) for the suspended receiving of the respective tape roll (1), wherein the arm (3) extends through an eye (1a) of the tape roll (1).

2. Device according to claim 1, characterized by the fact that the arm (3) is designed as part of a turnstile (3a to 3d).

3. Device according to claim 2, characterized by the fact thatthe turnstile (3a to 3d) is equipped with preferably three further arms (3b to 3d) at 90° intervals.

4. Device according to one of claims 1 to 3, characterized by the fact that The arm (3) in its strapping position is assigned a traverse (9) for the hold-down device (7, 8) arranged thereon.

5. Device according to claim 4, characterized by the fact that the hold-down device (7, 8) has at least one hold-down shoe (8) that is movable along the traverse (9) and supported on a longitudinal guide (7).

6. Device according to any one of claims 1 to 5, characterized by the fact that the arm (3) is designed to accommodate several tape reels (1) and in particular single tape coils (1).

7. Device according to claim 6, characterized by the fact that the belt rollers (1) are arranged concentrically to each other and their respective eye (1a) is jointly penetrated by the arm (3).

8. Device according to any one of claims 1 to 7, characterized by the fact thata measuring device (11) is provided for measuring the distance and / or gap between individual belt rollers (1).

9. Device according to claim 8, characterized by the fact that the measuring device (11) is designed as a laser distance meter.

10. Device according to claim 8 or 9, characterized by the fact that the measuring device (11) is arranged on a robot (4, 5), preferably on the articulated robot (5).

11. Device according to one of claims 8 to 10, characterized by the fact that The hold-down shoe (8) moves along its longitudinal guide (7) according to signals from the measuring device (11).

12. Device according to any one of claims 1 to 11, characterized by the fact that The respective roll of tape (1) has a circumferential strapping.

13. Device according to any one of claims 1 to 12, characterized by the fact that the strapping robot (4) is equipped with a strap unit (13, 14) with at least a strap feed unit (13) and a strap closing unit (14).

14. Method for strapping band rolls (1), in particular metal band coils (1), comprising a receiving device (3) for predominantly vertical alignment of the band roll (3), and comprising a strapping robot (4) and an articulated robot (5), wherein the strapping robot (4) feeds a strapping band (2) to the articulated robot (5) and / or a hold-down device (7, 8), and wherein both robots (4, 5) at least circumferentially circulate the band roll (1) and connect the corresponding band ends together in a closed position, characterized by the fact that the tape reel (1) is placed hanging on an arm (3) as a receiving device (3) by the arm (3) reaching through an eye (1a) of the tape reel (1).

15. Method according to claim 14, characterized by the fact thatStarting from the hold-down device (7, 8), the strapping robot (4) and the articulated arm robot (5) strap the relevant band roll (1) in essentially the same phase and in opposite directions around its circumference and meet near a low point to join the band ends.

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