Strap segment cutting system

Abstract

The present disclosure relates to a strap segment cutting system for positioning and removing strap segments from an object, such as a metal coil.

Description

Technical Field

[0001] This PCT application claims the priority and benefit of Korean Patent Application No. 10-2019-0179254, filed on Dec. 31, 2019, which was issued as Korean Patent No. 10-2109732 on May 12, 2020, the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates to a strap segment cutting system for positioning and cutting strap segments from an object.

Background Art

[0003] Steels, aluminum, and other metals are processed into relatively thin sheets and wound into large and heavy coils for storage and (later) transportation to customers. To prevent these metal coils from unwinding, manufacturers typically attach multiple steel strap segments with high tension around the outer circumference of the coil in the circumferential direction, or, in some cases, through the "eyes" of the coil. Before the consumer can use the coil, the consumer must remove and dispose of the strap segments. A strap segment cutting system automatically positions the strap segments on the coil, cuts them, delivers them to a winder, which winds the strap segments into relatively small coils to be disposed of or recycled.

Summary of the Invention

Means for Solving the Problems

[0004] Various embodiments of the present disclosure provide a strap segment cutting system for positioning and cutting strap segments from an object, such as a metal coil.

[0005] One embodiment of the strap segment cutting system of the present disclosure includes a strap segment cutting head, the strap segment cutting head including a frame, a first cutter supported by the frame, a first carriage movable relative to the frame between a first carriage fixed position and a first carriage operating position, a first clamp pivotally attached to the first carriage and having a body with a clamping head and an opposing foot, a first clamp biasing element biasing the first clamp to a first clamp fixed position where the clamping head of the first clamp is spaced from the first carriage, a second carriage movable relative to the frame and the first cutter between a second carriage fixed position and a second carriage operating position, a second cutter attached to the second carriage and having a body with a lifting cutting head, and one or more carriage actuators operably connected to the first and second carriages, the one or more carriage actuators moving the first and second carriages relative to each other from a first carriage fixed position of the first carriage and a second carriage fixed position of the second carriage where the first and second carriages are spaced apart by a first distance to a first carriage operating position of the first carriage and a second carriage operating position of the second carriage where the first and second carriages are spaced apart by a shorter second distance.

[0006] One embodiment of a method for removing a strap segment from an object includes disposing a strap segment cutting head including a first cutter spaced from and adjacent to the object, moving the strap segment cutting head toward the object to a strap segment cutting position, disposing a clamping head of a first clamp on a first side of the strap segment, and disposing a lifting and cutting head of a second cutter on a second side opposite the strap segment; moving the first clamp toward the strap segment and clamping the strap segment with the first clamp; moving the second cutter toward the strap segment, lifting the strap segment with the second cutter to contact the first cutter, and cutting the strap segment in cooperation with the first cutter.

Brief Description of the Drawings

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DETAILED DESCRIPTION OF THE INVENTION

[0008] The systems, devices, and methods described in this specification can be implemented in various forms, but specific exemplary and non-limiting embodiments are shown in the drawings and described in the specification. Not all of the components shown and described in the drawings need to be required, and specific implementations may include additional, different, or fewer components. The arrangement configuration, type, shape, size, and material of the components, and the way the components are connected can be changed without departing from the spirit or scope of the claims. Unless otherwise indicated, any direction mentioned in the specification reflects the orientation of the components shown in the corresponding drawings and does not limit the scope of the present disclosure. Further, terms referring to attachment methods, such as coupled, attached, connected, etc., are not intended to be limited to direct attachment methods, but should be broadly construed to include similar attachment methods such as indirect or operably coupled, attached, connected, etc. This specification is intended to be taken as a whole and interpreted in accordance with the principles of the present disclosure or as understood by those skilled in the art.

[0009] Figures 1 and 2 show an exemplary embodiment of the strap segment cutting system 1 of the present disclosure and its components. The strap segment cutting system 1 positions a strap segment S on an object, which in this exemplary embodiment is a metal coil C supported by a support SU (the object may be any other suitable object in other embodiments), cuts the strap segment S from the coil C, and delivers the cut strap segment S to a winding machine (not shown) or other device for further processing and disposal. The strap segment cutting system 1 includes an articulable robot arm 2, a plurality of robot arm actuators 4, a strap segment cutting head 10, a strap sensor 900, and a controller 1000.

[0010] The robotic arm 2 is operable to position the strap segment S and to dispose a strap segment cutting head 10 so as to be able to cut the strap segment S from the coil C. The robotic arm 2 includes a base B that can be fixed to the floor or other substrate, a first arm segment 2a pivotally connected to the base B by a pivot 3a, a second arm segment 2b pivotally connected to the first arm segment 2a by a pivot 3b, and a third arm segment 2c pivotally connected to the second arm segment 2b by a pivot 3c. A robotic arm actuator 4 is operably connected to the arm segments 2a to 2c and is configured to pivot the arm segments relative to each other about the pivots 3a to 3c. Although not shown here, in order to enable the first arm segment 2a to pivot about a vertical axis to allow the page of the strap segment cutting head 10 to enter and exit, the robotic arm actuator 4 is operably connected to the first arm segment 2a (and in other embodiments to the second arm segment 2b and / or the third arm segment 2c). In certain embodiments, one or more of the robotic arm segments are telescoping so that their lengths can be increased or decreased. In these embodiments, the robotic arm actuator is operably connected to the telescoping robotic arm segments and is configured to change their lengths. The robotic arm actuator can be any suitable actuator, such as (but not limited to) an electric, hydraulic, and / or pneumatic motor. This is merely an example of a robotic arm, and any other suitable robotic arm or other components can also be used to move the strap segment cutting head 10.

[0011] As shown in FIGS. 3A to 14C, the strap segment cutting head 10 is attached to the free end of the third arm segment 2c and cuts the strap segment S from the coil C. The strap segment cutting head 10 includes a housing 100 (shown in FIGS. 3A to 4), a robot arm attachment portion 200 (shown in FIGS. 3A and 3B), first and second strap fixing portions 300a, 300b (shown in FIGS. 3A and 3B), a first cutting assembly 400 (shown in FIG. 4), a carriage actuator 500 (shown in FIGS. 5A and 5B), a first tightening assembly 600 (sometimes referred to as the "first assembly", shown in FIGS. 6A and 6B), a second tightening assembly 700 (sometimes referred to as the "second assembly", shown in FIGS. 7A to 7C), and a second cutting assembly 800 (shown in FIGS. 7A to 8B).

[0012] The frame 100 supports the assemblies and components of the strap segment cutting head 10. The frame 100 is formed from any suitable combination of solid members, tubular members, plates, and / or any other suitable components attached to each other. The robot arm attachment portion 200 is attached to the frame 100 and is detachably attachable to the third arm segment 2c of the robot arm 2 for detachably attaching the strap segment cutting head 10 to the robot arm 2.

[0013] The first and second strap fixing parts 300a and 600b clamp the strap segment S against the coil C during the strap segment cutting process. The first strap fixing part 300a includes a first housing 310a, a first outer clamp 320a, and a first biasing element (not shown). The first housing 310a is attached to the frame 100 and at least partially surrounds the first biasing element and the first outer clamp 320a. The first biasing element (a spring in this exemplary embodiment, but any other suitable biasing element in other embodiments) biases the first outer clamp 320a to the clamping position (shown in FIGS. 3A and 3B). Similarly, the second strap fixing part 300b includes a second housing 310b, a second outer clamp 320b, and a second biasing element (not shown). The second housing 310b is attached to the frame 100 and at least partially surrounds the second biasing element and the second outer clamp 320b. The second biasing element (a spring in this exemplary embodiment, but any other suitable biasing element in other embodiments) biases the second outer clamp 320b to the clamping position (shown in FIG. 3B). In other embodiments, the strap segment cutting head includes only one strap fixing part, while in further embodiments, the strap segment cutting head does not include any strap fixing part.

[0014] As shown in FIGS. 3B and 4 and as will be described in detail below, the first cutting assembly 400 cooperates with the second cutting assembly 800 to cut the strap segment S through a shearing action when certain components of the second cutting assembly 800 move relative to the first cutting assembly 400. The first cutting assembly 400 includes a first cutter mounting portion 410, a first cutter 420, and a first cutter biasing element 430. The first cutter mounting portion 410 is non - movably attached to the frame 100 by a fastener or any other suitable means. The first cutter 420 is slidably attached to the first cutter mounting portion 410 and is movable relative to the remaining assemblies and components of the strap segment cutting head 10 between a stationary position (FIG. 4) and a cutting position (FIG. 11C). The first cutter biasing element 430 is a spring in this exemplary embodiment (although in other embodiments it may be any other suitable biasing element) and extends between the frame 100 and the first cutter 420 to bias the first cutter 420 to its stationary position. The first cutter 420 includes a first cutting edge 420c.

[0015] The first clamping assembly 600, shown in FIGS. 6A and 6B, moves the first cutter 420 to its cutting position and, in cooperation with the second clamping assembly 700, clamps the strap segment S during the strap segment cutting process. The first clamping assembly 600 includes a first carriage 610, a fixture 614, a pivot pin 616, a first clamp 620, a first clamp biasing element 620s, a second clamp 630, a second clamp biasing element 630, and a first cutter engage 640.

[0016] The first clamp 620 includes a body 622 having a foot portion 626 on the side opposite the clamping head 624. The clamping head 624 includes an upper lip 624u and an opposing lower lip 624l that form an opening sized to receive the strap segments S together (as described below). Similarly, the second clamp 630 includes a body 632 having a foot portion 636 on the side opposite the clamping head 634. The clamping head 634 includes an upper lip 634u and an opposing lower lip 634l that form an opening sized to receive the strap segments S together (as described below).

[0017] The fixture 614 is attached to the lower side of the first carriage 610. The first and second clamps 620, 630 are attached to the fixture 614 via a pivot pin 616 that extends through holes (not numbered) formed in the fixture 614 and the foot portions 626, 636 of the first and second clamps 620, 630. The first clamp 620 is pivotable relative to the first carriage 610 about the pivot pin 616. The first clamp biasing element 620s extends between the fixture 614 and the first clamp 620 and biases the first clamp 620 to a fixed position where the clamping head 624 is spaced from the fixture 614. The second clamp 630 is pivotable relative to the first carriage 610 about the pivot pin 616. The second clamp biasing element 630s extends between the fixture 614 and the second clamp 630 and biases the second clamp 630 to a fixed position where the clamping head 634 is spaced from the fixture 614. In this exemplary embodiment, the first and second clamps 620, 630 are independently pivotable, while in other embodiments, the first and second clamps pivot integrally together.

[0018] The first cutter engage 640 is a plate in this exemplary embodiment (but may be any other suitable component in other embodiments) and is attached to the first carriage 610 so as not to move such that the major surface 640a of the first cutter engage 640 faces the first cutter 420.

[0019] As shown in FIGS. 7A-7C, the second clamping assembly 700 cooperates with the first clamping assembly 600 during the strap segment cutting process to clamp the strap segment S. The second clamping assembly 700 includes a second carriage 710, a third clamp carriage 720, a third clamp fixture 722, a third clamp pivot pin 726, a third clamp 730, a first third clamp biasing element 730s, and a second third clamp biasing element 740.

[0020] The third clamp 730 includes a body 732 having a foot 736 opposite the clamping head 734. The clamping head 734 includes an upper lip 734u and an opposing lower lip 734l that together form an opening sized to receive the strap segment S (as described below). The third clamp fixture 722 is attached to the lower side of the third clamp carriage 720. The third clamp 730 is attached to the third clamp fixture 722 via a third clamp pivot pin 726, which extends through a hole (not numbered) formed in the third clamp fixture 722. The third clamp 730 is pivotable relative to the third clamp carriage 720 about the third clamp pivot pin 726. The first third clamp biasing element 730s extends between the third clamp fixture 722 and the third clamp 730 and biases the third clamp 730 to a fixed position where the clamping head 734 is spaced from the third clamp fixture 722.

[0021] The third clamp carriage 720 is slidably attached to the second carriage 710 and is movable relative to the second carriage 710. The second third clamp biasing element 740 is a gas spring in this exemplary embodiment but may be any other suitable biasing element (e.g., a compression spring) in other embodiments, and biases the third clamp carriage 720 to a fixed position (FIGS. 7A-7C) relative to the second carriage 710.

[0022] The second cutting assembly 800 is attached to the second tightening assembly 700 (more specifically, the second carriage 710) and cooperates with the first cutting assembly 400 to cut the strap segment S during the strap segment cutting process. The second cutting assembly 800 includes a second cutting assembly fixture 812, a second cutting assembly pivot pin 816, a second cutter carrier 850, a second cutter 860, and a second cutter biasing element 860s.

[0023] The second cutter carrier 850 has a body 852 having a foot portion 856 opposite the head portion 854. The second cutter 860 has a body 862 provided with a reciprocating cutting head 864 at one end (as shown in FIGS. 8A and 8B). The reciprocating cutting head 864 terminates at the tip 864t of its front end and includes flat upper surfaces 864a1, 864a2, 864a3 that are angled with respect to each other, and opposing flat lower surfaces 864b1, 864b2 that are angled with respect to each other. The upper surface 864a1 forms a second cutting edge 864c that cooperates with the first cutting edge 420c of the first cutter 420 to cut the strap segment S as described below.

[0024] The second cutter carriage 850 is attached to the second cutting assembly fixture 812, and the second cutting assembly fixture 812 is attached to the lower side of the second carriage 710 via the second cutting assembly pivot pin 816. The second cutting assembly pivot pin 816 extends through holes (not numbered) formed in the second cutting assembly fixture 812 and the leg portion 856 of the second cutter carrier 850. The second cutter 860 is detachably attached to the head portion 854 of the second cutter carrier 850 such that the tip 864t of the second cutter 860 extends toward the clamping assembly 800. The second cutter fixture 850 (to which the second cutter 860 is attached) is pivotable relative to the second carriage 710 about the second cutting assembly pivot pin 816. The second cutter biasing element 860s extends between the second cutting assembly fixture 812 and the second cutter carrier 850 and biases the second cutter carrier 850 to a fixed position in which the head portion 854 and the second cutter 860 are spaced apart from the second cutting assembly fixture 812.

[0025] As shown in FIGS. 5A and 5B, the carriage actuator 500 is operably connected to the first carriage 610 and the second carriage 710 and moves these carriages relative to each other (and relative to the assembly and components of the other strap segment cutting head 10) between their respective fixed positions (FIG. 9A) and their respective operating positions (FIG. 14A) to cut the strap segment S (as described below). The first and second carriages are spaced a first distance apart when in their respective fixed positions and a smaller second distance apart when in their respective operating positions (i.e., closer to each other). The carriage actuator 500 may include any suitable type of actuator, such as a hydraulic actuator, a pneumatic actuator, or an electric actuator. In this exemplary embodiment, the carriage actuator 500 is slidably attached to the frame 100 and is thus movable relative to the frame 100. In this exemplary embodiment, the carriage actuator is attached to the first carriage 610 so as not to move.

[0026] In other embodiments, the strap segment cutting head includes two carriage actuators, one being operatively coupled to a first carriage and configured to move the first carriage between its fixed position and its operating position, and the other being operatively coupled to a second carriage and configured to move the second carriage between its fixed position and its operating position.

[0027] The strap sensor 900 includes any suitable sensor configured to detect the strap segment S on the coil C, such as (but not limited to) a laser displacement sensor. The strap sensor 900 may be part of the strap segment cutting head 10 or separate from the strap segment cutting head 10 as long as the strap sensor 900 is positioned and oriented to detect the strap segment S.

[0028] The controller 1000 includes one processing device (or multiple devices) communicably connected to one memory device (or multiple devices). For example, the controller may include a programmable logic controller. The processing device may be any suitable processing device, such as, but not limited to, a general-purpose processor, a dedicated processor, a digital signal processor, one or more microprocessors, one or more microprocessors associated with a digital signal processing-oriented processor core, one or more application-specific integrated circuits, one or more field-programmable gate array circuits, one or more integrated circuits, and / or a state machine. The memory device may be any suitable memory device, such as, but not limited to, read-only memory, random-access memory, one or more digital registers, cache memory, one or more semiconductor memory devices, magnetic media, such as an integral hard disk and / or removable memory, magneto-optical recording media, and / or optical media. The memory device stores instructions executable by the processing device to control the operation of the strap segment cutting system 1 (including the strap segment cutting head 10), for example, to perform the strap segment cutting process described below with respect to FIGS. 9A-14C. As shown in FIG. 2, the controller 1000 is communicably and operably connected to the robot arm actuator 4, the carriage actuator 500, and the strap sensor 900, receives signals from those components, and controls those components.

[0029] The operation of the strap segment cutting system 10 for performing a strap segment cutting process for cutting a strap segment S from the coil C is described here in conjunction with FIGS. 9A-14C. First, as shown in FIGS. 9A and 9B, the first cutter 420, the first carriage 610, the first and second clamps 620, 630, the second carriage 710, the third clamp carriage 720, the third clamp 730, and the second cutter 860 are in their respective fixed positions.

[0030] The controller 1000 controls the robot arm actuator 4 to operate the robot arm 2 to move the strap segment cutting head 10 adjacent to the coil C. The controller 1000 then controls the robot arm actuator 4 to operate the robot arm 2 such that the strap segment cutting head 10 moves laterally with respect to the coil C while the strap sensor 900 scans the strap segment S. When the strap sensor 900 detects the strap segment S, the controller 1000 controls the robot arm actuator 4 to operate the robot arm 2 to position the strap segment cutting head 10 such that the strap segment S is between the first and second clamping assemblies 600 and 700 under the first and second outer clamps 320a and 320b of the first and second strap fixing portions 300a and 300b.

[0031] The controller 1000 then controls the robot arm actuator 4 to operate the robot arm 2 to move the strap segment cutting head 10 towards the coil C. When this occurs, the first and second outer clamps 320a, 320b engage a portion of the strap segment S and apply a clamping force to clamp these portions of the strap segment S against the coil C. Additionally, the heads 624, 634, 734 of the first, second, and third clamps 620, 630, 730 and the elevating cutting head 864 of the second cutter 860 engage the coil C and begin to pivot away from their respective fixed positions as the strap segment cutting head 10 continues to move towards the coil C (against the biasing forces provided by their respective biasing elements). The controller 1000 controls one or more of the robot arm actuators 4 to stop the movement of the strap segment cutting head 10 when the strap segment cutting head 10 reaches the strap segment cutting position (which the controller can determine by using a sensor that senses the distance between the strap segment cutting head 10 and the coil C (either the strap sensor 900 provides this function or a separate sensor may be used) or by observing the load on one or more of the robot arm actuators 4). As shown in FIGS. 10A, 10B, when the strap segment cutting head 10 is in its strap segment cutting position, the first, second, and third clamps 620, 630, 730 and the elevating cutting head 864 of the second cutter 860 are substantially aligned with the outer surface of the coil C, the heads 624, 634 of the first and second clamps 620, 630 face one side of the strap segment S, and the clamping head 734 of the third clamp 730 and the elevating cutting head 864 of the second cutter 860 face the opposite side of the strap segment S.

[0032] The controller 1000 controls the carriage actuator 500 to move the first carriage 610 from its fixed position toward the strap segment S. As shown in FIGS. 11A and 11B, the lower lips 624l, 634l of the heads 624, 634 of the first and second clamps 620, 630 engage the strap segment S and slightly lift the strap segment S, and contact the respective upper lips 624u, 634u so that the sides of the strap segment S are received in the respective openings of the first and second clamps 620, 630. When this occurs, as shown in FIG. 11C, the major surface 640a of the first cutter engage 640 engages the first cutter 420 and moves the first cutter 420 from its fixed position to its cutting position. When the first cutter 420 reaches its cutting position, the first carriage 610 reaches its operating position, and due to the engagement between the first cutter engage 640 and the first cutter 420 to prevent further movement of the frame 100 with respect to the first cutter 420, further movement of the clamping assembly carriage 610 toward the strap segment S is prevented.

[0033] To tighten the strap segment S and to cut the strap segment S from the coil C, the controller 1000 controls the carriage actuator 500 to move the second carriage 710, which carries the second cutting assembly 800, from its fixed position towards the strap segment S. FIGS. 12A - 12C show the position of the second carriage 710 just before the third clamp 730 and the second cutter 860 contact the strap segment S. As shown in FIGS. 13A - 13C, as the second carriage 710 continues to move, the lower lip 734l of the tightening head 734 of the third clamp 730 and the tip 864t of the elevating cutting head 864 of the second cutter 860 engage the strap segment S and slightly lift the strap segment S so that the side portion of the strap segment S contacts the upper lip 734u to be received in the opening of the third clamp 730. At this point, the strap segment S is clamped between the first and second clamps 620, 630 (on one side) and the third clamp 730 (on the other side).

[0034] The second carriage 710 continues to move toward the strap segment S, carrying the second cutting assembly 800 and the second cutter 860 therewith. The strap segment S and the first and second clamps 620, 630 prevent the third clamp 730 from continuing to move with the second carriage 710, such that the continued movement of the second carriage 710 compresses the second third-clamp biasing element 740, which increases the clamping force that the third clamp 730 exerts on the strap segment S. Specifically, the clamping force is both horizontal (caused by the force exerted by the second third-clamp biasing element 740) and vertical (caused by the forces exerted by the biasing elements of the first, second, and third clamps and the shape of their respective clamping heads). As the second cutting assembly 800 continues to move with the second carriage 710, the elevating cutting head 864 of the second cutter 860 lifts the strap segment S into contact with the first cutting edge 420c of the first cutter 420. The continued movement of the second cutter 860 relative to the strap segment S causes the strap segment S to be cut via a shearing action by the first and second cutting edges 420c, 864c of the first and second cutters 420, 860, as shown in FIGS. 14A - 14C. Since the first and second outer clamps 320a, 320b of the first and second strap fixing portions 300a, 300b clamp the strap segment S against the coil C, the cut ends of the strap segment S do not move away from the coil C in an uncontrolled manner after being cut.

[0035] After the first and second cutters 420, 860 cut the strap segment S and the second carriage 710 reaches its operating position, the controller 1000 controls the carriage actuator 500 to stop moving the second carriage 710. At this point, the first, second, and third clamps 620, 630, 730 cooperate to clamp the strap segment S between the first, second, and third clamps and against the upper surfaces 864a1 - 864a3 of the head 864 of the second cutter 860. The controller controls the robot arm actuator 4 to operate the robot arm 2 to move the strap segment cutting head 10 (which carries the cut strap segment S thereon) to the winder. The controller controls the carriage actuator 500 to control the first carriage 610 and / or the second carriage 710 to return to their respective home positions. This releases the strap segment S to the first, second, and third clamps 730 into the winder that winds the strap segment S for discard. Some aspects of the present invention will be described below. [Document Name] Claims [Aspect 1] In a strap segment cutting system, comprising a strap segment cutting head, wherein the strap segment cutting head includes a frame, a first cutter supported by the frame, a first carriage movable relative to the frame between a first carriage fixed position and a first carriage operating position, a first clamp pivotally attached to the first carriage and having a body with a clamping head and an opposite foot, a first clamp biasing element biasing the first clamp to a first clamp fixed position where the clamping head of the first clamp is spaced from the first carriage, a second carriage movable relative to the frame and the first cutter between a second carriage fixed position and a second carriage operating position, a second cutter attached to the second carriage and having a body with a lifting cutting head, one or more carriage actuators operably connected to the first and second carriages, the one or more carriage actuators moving the first and second carriages relative to each other from a first carriage fixed position of the first carriage and a second carriage fixed position of the second carriage where the first and second carriages are spaced apart by a first distance, to a first carriage operating position of the first carriage and a second carriage operating position of the second carriage where the first and second carriages are spaced apart by a shorter second distance. A strap segment cutting system comprising. [Aspect 2] The strap segment cutting system according to Aspect 1, wherein the second cutter is pivotally attached to the second carriage, and the strap segment cutting head further includes a second cutter biasing element biasing the second cutter to a second cutter fixed position where the lifting cutting head of the second cutter is spaced from the second carriage. [Aspect 3] the strap segment cutting head comprises a main body having a clamping head and a foot on the opposite side, and a second clamp pivotally attached to the first carriage; The strap segment cutting system according to aspect 1, further comprising a second clamp biasing element that biases the second clamp to a second clamp fixed position spaced apart from the second carriage by the clamping head of the second clamp. [Aspect 4] The strap segment cutting system according to aspect 3, wherein the first and second clamps are pivotable independently of the first carriage. [Aspect 5] the strap segment cutting head a third clamp carriage slidably attached to the second carriage; comprises a main body having a clamping head and a foot on the opposite side, and a third clamp pivotally attached to the third clamp carriage; The strap segment cutting system according to aspect 3, further comprising a third clamp biasing element that biases the third clamp to a third clamp fixed position spaced apart from the third clamp carriage by the clamping head of the third clamp. [Aspect 6] The strap segment cutting system according to aspect 5, further comprising a third clamp carriage biasing element that biases the third clamp carriage to a fixed position. [Aspect 7] the strap segment cutting head a third clamp carriage slidably attached to the second carriage; comprises a main body having a clamping head and a foot on the opposite side, and a third clamp pivotally attached to the third clamp carriage; The strap segment cutting system according to aspect 1, further comprising a third clamp biasing element that biases the third clamp to a third clamp fixed position spaced apart from the third clamp carriage by the clamping head of the third clamp. [Aspect 8] The clamping head of the first clamp includes a lower lip and an opposing upper lip, and the lower lip and the upper lip form an opening sized to receive a strap segment. The strap segment cutting system according to aspect 1. [Aspect 9] The first cutter is provided movably relative to the frame between a first cutter fixed position and a first cutter cutting position, and the strap segment cutting head further includes a first cutter biasing element that biases the first cutter to the first cutter fixed position. The strap segment cutting system according to aspect 1. [Aspect 10] The strap segment cutting head is provided movably together with the first carriage, and further includes a first cutter engage, and the first cutter engage is engaged with the first cutter when the first carriage moves from the first carriage fixed position to the first carriage operating position, and is arranged to move the first cutter from the first cutter fixed position to the first cutter cutting position. The strap segment cutting system according to aspect 1. [Aspect 11] A robot arm to which the strap segment cutting head is detachably attached, One or more robot arm actuators operably connected to the robot arm and operable to operate the robot arm to move the strap segment cutting head, The strap segment cutting system according to aspect 1, further comprising a controller operably connected to the one or more robot arm actuators and the carriage actuator and controlling the one or more robot arm actuators and the carriage actuator. [Aspect 12] In a method of removing a strap segment from an object, Placing a strap segment cutting head including a first cutter spaced from the object and adjacent to the strap segment, Moving the strap segment cutting head toward the object to a strap segment cutting position, arranging a tightening head of a first clamp on a first side of the strap segment, and arranging a lifting and cutting head of a second cutter on a second side opposite to the strap segment, Moving the first clamp toward the strap segment and tightening the strap segment by the first clamp, A method including moving the second cutter toward the strap segment, lifting the strap segment by the second cutter to bring it into contact with the first cutter, and cutting the strap segment in cooperation with the first cutter. [Aspect 13] Moving the first clamp toward the strap segment so that the first clamp clamps the strap segment includes moving a first carriage to which the first clamp is attached toward the strap segment so that a clamping head of the first clamp engages the first side of the strap segment. The method according to aspect 12, wherein moving the second cutter toward the strap segment includes moving a second carriage to which the second cutter is attached toward the strap segment. [Aspect 14] The method according to aspect 13, wherein the first clamp is pivotally attached to the first carriage such that when the strap segment cutting head is moved to the strap segment cutting position, the first clamp engages the object and pivots from a first clamp fixed position toward the first carriage. [Aspect 15] The method according to aspect 14, wherein the second cutter is pivotally attached to the second carriage such that when the strap segment cutting head is moved to the strap segment cutting position, the second cutter engages the object and pivots from a second cutter fixed position toward the second carriage. [Aspect 16] The method according to aspect 15, further including moving the strap segment cutting head to the strap segment cutting position such that a clamping head of a second clamp pivotally attached to the first carriage is disposed on the first side of the strap segment, engages the object, and pivots from a second clamp fixed position toward the first carriage. [Aspect 17] The method according to aspect 15, further comprising moving the strap segment cutting head to the strap segment cutting position such that the clamping head of the third clamp pivotally attached to the third clamp carriage attached to the second carriage is disposed on the second side of the strap segment, engages the object, and pivots from the third clamp fixed position towards the third clamp carriage. [Aspect 18] The method according to aspect 17, further comprising moving the second carriage towards the strap segment such that the clamping head of the third clamp engages the second side of the strap segment and cooperates with the clamping head of the first clamp to clamp the strap segment. [Aspect 19] The method according to aspect 18, further comprising moving the first cutter from a fixed position to a cutting position while moving the first carriage towards the strap segment. [Aspect 20] The method according to aspect 12, further comprising moving the first cutter from a fixed position to a cutting position while moving the first clamp towards the strap segment.

Explanation of Symbols

[0036] 1 Strap segment cutting system 2 Robot arm 2a First arm segment 2b Second arm segment 2c Third arm segment 3a Pivot 3b Pivot 3c Pivot 4 Robot arm actuator 10 Strap segment cutting head 100 Frame 200 Robot arm mounting part 300a First strap fixing part 300b Second strap fixing part 310a First housing 310b Second housing 320a First outer clamp 320b Second outer clamp 400 First cutting assembly 410 First cutter mounting part 420 First cutter 420c Blade 430 First cutter biasing element 500 Carriage actuator 600 First tightening assembly 600b Second strap fixing part 610 First carriage 614 Fixture 616 Pivoting pin 620 First clamp 620s First clamp biasing element 622 Body 624 Tightening head 624l Lower lip 624u Upper lip 626 Foot 630 Second clamp 630s Second clamp biasing element 632 Body 634 Tightening head 634l Lower lip 634u Upper lip 636 Foot 640 First cutter engage 4640a Main surface 700 Second tightening assembly 710 Second carriage 720 Third clamp carriage 722 Third clamp fixture 726 Third clamp pivot pin 730 Third clamp 730s First third clamp biasing element 732 Body 734 Tightening head 734l Lower lip 734u Upper lip 736 Foot 740 Second third clamp biasing element 800 Second cutting assembly 812 Second cutting assembly fixture 816 Second cutting assembly pivot pin 850 Second cutter carriage 850 Second cutter carrier 852 Body 854 Head 856 Foot 4860 Second cutter 860s Second cutter biasing element 862 Body 864 Lifting cutting head 864 Head Above 864a1 Above 864a2 Above 864a3 Below 864b1 Below 864b2 Edge 864c Tip 864t Strap sensor 900 Controller 1000

Claims

1. In the strap segment cutting system, A strap segment cutting head is provided. The strap segment cutting head The frame and a first cutter supported by the frame; a first carriage linearly movable relative to the frame between a first carriage home position and a first carriage operating position; a first clamp pivotally mounted to the first carriage and including a body having a clamping head and an opposing foot; a second clamp pivotally mounted to the first carriage, the second clamp comprising a body having a clamping head and an opposing foot; a first clamp biasing element that biases the first clamp into a first clamp home position in which a clamping head of the first clamp is spaced apart from the first carriage; a second clamp biasing element biasing the second clamp to a second clamp home position in which the clamping head of the second clamp is spaced from the first carriage; a second carriage movable in the linear direction relative to the frame and the first cutter between a second carriage home position and a second carriage operating position; a second cutter attached to the second carriage so as to face the second clamp in the linear direction, the second cutter having a body with an elevating cutting head; a third clamp carriage slidably mounted to the second carriage; a third clamp including a body having a clamping head and an opposing foot, the third clamp pivotally mounted on the third clamp carriage so as to face the first clamp in the linear direction; a third clamp biasing element biasing the third clamp into a third clamp home position in which the clamping head of the third clamp is spaced from the third clamp carriage; One or more carriage actuators operably coupled to the first and second carriages, the one or more carriage actuators moving the first and second carriages relative to each other from a first carriage fixed position of the first carriage and a second carriage fixed position of the second carriage, where the first and second carriages are spaced apart by a first distance, to a first carriage operating position of the first carriage and a second carriage operating position of the second carriage, where the first and second carriages are spaced apart by a shorter second distance, and a strap segment cutting system comprising the one or more carriage actuators. **Claim 2** The strap segment cutting system according to claim 1, wherein the second cutter is pivotally attached to the second carriage, and the strap segment cutting head further includes a second cutter biasing element that biases the second cutter to a second cutter fixed position where the lifting and lowering cutting head of the second cutter is spaced from the second carriage. **Claim 3** The strap segment cutting system according to claim 1, wherein the first and second clamps are pivotable independently of the first carriage. **Claim 4** The strap segment cutting system according to claim 1, wherein the strap segment cutting head further includes a third clamp carriage biasing element that biases the third clamp carriage to a fixed position. **Claim 5** The strap segment cutting system according to claim 1, wherein the clamping head of the first clamp includes a lower lip and an opposing upper lip, and the lower lip and the upper lip form an opening sized to receive a strap segment. **Claim 6** The strap segment cutting system according to claim 1, wherein the first cutter is movably provided relative to the frame between a first cutter fixed position and a first cutter cutting position, and the strap segment cutting head further includes a first cutter biasing element that biases the first cutter to the first cutter fixed position. **Claim 7** The strap segment cutting head is movably provided together with the first carriage and further includes a first cutter engage, and the first cutter engage is configured to engage with the first cutter when the first carriage moves from the first carriage fixed position to the first carriage operating position, and move the first cutter from the first cutter fixed position to the first cutter cutting position. The strap segment cutting system according to claim 6.

8. A robot arm to which the strap segment cutting head is detachably attached; One or more robot arm actuators operably connected to the robot arm and operable to operate the robot arm to move the strap segment cutting head; The strap segment cutting system according to claim 1, further comprising a controller operably connected to the one or more robot arm actuators and the carriage actuator and configured to control the one or more robot arm actuators and the carriage actuator.

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