termination device

Abstract

To provide a binding device that binds an article group consisting of multiple articles and is flexible enough to respond to changes in an external shape of the article group and the number of articles constituting the article group.SOLUTION: A binding device 100 includes conveying means 10, upper binding band feed means 23 having an upper servomotor 24, lower binding band feed means 33 having a lower servomotor 34, binding means 50 for binding an article group XA1 conveyed to a binding position N, and control means 60. The control means outputs a first torque command to the upper servomotor for each article group to feed out an upper binding band 25 of a first length from the upper binding band feed means, outputs a second torque command to the lower servomotor to feed out a lower binding band 35 of a second length, which is shorter than the first length, from the lower binding band feed means, and outputs a third torque command that generates torque lower than that in the second torque command to the lower servomotor during a binding period by the binding means.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a bundling device, and particularly to a bundling device that automatically and continuously bundles articles with a bundling band (such as a heat-sealable plastic film) that can be heat-sealed to the articles.

Background Art

[0002] Conventionally, in a bundling device that automatically and continuously bundles articles with a bundling band that can be heat-sealed to the articles, by accurately positioning the articles at a predetermined position within the bundling position, the tension of the bundling band wound around the articles is made constant, and the bundling state of the articles is tightened and stabilized. A technique is known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the technique described in Patent Document 1, since each article is always positioned at a fixed position within the bundling position by the positioning means, it is difficult to adjust the tightening degree of the bundling band. Specifically, when bundling a group of articles in which a plurality of individually packaged, relatively flexible rod-shaped articles (such as fish sausages) are aggregated together with a bundling band, even if the number of articles in the article group is the same (for example, 5 articles), depending on the aggregation state of the articles, the outer shape of the article group (the cross-sectional shape in the direction intersecting the length direction of the article), that is, the shape of the bundling band winding does not necessarily become a fixed shape, and may vary, for example, into a substantially rhombus, a substantially triangular shape, a substantially pentagonal shape, etc. Alternatively, there may be a case where the number of articles constituting one set of article groups changes in the bundling line (for example, a case where a group of 5 articles and a group of 4 articles are mixed). In any of these cases, the winding length of the bundling band required for each article group (hereinafter, the body circumference) changes.

[0005] Conventional binding devices are unable to flexibly respond when the circumference of a group of items changes due to variations in the external shape and number of items, resulting in problems such as loose binding that causes items to fall out, deterioration of item quality due to overtightening of the binding band, or poor binding due to insufficient heat fusion.

[0006] The present invention has been made in view of the above-mentioned conventional problems, and aims to provide a binding device for binding a group of articles consisting of multiple articles, which can flexibly respond to changes in the external shape of the group of articles and the number of articles constituting the group, and can reliably bind the articles. [Means for solving the problem]

[0007] The present invention provides a conveying means for moving a group of articles consisting of multiple articles along a conveying path, Adjustment means The first binding band feeding means has a first binding band that supplies the first binding band to a binding position provided in the middle of the transport path, Servo The system comprises a motor-driven second binding band feeding means for supplying a second binding band to the binding position, a binding means for wrapping the first and second binding bands around the group of articles being transported to the binding position, sealing the excess length of the wrapping, and a control means, During the period from the start to the completion of the sealing by the fastening means (hereinafter referred to as the "fastening period"), the first fastening band and the second fastening band wrapped around the group of articles are configured to be subjected to the tension of being squeezed by the fastening means. The control means, for each group of articles, The servo For the motor torque Includes instructions control Outputting a command from the second cable tie feeding means Less than half the bundled circumference of one set of the aforementioned articles Feed out the second binding band of length, The aforementioned unity During the period The aforementioned Servo For the motor This generates a torque weaker than the aforementioned tension. This invention relates to a bundling device characterized by performing control to output commands.

[0008] Furthermore, the present invention provides a conveying means for moving a group of articles consisting of multiple articles along a conveying path, First servo motor The first binding band feeding means has a first binding band that supplies the first binding band to a binding position provided in the middle of the transport path, 2ndThe system comprises a servo motor, a second binding band feeding means for supplying a second binding band to the binding position, a binding means for wrapping the first and second binding bands around the group of articles being transported to the binding position, sealing the excess length of the wrapping to bind the group of articles, and a control means, During the period from the start to the completion of the sealing by the fastening means (hereinafter referred to as the "fastening period"), the first fastening band and the second fastening band wrapped around the group of articles are configured to be subjected to the tension of being squeezed by the fastening means. The control means, for each group of articles, A first control command including a first torque command is output to the first servo motor to feed out a first length of the first cable tie from the first cable tie feeding means. The aforementioned 2nd For servo motors 2nd Torque command 2nd Outputting a control command from the second cable tie feeding means A second length shorter than the first length Send out the second binding band, The second length is shorter than half the bundled circumference of one set of articles. The aforementioned bundling During the period The aforementioned 2nd Servo motor In contrast, it generates a torque weaker than the aforementioned tension. This invention relates to a bundling device characterized by performing control to output commands. [Effects of the Invention]

[0009] According to the present invention, a binding device for binding a group of articles consisting of multiple articles can be provided that can flexibly respond to changes in the external shape of the group of articles and the number of articles constituting the group, and can reliably bind the articles. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic front view illustrating the overall configuration of a bundling device according to the first embodiment of the present invention. [Figure 2] This is a schematic plan view illustrating the transport path of the bundling device according to the first embodiment. [Figure 3] These figures illustrate the binding tape feeding mechanism of a binding device according to the first embodiment, and (A) is a front schematic view, (B) is a front schematic view, and (C) is a top schematic view. [Figure 4] This is a schematic front view illustrating the binding means of a binding device according to the first embodiment. [Figure 5] This is a schematic front view illustrating the adjustment means of the binding device according to the first embodiment. [Figure 6] This is a timing chart illustrating the operation of the bundling device according to the first embodiment. [Figure 7] It is a front schematic view for explaining the overall configuration of the bundling device according to the second embodiment of the present invention. [Figure 8] It is a timing chart for explaining the operation of the bundling device according to the second embodiment.

Mode for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In this figure and the following figures, some configurations are appropriately omitted to simplify the drawings. And in this figure and the following figures, the size, shape, thickness, etc. of the members are exaggerated appropriately for expression. Hereinafter, as the definition of the direction in the description of this embodiment, the first direction in which the article group XA1 moves from upstream to downstream (from left to right in FIG. 1) is the transport direction T, the second direction orthogonal to the transport direction T is the transport width direction W, and the third direction orthogonal to the transport direction T and the transport width direction W is the transport height direction H.

[0012] <First Embodiment> First, the bundling device 100 according to the first embodiment of the present invention will be described. <Bundling Device> FIG. 1 is a front schematic view showing an example of the bundling device 100 according to this embodiment (first embodiment). The bundling device 100 of this embodiment includes a transport means 10 for transporting the article group XA1, a first bundling band supply device 20 for supplying the first bundling band 25, a second bundling band supply device 30 for supplying the second bundling band 35, an adjustment means 40, a bundling means 50 for bundling the article group XA1 with the upper bundling band 25 and the lower bundling band 35, and a control means 60.

[0013] FIG. 2 is a top (planar) schematic view for explaining the transport means 10, FIG. 3 is a front schematic view for explaining the first bundling band feeding means 23 and the second bundling band feeding means 33, FIG. 4 is a front schematic view for explaining the bundling means 50, and FIG. 5 is a front schematic view for explaining the adjustment means 40. The first bundling band feeding means 23 has a first servo motor 24, and the second bundling band feeding means 33 has a second servo motor 34.

[0014] Here, the first cable tie supply device 20 (first cable tie feeding means 23 and first servo motor 24) is provided on one side of the transport means 10 (in this example, the upper side in the transport height direction H), and the second cable tie supply device 30 (second cable tie feeding means 33 and second servo motor 34) is provided on the other side of the transport means 10 (in this example, the lower side in the transport height direction H). In the following description, the first cable tie supply device 20, the first cable tie feeding means 23, the first servo motor 24, and the first cable tie 25 will be referred to as the upper cable tie supply device 20, the upper cable tie feeding means 23, the upper servo motor 24, and the upper cable tie 25, respectively. Furthermore, the second cable tie supply device 30, the second cable tie feeding means 33, the second servo motor 34, and the second cable tie 35 are referred to as the lower cable tie supply device 30, the lower cable tie feeding means 33, the lower servo motor 34, and the lower cable tie 35, respectively.

[0015] Referring to Figures 1 and 2, the conveying means 10 is, for example, a finger conveyor that moves a group of articles XA1, consisting of multiple articles XA1', placed on the conveying path 11, along the conveying path 11. The conveying path 11 is composed of a pair of sliding plates 11A that are spaced parallel to each other and horizontally, as shown in Figure 2, and the group of articles XA1 is placed on the top of this pair of sliding plates 11A at predetermined intervals. As shown in Figure 1, the conveying means 10 includes a pair of sprockets 16 that are rotatably mounted below both ends in the longitudinal direction of each sliding plate 11A, two chains 13 that are spaced apart in the conveying width direction W and rotate along an oval track parallel to each sliding plate 11A, a motor (not shown) that rotates one of the sprockets 16, and a plurality of conveying fingers 14 (front fingers 14A and rear fingers 14B) that are attached to the two chains 13 at predetermined intervals. As shown in Figures 1 and 2, the multiple front fingers 14A and rear fingers 14B of one chain 13 and the multiple front fingers 14A and rear fingers 14B of the other chain 13 are attached to each chain 13 at the same pitch in the longitudinal direction of each chain 13 and facing each other in the conveying width direction W.

[0016] Each conveying finger 14 is configured to move along the inside of each sliding plate 11A and to protrude upward from the upper surface of each sliding plate 11A. Specifically, the front finger 14A is erected at an angle to the surface of the sliding plate 11A such that its tip (upper) in the conveying height direction H is located forward (downstream) in the conveying direction T than the attachment point (downward) of the chain 13. On the other hand, the rear finger 14B is erected in a direction approximately perpendicular to the surface of the sliding plate 11A.

[0017] Then, a group of articles XA1 is positioned between the protruding parts of a pair of front fingers 14A and rear fingers 14B that are arranged one behind the other. When both chains 13 are rotated, each group of articles XA1 is transported in the transport direction T (from left to right in Figure 1) by a pair of front fingers 14A and a pair of rear fingers 14B that are facing each other in the transport width direction W.

[0018] <Upper cable tie supply device and lower cable tie supply device> Referring to Figures 1 and 3, the upper binding band supply device 20 includes, for example, a raw material roll support section 21 for the upper binding band 25, a plurality of rollers 22 over which the upper binding band 25 is stretched, and an upper binding band feeding means 23 that supplies the upper binding band 25 toward a binding position N located in the middle of the transport path 11. The binding position N is the position where the upper binding band 25 and the lower binding band 35 are bound (sealed) by a binding means 50, which will be described later.

[0019] The upper binding band feeding means 23 includes an upper feed roller 27 that pinches the upper binding band 25, an upper restraining roller 26 rotatably mounted on a rotating shaft (not shown), and an upper servo motor 24 that rotationally drives the upper feed roller 27. During operation of the binding device 100, the upper restraining roller 26 and the upper feed roller 27 are fixed in their respective positions, and the upper binding band 25 is held between the upper feed roller 27 and the upper restraining roller 26 without slipping. Based on a control command output from the control means 60, the upper servo motor 24 rotationally drives the upper feed roller 27, so that for each group of articles XA1, a predetermined amount (length) of upper binding band 25 according to the control command is fed toward the binding position N. In this embodiment, the upper binding tape feeding means 23 stops the rotation of the upper feed roller 27 after feeding a predetermined amount (first length L1) of upper binding tape 25 to a certain group of articles XA1. The upper binding tape 25 is held between the upper feed roller 27 and the upper retaining roller 26 without slipping, and the supply (feeding) of the upper binding tape 25 is also stopped when the rotation of the upper feed roller 27 stops. The first length L1 is the length required to bind the group of articles XA1, and is, for example, approximately half the circumference of the group of articles XA1.

[0020] The lower binding tape feeding means 33 includes a raw material roll support section 31 for the lower binding tape 35, a plurality of rollers 32 over which the lower binding tape 35 is stretched, and a lower binding tape supply device 30 that supplies the lower binding tape 35 toward the binding position N located in the middle of the transport path 11. The lower binding tape supply device 30 includes a lower feed roller 36 and a lower restraining roller 37 capable of pinching the lower binding tape 35, and a lower servo motor 34 that rotates the lower feed roller 36. Based on a control command output from the control means 60, the lower servo motor 34 rotates the lower feed roller 36, thereby feeding out a quantity (length) of the lower binding tape 35 toward the binding position N according to the control command. As will be described later, in this embodiment, the lower binding band 35 may be fed toward the binding position N while being held between the lower feed roller 36 and the lower restraint roller 37 without slipping, or it may be fed toward the binding position N while sliding between the lower feed roller 36 and the lower restraint roller 37, based on a control command output from the control means 60.

[0021] <Binding means> Figure 4 is a schematic front view of the fastening means 50. Figures 4(A) and 4(B) are schematic front views showing the fastening process in chronological order. Figure 4(C) and 4(D) are enlarged views of the area around the fastening means 50, respectively, of Figure 4(A) and Figure 4(B), illustrating the lengths of the upper fastening band 25 and the lower fastening band 35. Figure 4(E) is a diagram illustrating the first length L1. Figures 4(D) and 4(E) omit the illustration of the sealer 51.

[0022] Referring to Figures 1 and 4, the binding means 50 includes a pair of sealers 51 (e.g., an upper sealer 51A and a lower sealer 51B) arranged vertically in the example of Figure 1, flanking the transport path 11, and a drive mechanism (e.g., an air cylinder) 52 that moves the sealers 51 closer to and further away from the transport path 11 in a direction substantially perpendicular to it.

[0023] As shown in Figure 4(A), at the binding position N, the sealer 51 moves closer to each other, with the upper sealer 51A contacting the upper binding band 25 and pushing it downwards, and the lower sealer 51B contacting the lower binding band 35 and pushing it upwards. As a result, as shown in Figure 4(B), the upper binding band 25 and the lower binding band 35 are wrapped around the group of articles XA1 being transported to the binding position N. The excess length of the upper binding band 25 and the lower binding band 35 is then sealed to bind the group of articles XA1.

[0024] Referring to Figures 4(C) and 4(D), when the upper binding band 25 and lower binding band 35 are bound (sealed) by the binding means 50, after the upper binding band 25 has been supplied with the first length L1 required for binding, the upper binding band feeding means 23 stops feeding the upper binding band 25. The upper binding band 25 is pinched by the upper feed roller 27 and the upper retaining roller 26 without slipping. The first length L1 is, for example, approximately half the circumference of the article group XA1. More precisely, as shown in Figure 4(E), it is the length L1a, which is equivalent to half the circumference of the article group XA1, plus the sealing areas L1b and L1c before and after the conveying direction T during conveying (in the following description, the lengths of the sealing areas L1b and L1c before and after will be omitted and referred to as "approximately half the circumference of the article group XA1").

[0025] Furthermore, after the lower binding band 35 is supplied with a second length L2 which is shorter than the first length L1, the lower binding band feeding means 33 stops feeding the lower binding band 35. The lower binding band 35 is pinched between the lower feed roller 36 and the upper retaining roller 37 without slipping.

[0026] At this point, the combined length of the supplied upper binding band 25 and lower binding band 35 (L1 + L2) is insufficient (shortfall Lx) compared to the total binding band length L3 necessary and sufficient for binding the group of items XA1.

[0027] Therefore, when the fastening means 50 presses the upper fastening band 25 and the lower fastening band 35 together and fastens (seals) them, the upper fastening band 25 and the lower fastening band 35 are squeezed by the fastening means 50, causing them to adhere tightly to the outer shape of the article group XA1, and generating squeezing tension in the upper fastening band 25 and the lower fastening band 35.

[0028] Subsequently, as will be described in detail later, the control means 60 controls the supply of a deficiency length Lx from the lower binding band feeding means 33 according to the tension of the binding means 50. Here, if there is a change in the external shape of the group of articles XA1, the total length L3 of the binding band necessary and sufficient for binding the group of articles XA1 will also change, and the deficiency length Lx will also change. In this embodiment, since the deficiency length Lx is supplied according to the tension of the binding means 50, a total length L3 of the binding band necessary and sufficient for binding the group of articles XA1 can be supplied, enabling reliable binding.

[0029] <Adjustment means> Referring to Figures 1 and 5, for example, the upper binding tape feeding means 23 includes an adjustment means 40. The adjustment means 40 adjusts the tension of the upper binding tape 25 between the upper feed roller 27 and the binding position N when the supply (feeding) of the upper binding tape 25 is stopped due to the rotation of the upper feed roller 27 stopping. The adjustment means 40 has a pivot shaft 41 (for example, the rotation axis of the upper retaining roller 26) fixedly attached to the base (of the binding device 100, not shown), an arm 42 with one end pivotably attached to the pivot shaft 41, a dancer roller 43 attached to the other end of the arm 42, a biasing means (elastic member, for example, a spring) 44 with one end attached to the dancer roller 43, and an air cylinder 45 connected to the other end of the biasing means 44.

[0030] Figure 5(A) shows the case where the tension of the upper binding band 25 is not adjusted (not allowed) (outside the tension adjustment period). Outside the tension adjustment period, the air cylinder 45 extends. This releases the biasing force on the dancer roller 43, and the dancer roller 43 moves to the stop position shown in Figure 5(A).

[0031] Figures 5(B) to 5(D) show the case where the tension of the upper binding band 25 is adjusted (tension adjustment period). During the tension adjustment period, as shown in Figure 5(B), the air cylinder 45 is compressed to move the dancer roller 43 to the rear (upstream) side in the conveying direction T via the biasing means 44 (applying a biasing force to move the dancer roller 43 to the upstream side (left side in the figure)). In this state, the dancer roller 43 can move back and forth in the conveying direction T within a predetermined range, depending on the relationship between the tension on the upper binding band 25 and the biasing force of the biasing means 44 (for example, the elastic force of a spring) (the biasing force of the biasing means 44 is set in this manner).

[0032] When the dancer roller 43 is in the position shown in Figure 5(C), the tension of the upper binding band 25 located between the upper feed roller 27 and the binding position N decreases, and if the upper binding band 25 is tightened too much by the tightening action of the binding means 50, the tightening is reduced. On the other hand, when the dancer roller 43 is in the position shown in Figure 5(D), the tension of the upper binding band 25 located between the upper feed roller 27 and the binding position N increases, and if there is slack in the upper binding band 25, that slack is absorbed.

[0033] <Control means> The control means 60 consists of a CPU, RAM and ROM memory, and storage devices such as HDDs and SSDs, and comprehensively controls the bundling device 100. The CPU is a so-called central processing unit, and various programs are executed to realize various functions. RAM is used as the CPU's work area. ROM and / or storage devices store the basic OS and programs executed by the CPU.

[0034] The control means 60 of this embodiment also includes, although not shown in the figures, a torque command generation unit that generates and outputs torque commands for the upper servo motor 24 and the lower servo motor 34 respectively, a position command generation unit that generates and outputs a position command, and a speed command generation unit that generates and outputs a speed command. This outputs control commands to the upper servo motor 24 and the lower servo motor 34, respectively. The control commands include a torque command and a position command and / or speed command.

[0035] The control means 60 outputs a first control command (a first torque command, a first position command, and / or a first speed command) to the upper servo motor 24, and the upper binding band supply device 20 (upper binding band feeding means 23) feeds an upper binding band 25 of first length L1 toward the binding position N. Here, the first length L1 is the amount of upper binding band 25 required (planned) to bind a set of items XA1, and is, for example, approximately half the binding circumference of a set of items XA1.

[0036] Furthermore, the control means 60 outputs a fourth control command to the upper servo motor 24 at least during the period in which the bundle of articles XA1 is bundled by the bundling means 50 (referred to as the "bundling period"). The fourth control command is a command that maintains the torque based on the first torque command in the upper servo motor 24 (a fourth torque command that instructs the same torque output as the first torque command) and stops the rotation of the upper feed roller 27 (a command that includes a fourth position command and / or a fourth speed command). This stops the feeding of the upper bundling band 25 from the upper bundling band feed means 23.

[0037] Furthermore, the control means 60 outputs a second control command (a second torque command, a second position command, and / or a second speed command) to the lower servo motor 34 to feed a lower binding band 35 of second length L2 from the lower binding band supply device 30 (lower binding band feeding means 33) toward the binding position N. Here, the second length L2 is, for example, shorter than half the binding circumference of a set of items XA1.

[0038] Furthermore, during the binding period, the control means 60 outputs a third control command (a third torque command, a third position command, and / or a third speed command) to the lower servo motor 34. This third torque command is a command that generates a lower torque than the second torque command.

[0039] <Control Command (Torque Command)> Next, the control commands of this embodiment, particularly the torque commands, will be described. For example, the first control command of the upper servo motor 24 is a command to feed out the upper binding band 25, which is pinched by the upper feed roller 27 and the upper retaining roller 26, in accordance with the amount of rotation of the upper feed roller 27, without slipping relative to the upper feed roller 27 and the upper retaining roller 26. In this case, the feeding of the upper binding band 25 is completely (100%) led by the upper servo motor 24. In this embodiment, the torque generated in the upper servo motor 24 when the feeding of the upper binding band 25 is 100% led by the upper servo motor 24 is used as the reference (100%), and the torque command value is expressed as a ratio to that torque (the same applies to the lower servo motor 34).

[0040] For example, before the fastening period, the upper servo motor 24 feeds out an upper fastening band 25 of a first length L1 based on a first control command. This first control command includes a first torque command of "100% torque" and a first position command and / or a first speed command indicating "the number of rotations required to feed out the upper fastening band 25 by a predetermined amount, i.e., a length of the first length L1 (for example, approximately half the circumference of the body of the article group XA1)".

[0041] During the binding period for a particular set of items XA1, the upper servo motor 24 stops feeding the upper binding band 25 from the upper binding band supply device 20 based on the fourth control command. The fourth control command includes a fourth torque command of "100% torque" and a fourth position command and / or fourth speed command indicating "0 rotations per minute".

[0042] Furthermore, prior to the binding period, the lower servo motor 34 feeds out a lower binding band 35 of second length L2 based on a second control command. This second control command includes a second torque command of "100% torque" and a second position command and / or second speed command indicating "the number of rotations to feed out the lower binding band 35 of second length L2 (for example, a length shorter than half the circumference of the body of the item group XA1)".

[0043] During the binding period for a certain set of items XA1, the lower servo motor 34 is controlled based on a third control command. The third control command includes a third torque command that is lower than the second torque command, for example, "10% torque", and a third position command and / or a third speed command indicating "0 rotational speed".

[0044] In this embodiment, the lower servo motor 34 is controlled based on the 2' control command during the period from when it finishes feeding the lower binding band 35 of the second length L2 until it receives the third control command. The 2' control command includes a 2' torque command and a 2' position command and / or a 2' rotation command. The 2' torque command has the same torque command value (100% torque) as the 2 torque command, and the 2' position command and / or 2' rotation command is a command indicating "rotation speed '0'". In other words, the lower binding band feeding means 33 stops feeding the lower binding band 35 during the period from when it finishes feeding the lower binding band 35 of the second length L2 until it receives the third control command. The lower binding band 35 is pinched between the lower feed roller 36 and the lower retaining roller 37 without slipping.

[0045] With this control, before the binding period, the upper binding band supply device 20 supplies an upper binding band 25 of a first length L1 (equivalent to half the circumference of a set of items XA1), and then stops supplying. On the other hand, the lower binding band supply device 30 supplies a lower binding band 35 of a second length L2 (shorter than half the circumference of a set of items XA1), and then stops supplying. In other words, as shown in Figure 4(D), the total length of the binding bands (L1+L2) is insufficient (insufficient length Lx) compared to the total length L3 of the binding bands necessary and sufficient for binding the item group XA1. In this state, when binding by the binding means 50 begins during the binding period, the upper binding band 25 and the lower binding band 35 are wrapped around the group of articles XA1 by the adjacent upper sealer 51A and lower sealer 51B, and tension is generated in the upper binding band 25 and the lower binding band 35 due to the proximity of the binding means 50 (upper sealer 51A and lower sealer 51B).

[0046] During this binding period, the control means 60 outputs a third control command to the lower servo motor 34. The third torque command included in the third control command is a command that generates a torque weaker than the tension caused by the close proximity of the binding means 50 (upper sealer 51A and lower sealer 51B). Specifically, this torque command value is lower than the second torque command, for example, a torque command value of "10% of the torque". The third control command also includes a third position command and / or a third speed command indicating "rotational speed '0'".

[0047] In other words, the lower binding tape feeding means 33 controls the torque output of the lower servo motor 34 from "100% torque" (second torque command) to "10% torque" during the binding period.

[0048] With this control, as shown in Figure 4(D), when the lower binding band feeding means 33 receives the third control command, if the tension of the lower binding band 35 becomes greater than the torque output of the lower servo motor 34 in accordance with the tension of the wiping, the lower feed roller 36 rotates in the film feeding direction until the upper sealer 51A and lower sealer 51B complete the sealing, thereby feeding out the lower binding band 35 by the insufficient length Lx toward the binding position N (it is permitted for the binding means 50 to pull out the insufficient length of the lower binding band 35).

[0049] This enables secure binding of item group XA1 without loosening or overtightening.

[0050] Figure 6 is a timing chart showing an example of the operation of each component of the bundling device 100 of the first embodiment. In Figure 6, for a group of articles XA1, one cycle of the bundling process, from the start of transport by the transport fingers 14 to the separation of the articles (groups) as individual bundled articles by bundling (sealing) and cutting, is defined as 360°, and the timing of operations from the initial state (bundling process cycle 0°) to the bundling process cycle 360° is shown. The initial state is, for example, the state in which the transport fingers 14 that transport the target group of articles XA1 are in the initial position P0.

[0051] The "torque control timing" in the upper first stage refers to the timing of torque control in the lower servo motor 34, particularly the execution timing of control based on the third control command (torque command value "10% torque", rotation speed "0") which includes the third torque command. "Torque control ON" is the period during which control by the third torque command is performed. On the other hand, "torque control OFF" is the period during which control by the third torque command is not performed. In other words, it is the period during which control by the second control command (torque command value "100% torque", rotation speed that sends out the second length L2), which includes the second torque command, or control by the second' control command (torque command value "100% torque", rotation speed "0") is performed.

[0052] The second stage, "upper servo feed," indicates the period during which the upper binding band 25 is fed out from the upper servo motor 24 toward the binding position N based on the first control command. The third stage, "lower servo feed," indicates the period during which the lower binding band 35 is fed out from the lower servo motor 34 toward the binding position N based on the second control command. The timing of the feed (stop) of the upper binding band 25 and the timing of the lower binding band 35 are approximately the same, but the feed period of the upper binding band 25 is longer than the feed period of the lower binding band 25.

[0053] The fourth step, "Upper binding band adjustment," indicates the period during which the tension of the upper binding band 25 can be adjusted (movement of the dancer roller 43) by the adjustment means 40. "Adjusted" indicates the tension adjustment period, and "Not adjusted" indicates outside the tension adjustment period.

[0054] The fifth row, "Sealer," indicates the open / closed state of the sealer 51 of the binding means 50, and the sixth row, "Finger," indicates the period (timing) of movement and stopping of the conveying finger 14.

[0055] First, in the initial state of the bundling process (bundling cycle 0°), the transport fingers 14 that transport the target group of items XA1 are in the initial position P0 (see Figure 1) and begin to move from a stopped state. The "torque control timing" is "torque control off," meaning that control by the third torque command is not performed, and the "lower servo feed" is in the "feed" state. In other words, the control means 60 outputs a second control command including a second torque command to the lower servo motor 34, and a lower bundling band 35 with a second length L2, which is shorter than the first length L1, is fed from the lower bundling band supply device 30 toward the bundling position N. Also, the control means 60 outputs a first control command including a first torque command to the upper servo motor 24, and an upper bundling band 35 with a first length L1 is fed from the upper bundling band supply device 20 toward the bundling position N.

[0056] Furthermore, the "upper binding band adjustment" is set to "no adjustment," and the adjustment means 40 is in the "off" state outside the tension adjustment period. The "sealer" is between "open" and "closed," with the sealer 51 initially separated by a predetermined distance, and then gradually moving further apart. At the timing of the binding process cycle 77°, the sealer 51 is in its most open state, and this state is maintained until 141°.

[0057] At the 80° timing of the binding process cycle, the "lower servo feed" stops. In other words, at this timing, the lower servo motor 34 finishes feeding the lower binding band 35 of the second length L2 based on the second control command and is controlled based on the 2' control command. That is, while maintaining the same torque command value (100% torque) as the second torque command, the "rotation speed becomes '0'" (i.e., the feeding of the lower binding band 35 stops).

[0058] After the lower binding band 35 stops being fed out (for example, at a timing of 85°), the "upper servo feed" stops. That is, at this timing, the upper servo motor 24 stops feeding out the upper binding band 25 of the first length L1 based on the first control command and is controlled based on the fourth control command. The fourth control command is a command that includes a fourth torque command of "100% torque" and a fourth position command and / or fourth speed command indicating "rotation speed 0", which stops the feeding of the upper binding band 25.

[0059] At the timing of the 140° binding cycle, the "upper binding band adjustment" becomes "adjustment enabled". In other words, the adjustment means 40 is turned "on" (tension adjustment period), and the adjustment means 40 can adjust the tension of the upper binding band 25 (movement of the dancer roller 44).

[0060] At the timing of the 141° binding cycle (immediately after the adjustment means 40 is turned "on"), the upper and lower sealers 51 begin to move closer to each other in order to seal the upper binding band 25 and the lower binding band 35. This timing marks the start of the binding period in this embodiment.

[0061] At the timing of the 150° binding cycle (after the start of the binding period), the transport finger 14 stops pushing the group of items XA1.

[0062] After the transport fingers 14 have finished pushing the group of articles XA1, the upper servo motor 24 stops feeding the upper binding band 25, and the lower binding band 35 also stops feeding at 100% torque, and in this state the sealer 51 gradually approaches. That is, at the binding position N, the upper sealer 51A comes into contact with and pushes the upper binding band 25, and the lower sealer 51B comes into contact with and pushes the lower binding band 35, as they move closer to each other. As a result, the upper binding band 25 and the lower binding band 35 are wrapped around the group of articles XA1 being transported to the binding position N.

[0063] Here, the combined length of the upper binding band 25 and the lower binding band 35 that are sent out is insufficient for the circumference of the body of the article group XA1, and the proximity of the sealer 51 creates tension in the upper binding band 25 and the lower binding band 35 due to the close proximity of the binding means 50 (upper sealer 51A and lower sealer 51B).

[0064] During this binding period (for example, at the 180° timing of the binding process cycle), the control means 60 outputs a third torque command (including a third control command) to the lower servo motor 34, and the "torque control timing" becomes "torque control ON". The third torque command is a command that generates a torque (torque command value "10%") weaker than the tension of the binding means 50 (upper sealer 51A and lower sealer 51B) due to their proximity. The third position command and / or third speed command is a command that indicates, for example, "rotation speed '0'".

[0065] Upon receiving the third control command, the lower binding band feeding means 33 feeds out the lower binding band 35 by the insufficient length Lx in accordance with the tension applied by the sealer 51, sliding against the lower feeding roller 36 and the lower holding roller 37 towards the binding position N (it is permitted for the binding means 50 to pull out the insufficient length of the lower binding band 35; see Figures 4(C) and 4(D)).

[0066] Thus, in this embodiment, during the period when the third torque command (10% torque) is output, the lower binding band 35 is appropriately pulled out by the binding means 50 according to the outer shape of the article group XA1 and the tension of the binding means 50. In other words, after the first length L1 of the upper binding band 25 and the second length L2 of the lower binding band 35 have been fed out, the lower binding band 35 is pulled out based on the third control command to compensate for the insufficient binding length Lx.

[0067] Furthermore, the adjustment means 40 is in the ON state at least during the binding period (from the 140° binding cycle onward). The biasing force of the biasing means 44 in the adjustment means 40 (for example, the elastic force of the spring) is also set to a force weaker than the tension exerted by the binding means 50's proximity on the upper binding band 25 and the lower binding band 35. As a result, the upper binding band supply device 20 adjusts the tension of the upper binding band 25 in accordance with the tension exerted by the sealer 51.

[0068] In principle, the upper binding band 25 supplies a predetermined amount according to the first control command, and then the supply is stopped according to the fourth control command. However, due to the external shape of the item group XA1 (variations in the stacking state) and the elongation of the upper binding band 25 and / or the lower binding band 35, the predetermined amount may be in excess of or insufficient compared to the actual amount used.

[0069] In this embodiment, a biasing force weaker than the tension exerted by the binding means 50 on the upper binding band 25 and the lower binding band 35 is applied to the dancer roller 43. Therefore, when the binding means 50 starts to tighten the upper binding band 25 and the lower binding band 35 during the binding period, the dancer roller 43 moves in accordance with the tension, and as a result, the tension of the upper binding band 25 downstream of the upper servo motor 24 is adjusted. In other words, if there is slack in the upper binding band 25 downstream of the upper servo motor 24, it is absorbed (Figure 5(D)), or if there is insufficient tension (overtightening), the dancer roller 43 moves to release the tension (Figure 5(C)).

[0070] Returning to Figure 6, at the timing of the 240° binding cycle, the "torque control timing" becomes "torque control off". In other words, at this timing, the control means 60 outputs a control command to the lower servo motor 34 that is different from the third torque command (including the third control command). This control command is, for example, the same as the 2' control command (100% torque, rotation speed '0'). As a result, the pulling out of the lower binding band 35 is stopped.

[0071] At the timing of the 271° binding cycle (after "torque control off"), the sealer 51 is closest to the upper binding band 25 and the lower binding band 35, which are the excess length of the wrapping, and seals them. During the period up to the 307° binding cycle (for example, at the timing of the 307° binding cycle), the sealed portion is cut, separating the individual bound group XA1. In this embodiment, for example, the period from the 141° binding cycle (when the upper and lower sealers 51 start to move closer together) to the cutting of the sealed portion after the timing of the 271° binding cycle (for example, at the timing of the 307° binding cycle) is called the "binding period".

[0072] At the timing of the 280° binding cycle, the "upper binding band adjustment" is set to "no adjustment," meaning the adjustment by the adjustment means 40 is turned off.

[0073] Subsequently, at the timing of the 307° binding cycle, the upper and lower sealers 51 begin to move in a direction that separates them from each other.

[0074] Subsequently, for example, at the timing of the 315° binding cycle, the "upper servo feed" is set to "feed out," that is, based on the first control command, the upper servo motor 24 feeds out the lower binding band 35 of first length L1 toward the binding position N in order to bind the next group of items XA1.

[0075] At the timing of the 320° binding cycle after the "upper servo feed" becomes "feeding enabled", the "lower servo feed" becomes "feeding enabled", meaning that based on the second control command, the lower binding band 35 of second length L2 is fed towards the binding position N by the lower servo motor 34.

[0076] Thus, in this embodiment, before the binding period, the upper binding band 25 is supplied with a predetermined amount of a first length L1 (for example, approximately half the circumference of a set of articles XA1), and the lower binding band 35 is supplied with a second length L2 that is shorter than the first length L1, resulting in a shortage of binding bands for binding the article group XA1. In this embodiment, with the supply of the upper binding band 25 stopped during the binding period, the lower servo motor 34 is controlled to generate a torque (in this example, a torque of 10% of the command value) that is weaker than the tension exerted by the binding means 50 on the upper binding band 25 and the lower binding band 35.

[0077] This allows the torque of the lower servo motor 34 to be overcome by the tension of the upper and lower binding bands 25 and 35, and the lower binding band 35 to be pulled out (compensated) by a missing length Lx before the upper sealer 51A and lower sealer 51B complete the seal.

[0078] Furthermore, the adjustment means 40 is configured to function at least during the binding period. When the adjustment means 40 is functioning (turned on), the biasing means 44 biases the dancer roller 43 with a biasing force weaker than the tension exerted by the binding means 50 on the upper binding band 25 and the lower binding band 35. Therefore, even if the supply of the upper binding band 25 is stopped by the fourth control command, the dancer roller 43 can adjust the tension of the upper binding band 25 downstream of the upper servo motor 24, absorbing the slack in the upper binding band 25 or paying out the insufficient amount.

[0079] As a result, each item in group XA1 can be securely bound along its outer shape without loosening or overtightening. In this way, a binding device 100 can be provided that can flexibly adapt to changes in the outer shape and number of items in group XA1.

[0080] Furthermore, even if the supply of the upper binding band 25 is stopped, it is permissible for the lower binding band 35 to be pulled out (compensated) by the amount of the insufficient length Lx, so it is not necessary to provide an adjustment means 40 in the binding device 100 described above.

[0081] <Second Embodiment> Next, a bundling device 100' according to a second embodiment of the present invention will be described. Figure 7 is a schematic front view showing an example of a bundling device 100' according to the second embodiment, and Figure 8 is a timing chart showing an example of operation in each component of the bundling device 100' according to the second embodiment.

[0082] Referring to Figure 7, the upper servo motor 24 may be omitted in the upper binding band supply device 20' (upper binding band feeding means 23') of the binding device 100'. In this case, the upper feed roller 27' is mounted rotatably around the rotation axis, and the upper restraining roller 26' is a roller that does not rotate at all times. The upper feed roller 27' and the upper restraining roller 26' are configured to move closer to and further apart from each other during the operation of the binding device 100', and when they move closer together, the upper binding band 25 is pinched. The upper binding band 25 is supplied toward the binding position N when the upper feed roller 27' and the upper restraining roller 26' are separated, and its supply is stopped when it is pinched by the upper feed roller 27' and the upper restraining roller 26'. In other words, the upper feed roller 27' and the upper restraining roller 26' function as a "binding band restraining means 28" that restrains the supply of the upper binding band 25. The rest of the configuration is almost the same as that of the first embodiment, and the same components are indicated by the same reference numerals as in Figure 1. The following mainly describes the parts that differ from the first embodiment.

[0083] The binding device 100' includes a transport means 10 for moving a group of articles XA1 consisting of multiple articles XA1' on a transport path 11, a first (upper) binding band feeding means 23' having an adjustment means 40 for supplying a first (e.g., upper) binding band 25 to a binding position N provided in the middle of the transport path 11, a second (lower) binding band feeding means 33 having a lower servo motor 34 for supplying a second (lower) binding band to the binding position N, a binding means 50 for wrapping the upper binding band 25 and the lower binding band 35 around the group of articles XA1 being transported to the binding position N, sealing the excess length of the wrapping to bind the group of articles XA1, and a control means 60.

[0084] <Upper cable tie supply device and lower cable tie supply device> In the second embodiment, the upper binding band supply device 20' is configured such that the upper binding band 25 is pulled out (feeded out) as the group of articles XA1 is pushed toward the binding position N by the conveying means 10, and its feeding and stopping are controlled by the binding band holding means 28 (upper feed roller 27' and upper holding roller 26'). In other words, when the upper feed roller 27' and upper holding roller 26' are separated, the upper binding band 25 is pulled out by a first length L1' (corresponding to the movement) as the group of articles XA1 immediately upstream of the binding position N moves. As will be described later, when the binding band holding means 28 approaches at a certain timing and pinches the upper binding band 25, the pulling out (feeding out) stops. In the first embodiment, the amount of upper binding band 25 fed out (first length L1) was set by the control of the upper servo motor 24. However, in the second embodiment, the length of upper binding band 25 fed out (first length L1') may differ (the length may vary) for each item group XA1 due to variations in the external shape of the item group XA1. The first length L1' is generally about half the circumference of the item group XA1.

[0085] The lower binding band feeding means 33 is configured the same as in the first embodiment. Based on a control command output from the control means 60, the lower servo motor 34 rotates the lower feed roller 36, thereby feeding out a lower binding band 35 of a quantity (length) corresponding to the control command toward the binding position N. The amount of lower binding band 35 supplied by the lower servo motor 34 is a predetermined value (second length L2) based on the control command. The second length L2 is shorter than half the circumference length of the article group XA1. Based on the control command output from the control means 60, the lower binding band 35 may be fed toward the binding position N while being held between the lower feed roller 36 and the lower retaining roller 37 without slipping, or it may be fed toward the binding position N while sliding between the lower feed roller 36 and the lower retaining roller 37.

[0086] <Binding means>

[0087] As shown in Figure 4, when the upper binding band 25 and lower binding band 35 are bound (sealed) by the binding means 50, the upper binding band 25 is supplied with a first length L1' corresponding to the amount of movement of the article group XA1 by the conveying device 10, and then the feeding of the upper binding band 25 is stopped by the binding band holding means 28. Similarly, the lower binding band 35 is supplied with a second length L2 shorter than half the circumference of the article group XA1, and then the feeding of the lower binding band 35 is stopped by the lower binding band feeding means 33. The lower binding band 35 is pinched between the lower feeding roller 36 and the upper holding roller 37 without slipping.

[0088] At this point, the combined length of the supplied upper binding band 25 and lower binding band 35 (L1' + L2) is insufficient compared to the total binding band length L3, which is necessary and sufficient for binding the group of articles XA1 (insufficient length Lx').

[0089] Therefore, when the fastening means 50 presses the upper fastening band 25 and the lower fastening band 35 together and fastens (seals) them, the upper fastening band 25 and the lower fastening band 35 are squeezed by the fastening means 50, causing them to adhere tightly to the outer shape of the article group XA1, and generating squeezing tension in the upper fastening band 25 and the lower fastening band 35.

[0090] Subsequently, a control command from the control means 60 supplies a lower binding band 35 from the lower binding band feeding means 33 in accordance with the tension of the binding means 50. In some cases, an upper binding band 25 is supplied by the adjustment means 40 of the upper binding band feeding means 23, thereby replenishing the insufficient length Lx. Here, if there are changes in the number of articles XA1' that make up the article group XA1, or in the external shape of the article group XA1, the total length L3 of the binding band necessary and sufficient for binding the article group XA1 will also change, and the insufficient length Lx' will also change. In this embodiment, since the insufficient length Lx' is replenished by supplying the lower binding band 35, and optionally the upper binding band 25, in accordance with the tension of the binding means 50, a total length L3 of the binding band necessary and sufficient for binding the article group XA1 can be supplied, enabling reliable binding.

[0091] <Adjustment means> Referring to Figures 7 and 5, the upper binding tape feeding means 23' includes an adjustment means 40. The adjustment means 40 adjusts the tension of the upper binding tape 25 between the upper feed roller 27' and the binding position N when the supply (feedout) of the upper binding tape 25 is stopped by the binding tape holding means 28. In other words, similar to the first embodiment, during the tension adjustment period (Figure 5(B)), the dancer roller 43 is moved back and forth in the transport direction T within a predetermined range according to the relationship between the tension on the upper binding tape 25 and the biasing force of the biasing means 44 (e.g., the elastic force of a spring) (the biasing force of the biasing means 44 is set in that manner).

[0092] When the dancer roller 43 is in the position shown in Figure 5(C), the tension of the upper binding band 25 located between the upper feed roller 27 and the binding position N decreases, and if the upper binding band 25 is tightened too much by the tightening action of the binding means 50, the tightening is reduced. On the other hand, when the dancer roller 43 is in the position shown in Figure 5(D), the tension of the upper binding band 25 located between the upper feed roller 27 and the binding position N increases, and if there is slack in the upper binding band 25, that slack is absorbed.

[0093] <Control means> The control means 60 includes a torque command generation unit that generates and outputs a torque command for the lower servo motor 34, a position command generation unit that generates and outputs a position command, and a speed command generation unit that generates and outputs a speed command. This allows the control commands (second control command, second' control command, and third control command) to be output to the lower servo motor 34. The content of these control commands is the same as in the first embodiment.

[0094] The control means 60 outputs a second control command to the lower servo motor 34 to feed the lower binding band 35 of second length L2 from the lower binding band supply device 30 (lower binding band feeding means 33) toward the binding position N. After feeding the lower binding band 35 of second length L2, the control means 60 outputs a second' control command to the lower servo motor 34 to stop feeding the lower binding band 35. Furthermore, during the binding period, the control means 60 outputs a third control command to the lower servo motor 34. This third torque command is a command that generates a lower torque than the second torque command.

[0095] With this control, before the binding period, the upper binding band supply device 20 supplies an upper binding band 25 of a first length L1' (approximately half the circumference of the item group XA1, but there is variation for each item group XA1), and then stops supplying. On the other hand, the lower binding band supply device 30 supplies a lower binding band 35 of a second length L2 (shorter than half the circumference of a set of item group XA1), and then stops supplying. In other words, as shown in Figure 4(D), the total length of the binding bands (L1' + L2) is insufficient (insufficient length Lx') compared to the total length L3 of the binding bands necessary and sufficient for binding the item group XA1. In this state, when binding by the binding means 50 begins during the binding period, the upper binding band 25 and the lower binding band 35 are wrapped around the group of articles XA1 by the adjacent upper sealer 51A and lower sealer 51B, and tension is generated in the upper binding band 25 and the lower binding band 35 due to the proximity of the binding means 50 (upper sealer 51A and lower sealer 51B).

[0096] During this binding period, the control means 60 outputs a third control command (third torque command) to the lower servo motor 34, which generates a torque weaker than the tension caused by the binding means 50's proximity. As a result, as shown in Figure 4(D), in the lower binding band feeding means 33, if the tension of the lower binding band 35 becomes greater than the torque output of the lower servo motor 34 in accordance with the tension of the binding, the lower feed roller 36 rotates in the film feeding direction until the upper sealer 51A and lower sealer 51B complete sealing, thereby feeding out a lower binding band 35 equal to the insufficient length Lx' toward the binding position N (it is permissible for the binding means 50 to pull out the insufficient length of the lower binding band 35). In addition, the adjustment means 40 may adjust the tension of the upper binding band 25 located between the upper feed roller 27' and the binding position N. This enables secure binding of item group XA1 without loosening or overtightening.

[0097] Referring to Figure 8, an example of the operation of each component of the binding device 100' will be explained. In the second embodiment, the feeding (pulling out) of the upper binding band 25 is due to the movement of the item group XA1 and is therefore outside the control of the binding device 100' (control means 60). On the other hand, since the control means 60 controls the binding band holding means 28, the timing of the operation of the binding band holding means 28 (with / without holding) is indicated in the fourth stage as "upper binding band holding".

[0098] In the fourth stage, the "upper binding band holder" indicates that "with holder" means the upper binding band 25 is pinched (held) by the upper feed roller 27' and upper holder roller 26', and feeding is stopped. In "without holder," the upper feed roller 27' and upper holder roller 26' are separated, and the upper binding band 25 is fed out (pulled out) by the movement of the item group XA1. The timing for the other stages (stages 1 to 3 and stages 5 and 6) is the same as in the first embodiment.

[0099] First, in the initial state of the bundling process (bundling cycle 0°), the transport fingers 14 that transport the target group of items XA1 are in the initial position P0 (see Figure 1) and begin to move from a stopped state. The "torque control timing" is "torque control off," meaning that control by the third torque command is not performed, and the "lower servo feed" is in the "feed" state. In other words, the control means 60 outputs a second control command including the second torque command to the lower servo motor 34. As a result, the lower bundling band 35 of second length L2 is fed from the lower bundling band supply device 30 toward the bundling position N. Also, the control means 60 separates the bundling band holding means 28 ("no holding" of the "upper bundling band holding"), and the upper bundling band 35 is fed from the upper bundling band supply device 20 toward the bundling position N, allowing the movement of the group of items XA1 to carry it.

[0100] Furthermore, the "upper binding band adjustment" is set to "no adjustment," and the adjustment means 40 is in the "off" state outside the tension adjustment period. The "sealer" is between "open" and "closed," with the sealer 51 initially separated by a predetermined distance, and then moving to gradually move further apart from that position.

[0101] At the 77° mark of the binding cycle, the sealer 51 is in its most open state, and this state is maintained until 141°.

[0102] At the 80° timing of the binding process cycle, the "lower servo feed" stops. In other words, at this timing, the lower servo motor 34 finishes feeding the lower binding band 35 of the second length L2 based on the second control command and is controlled based on the 2' control command. That is, while maintaining the same torque command value (100% torque) as the second torque command, the "rotation speed becomes '0'" (i.e., the feeding of the lower binding band 35 stops).

[0103] At the timing of the 140° binding cycle, the "upper binding band adjustment" becomes "adjustment enabled". In other words, the adjustment means 40 is turned "on" (tension adjustment period), and the adjustment means 40 can adjust the tension of the upper binding band 25 (movement of the dancer roller 44).

[0104] At the timing of the 141° binding cycle (immediately after the adjustment means 40 is turned "on"), the upper and lower sealers 51 begin to move closer to each other in order to seal the upper binding band 25 and the lower binding band 35. This timing marks the start of the binding period in this embodiment.

[0105] At the timing of the 150° binding cycle (after the start of the binding period), the transport finger 14 stops pushing the group of items XA1.

[0106] At the timing of the 152° binding cycle (after the completion of the pushing of the group of articles XA1 by the transport fingers 14), the "upper binding band holder (binding band holder means 28)" enters the "holding" state. In other words, at least during the binding period, the control means 60 pinches the upper binding band 25 with the binding band holder means 28 and stops the feeding of the upper binding band 25 from the upper binding band feeding means 23. From this point onward, with the feeding of the upper binding band 25 stopped and the feeding of the lower binding band 35 stopped at 100% torque, the sealer 51 gradually approaches. In other words, at the binding position N, the upper sealer 51A comes into contact with and pushes the upper binding band 25, and the lower sealer 51B comes into contact with and pushes the lower binding band 35 as they approach each other. This causes the upper binding band 25 and the lower binding band 35 to be wrapped around the group of items XA1 that are being transported to the binding position N.

[0107] Here, the combined length of the upper binding band 25 and the lower binding band 35 that are sent out is insufficient for the circumference of the body of the article group XA1, and the proximity of the sealer 51 creates tension in the upper binding band 25 and the lower binding band 35 due to the close proximity of the binding means 50 (upper sealer 51A and lower sealer 51B).

[0108] During this binding period (for example, at the 180° timing of the binding process cycle), the control means 60 outputs a third torque command (including a third control command) to the lower servo motor 34, and the "torque control timing" becomes "torque control ON". The third torque command is a command that generates a torque (torque command value "10%") weaker than the tension of the binding means 50 (upper sealer 51A and lower sealer 51B) due to their proximity. The third position command and / or third speed command is a command that indicates, for example, "rotation speed '0'".

[0109] Upon receiving the third control command, the lower binding band feeding means 33 feeds out the lower binding band 35 by the insufficient length Lx in accordance with the tension applied by the sealer 51, sliding against the lower feeding roller 36 and the lower holding roller 37 towards the binding position N (it is permitted for the binding means 50 to pull out the insufficient length of the lower binding band 35; see Figures 4(C) and 4(D)).

[0110] Thus, in this embodiment, during the period when the third torque command (10% torque) is output, the lower binding band 35 is appropriately pulled out by the binding means 50 according to the outer shape of the article group XA1 and the tension of the binding means 50. In other words, after the first length L1' of the upper binding band 25 and the second length L2 of the lower binding band 35 have been fed out, the lower binding band 35 is pulled out based on the third control command to compensate for the insufficient binding length Lx'.

[0111] Furthermore, the adjustment means 40 is in the ON state at least during the binding period (from the 140° binding cycle onward). The biasing force of the biasing means 44 in the adjustment means 40 (for example, the elastic force of the spring) is also set to a force weaker than the tension exerted by the binding means 50's proximity on the upper binding band 25 and the lower binding band 35. As a result, the upper binding band supply device 20 adjusts the tension of the upper binding band 25 in accordance with the tension exerted by the sealer 51.

[0112] In principle, the upper binding band 25 is supplied in any amount as the item group XA1 moves, and then the supply is stopped by the pinching of the binding band holding means 28. However, due to the external shape of the item group XA1 (variations in the stacking state), fluctuations in the number of items XA1' that make up the item group XA1, or the stretching of the upper binding band 25 and / or the lower binding band 35, the amount of upper binding band 25 supplied may be surplus or insufficient compared to the actual amount used.

[0113] In this embodiment, a biasing force weaker than the tension exerted by the binding means 50 on the upper binding band 25 and the lower binding band 35 is applied to the dancer roller 43. Therefore, when the binding means 50 starts to tighten the upper binding band 25 and the lower binding band 35 during the binding period, the dancer roller 43 moves in accordance with the tension, and as a result, the tension of the upper binding band 25 downstream of the upper feed roller 27' is adjusted. In other words, if there is slack in the upper binding band 25 downstream of the upper feed roller 27', it is absorbed (Figure 5(D)), or if there is insufficient tension (overtightening), the dancer roller 43 moves to release the tension (Figure 5(C)).

[0114] Returning to Figure 8, at the timing of the 240° binding cycle, the "torque control timing" becomes "torque control off". In other words, at this timing, the control means 60 outputs a control command to the lower servo motor 34 that is different from the third torque command (including the third control command). This control command is, for example, the same as the 2' control command (100% torque, rotation speed '0'). As a result, the pulling out of the lower binding band 35 is stopped.

[0115] At the timing of the 271° binding cycle (after "torque control off"), the sealer 51 seals the upper binding band 25 and lower binding band 35, which are in the closest proximity and have excess length for wrapping. During the period up to the 307° binding cycle (for example, at the timing of the 307° binding cycle), the sealed portion is cut to separate the individual bound item group XA1.

[0116] At the timing of the 280° binding cycle, the "upper binding band adjustment" is set to "no adjustment," meaning the adjustment by the adjustment means 40 is turned off.

[0117] Subsequently, at the timing of the 307° binding cycle, the upper and lower sealers 51 begin to move in a direction that separates them from each other.

[0118] At the timing of the 320° binding cycle, the "lower servo feed" is set to "feed out," meaning that based on the second control command, the lower servo motor 34 feeds out the lower binding band 35 of second length L2 toward the binding position N.

[0119] Thus, in this embodiment, before the binding period, the upper binding band 25 is supplied with an arbitrary first length L1' (for example, approximately half the circumference of a set of items XA1) that is left to the movement of the item group XA1, and the lower binding band 35 is supplied with a second length L2 that is shorter than half the circumference, resulting in a shortage of binding bands for binding the item group XA1. In this embodiment, with the supply of the upper binding band 25 stopped during the binding period, the lower servo motor 34 is controlled to generate a torque (in this example, a torque of 10% of the command value) that is weaker than the tension exerted by the binding means 50 on the upper binding band 25 and the lower binding band 35.

[0120] This allows the torque of the lower servo motor 34 to be overcome by the tension of the upper and lower binding bands 25 and 35, and allows the lower binding band 35 to be pulled out (compensated) by a missing length Lx' while the upper sealer 51A and lower sealer 51B are completing the seal.

[0121] Furthermore, the adjustment means 40 is configured to function at least during the binding period. When the adjustment means 40 is functioning (turned on), the biasing means 44 biases the dancer roller 43 with a biasing force weaker than the tension exerted by the binding means 50 on the upper binding band 25 and the lower binding band 35. Therefore, even if the supply of the upper binding band 25 is stopped by the binding band holding means 28, the dancer roller 43 can adjust the tension of the upper binding band 25 downstream of the upper feed roller 27', absorbing the slack in the upper binding band 25 or providing the necessary amount of feed.

[0122] As a result, each item in group XA1 can be securely bound along its outer shape without loosening or overtightening. In the second embodiment, a binding device 100 can be provided that can flexibly respond to changes in the outer shape of item group XA1, including changes in the number of items (e.g., number of pieces) that make up item group XA1.

[0123] In the above embodiment, the first length L1 of the upper binding band 25 was set to a predetermined amount which is approximately half the circumference of the article group XA1. However, the first length L1 in the first control command may be adjusted each time by feedback control of the length of the upper binding band 25 actually used for binding.

[0124] Furthermore, the upper servo motor 24 may be used to compensate for any deficiency in binding (deficient length Lx) during the binding period. That is, during the binding period, the upper servo motor 24 may be controlled to generate a torque (in this example, a torque of 10% of the command value) that is weaker than the tension exerted by the binding means 50 on the upper binding band 25 and the lower binding band 35. In this case, the lower servo motor 34 may be configured to stop supplying the lower binding band 35 (a configuration that reverses the top and bottom in the above embodiment), or the lower servo motor 34 may also be configured to compensate for any deficiency in binding. In this case, the adjustment means 40 may not be provided.

[0125] Furthermore, in the above embodiment, the first length L1 was set to approximately half the circumference of the article group XA1, but the first length L1 only needs to be a predetermined amount necessary for bundling, and may be longer or shorter than approximately half the circumference of the article group XA1.

[0126] In the above embodiment, the first cable tie supply device 20 may be a lower cable tie supply device, and the second cable tie supply device 30 may be an upper cable tie supply device. Alternatively, for example, the transport path 11 may be configured to extend in a vertical direction, and the first cable tie supply device 20 and the second cable tie supply device 30 may be arranged on either side of the transport path 11.

[0127] As stated above, the present invention is not limited to the embodiments described above, and various modifications are possible without departing from its spirit and technical concept. [Explanation of Symbols]

[0128] 100 Binding device 10 Conveying means 11 Conveyor path 11A Slide 13 chains 14 Conveyor Fingers 14A Front Finger 14B Rear Finger 16 sprocket 20 Upper binding band supply device 21. Support section for raw material roll 22 Laura 23 Upper binding tape feeding means 24 Upper servo motor 25 Upper binding band 30 Lower binding band supply device 31. Support section for raw material roll 33 Lower binding tape feeding means 34 Lower servo motor 35 Lower binding band 40 Adjustment means 43 Dancer Laura 44. Biasing means 50 Binding means 51 Sealer 60 Control means XA1 Article group

Claims

1. A transport means for moving a group of items consisting of multiple items along a transport path, A first binding band feeding means having an adjustment means, which supplies a first binding band to a binding position provided in the middle of the transport path, A second binding band feeding means having a servo motor and supplying a second binding band to the binding position, A binding means for binding the group of articles by wrapping the first binding band and the second binding band around the group of articles being transported to the binding position, and sealing the excess length of the wrapping, Equipped with control means, During the period from the start to the completion of the sealing by the fastening means (hereinafter referred to as the "fastening period"), the first fastening band and the second fastening band wrapped around the group of articles are configured to be subjected to the tension of being squeezed by the fastening means. The control means, for each group of articles, A control command including a torque command is output to the servo motor to feed out the second binding band from the second binding band feeding means, with a length shorter than half the binding circumference of one set of the articles. During the aforementioned binding period, control is performed to output a command to the servo motor that generates a torque weaker than the tension. A binding device characterized by the following features.

2. A transport means for moving a group of items consisting of multiple items along a transport path, A first binding band feeding means having a first servo motor, which supplies a first binding band to a binding position provided in the middle of the transport path, A second binding band feeding means having a second servo motor and supplying a second binding band to the binding position, A binding means for binding the group of articles by wrapping the first binding band and the second binding band around the group of articles being transported to the binding position, and sealing the excess length of the wrapping, Equipped with control means, During the period from the start to the completion of the sealing by the fastening means (hereinafter referred to as the "fastening period"), the first fastening band and the second fastening band wrapped around the group of articles are configured to be subjected to the tension of being squeezed by the fastening means. The control means, for each group of articles, A first control command including a first torque command is output to the first servo motor to feed out a first length of the first cable tie from the first cable tie feeding means. A second control command including a second torque command is output to the second servo motor to feed out the second cable tie of a second length shorter than the first length from the second cable tie feeding means. The second length is shorter than half the bundled circumference of one set of articles. During the aforementioned binding period, control is performed to output a command to the second servo motor that generates a torque weaker than the tension. A binding device characterized by the following features.

3. Having an adjustment means for adjusting the tension of the first binding band at least during the binding period, The binding device according to feature 2.

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