ES1244885U - AUTONOMOUS BANDING MACHINE (Machine-translation by Google Translate, not legally binding) - Google Patents

Abstract

Autonomous wrapping machine characterized in that it integrally includes a load element (3) suitable for positioning and supporting the pallet during baling operations, a baling element (4) suitable for carrying out load identification operations and wrapping thereof, a driving element (2) suitable for moving and guiding the assembly formed by a driving element, a loading element and a baling element, a navigation and guiding equipment, as well as communications between the elements. (Machine-translation by Google Translate, not legally binding)

Description

DESCRIPTION

AUTONOMOUS BANDING MACHINE

The present invention, as its name indicates, refers to a wrapping machine with autonomy both to carry out the proper tasks of baling and autonomy of movement and navigation.

Both capacities, combined with each other, allow the baler to acquire high levels of autonomy in carrying out its tasks.

The technical sector in which it is located is that of wrapping machines.

BACKGROUND OF THE INVENTION

Current management and logistics require the handling of numerous packages that, to be treated more efficiently, are bundled together so that they can be handled in larger units, the use of pallets being used as a base stacking packages being widespread. On these.

The problem to be solved is usually centered on how to retain the packages on the pallet for transport and handling.

Depending on the type of load, different types of retention are used, so the use of straps is usual, usually to retain large and resistant parts such as construction elements, however these straps do not protect, for example, against rain.

Another type of retention wrap is the use of shrink bags that, after being placed on the load, are subjected to heat to force their contraction. However, this type of wrap is not useful for non-uniform loads and, obviously, it is not applicable in loads that can be damaged by the application of heat.

To overcome these disadvantages other baling systems have been developed, as an example of the US patent US 3,867,806 where a stack of packages is placed on a turntable, these packages are generally mounted on a pallet in such a way that when turning the turntable, the palletized load of packages is wrapped with a film of elastic material such as a film. During wrapping of the load, the film of material is stressed for adjustment, and the load is wrapped with as many layers as necessary to obtain the desired strength.

Another US patent US 4,067,174 also uses the elastic material film surpassing the previous one by incorporating a drive unit that carries the film reel and the guided stretching unit around the material to be wrapped which, this time, is stopped.

This system has been improved by other subsequent patents such as US Patent 4,095,395, which incorporates a self-guiding system for the bobbin carriage.

The applicant himself is the owner of patent EP2147864 referring to a wrapping machine of the type with a rotating arm and a bobbin carriage that orbits the load and bales it, the load being stationary.

The applicant himself is also the owner of patent EP10005504 referring to a structure to be able to join a functional element, such as a wrapping arm, to a pallet truck in such a way that it is not necessary to transport the load to the place of wrapping, but can transport the wrapping machine to the place of loading or even take advantage of the transits of the load for wrapping.

The US patent US4282700 refers to a device for baling attached to a stacker truck type vehicle, where the wrapping element is attached to the vehicle chassis and presents an inclination, with respect to the ground, so as not to compromise the center of gravity of the assembly especially when the load is raised, and this despite the use of a heavy vehicle such as a forklift, which generates complications for its use as a stacker.

Patent EP2749498 is also known regarding a transportable stacking wrapping machine.

None of the previous patents solves the problem of a baler that can operate autonomously by going to meet the apllet to be balled, selecting the type of baling appropriate to the pallet load and transporting the pallet if necessary.

DESCRIPTION OF THE INVENTION

In order to solve the exposed problems, the present invention refers to a wrapping machine comprising:

1. - A suitable load element to position and support the pallet during baling operations and, where appropriate, transport.

2. - A suitable packing element to carry out the cargo identification and packing operations for which it comprises:

- A structure with a reel-carrying cart that orbits around the load dispensing film.

- A packaging program selector that includes a load identifier, a file with the different packaging programs and a selection software.

- A device for cutting and welding the film.

3. - A driving element suitable for moving and guiding the assembly consisting of a driving element, a loading element and a baling element and comprising:

4. - A navigation and guidance equipment comprising:

- Positioning sensors.

- Proximity sensors

- Space sensors.

- Motion sensors.

- Navigation and guidance software.

5.- Communications between the different elements and sensors.

The three elements, the motor, the load and the baling, act in coordination with each other, exchanging information because there are communications between them.

1.- The wrapping element is communicated with at least the following devices that determine the start or stop of the wrapping cycle:

Communication with the driving element so that this driving element discriminates between start and stop, communicating it to the wrapping element in such a way that the wrapping cycle will not start or stop if the assembly is not stopped.

Communication with space sensor or sensors arranged or arranged at any point of the assembly in such a way that the wrapping cycle will only start if there is enough space around the wrapping element.

Communication with the load element in such a way that a sensor detects and informs about the position of the load in such a way that the wrapping cycle will only start if the load is properly positioned.

Communication with identifiers of the type of load, in such a way that the baling cycle only starts if the type of load has been identified and a baling program has been selected.

Communication with the cutting and welding system to identify the moment of the baling cycle in which it must act.

2. - The driving element is in turn communicated with the following devices and sensors:

Communication with a navigation and guidance equipment that includes positioning sensors to determine the position of the assembly and proximity sensors to determine the possible existence of obstacles in the foreseeable movements of the assembly, governing the driving or stopping instructions for the driving element.

Communication with the wrapping element in such a way that the driving element will only move the assembly if the wrapping element is stopped and positioned properly.

3. - The load element comprises a load detection and positioning sensor that is communicated with the following devices and elements:

Communication with the driving element in such a way as to guide the approach, loading and positioning operations of the load.

Communication with the driving element in such a way that the displacement of the assembly is prevented if the load is not well positioned, allowing in this case only load positioning operations.

Communication with the wrapping element preventing the wrapping cycle from starting if the load is not properly positioned.

In accordance with the foregoing, the wrapping machine autonomously coordinates the following processes whose order may vary:

Location of the cargo, approach to it thanks to a navigation system and positioning of it for its subsequent wrapping. In the event that, due to lack of space or for any other reason, its transfer is necessary, the cargo is transferred.

Identification of the load for the determination of the baling program.

Verification of sufficient space and stopping of the driving element for the start of the selected baling cycle.

Comprehensive wrapping cycle of film fixing operations to the load, wrapping and cutting and welding of the film.

Transport and deposit of the already packed cargo.

For the best understanding of the above, the following figures are attached.

BRIEF DESCRIPTION OF THE FIGURES

FIGURE 1 shows an exemplary embodiment of an autonomous wrapping machine seen as a whole (1) and comprising a driving element (2), a loading element (3) and a baling element (4).

Different sensors distributed by the assembly are also observed such as space sensors (5) a sensor to determine the position of the assembly (6) a proximity sensor (7) to detect possible obstacles, a load identifier (8) and a load positioning sensor (9).

The wrapping machine also includes an arm (10) for manual manipulation if necessary.

One of the elements that allow the total autonomy of the machine is the cutting and welding device (11), which in this case is arranged between the loading pads (12)

DESCRIPTION OF A WAY TO CARRY OUT THE INVENTION

A mode of carrying out the invention is described herein that is not unique but merely explanatory.

The wrapping machine comprises:

1. A load element (3) suitable for positioning and supporting the pallet during baling operations and, where appropriate, transport, comprising a load detection and positioning sensor

2. A packing element (4) suitable for carrying out the cargo identification and packing operations for which it comprises:

- A structure with a reel-carrying cart that orbits around the load dispensing film.

- A packaging program selector that includes a load identifier, a file with the different packaging programs and a selection software.

- A device for cutting and welding the film.

3. A driving element (2) suitable for moving and guiding the assembly consisting of a driving element, a loading element and a baling element.

4. A navigation and guidance equipment comprising:

- Positioning sensors (6).

- Proximity sensors (7).

- Space sensors (5).

- Navigation and guidance software.

5. Communications between the different elements.

The present wrapping machine has the characteristic of being transportable and, consequently, being able to collect the load arranged on a pallet, position it, bale it and transport it until it is deposited at the destination, all these operations being automated, thereby avoiding human error or the risks, always unavoidable, that can occur when a machinery comprises moving elements or moves, circumstances, both, that occur here.

Its operating cycles are as follows.

The navigation and guidance team receives the location of the load to be packed and, in communication with the driving element (2), starts to meet them.

The wrapping element discriminates between a correct or incorrect position of the arm and on whether the arm is running or stopped. The position will be correct when the vertical part of the arm is at its minimum distance from the driving element. Before starting the journey, the wrapping element (4) communicates to the driving element (2) if the position of the arm is correct and if it is stopped. If not, the set will not start running until the arm is stopped and in the starting position.

Once the march has started, the guiding team, with the information that the positioning sensors (6) are giving it, is directing the group towards the destination and with the information that the proximity sensors (7) are providing it makes the decision to stop in case of finding an obstacle in the planned path.

Once the load has been reached, the navigation and guidance equipment, with the information supplied by the proximity sensors, detection and positioning of the load, carries out the stowage operations aimed at properly inserting the load skids (12) on the pallet to baling and leaving the load positioned for baling.

The load positioning sensor (9) determines the optimal position moment of the load and ends the stowage maneuvers.

The packaging program selector, through its load identifier (8), acquires information regarding the type of load and selects among the default packaging programs.

Once the program is selected, the proper wrapping cycle proceeds.

The driving element (2) discriminates between start and stop, communicating to the wrapping element (4) the start or stop situation prior to the start of the wrapping cycle in such a way that this cycle will only start if the assembly is stopped.

Likewise, the space sensor (5) discriminates between enough space or insufficient space to carry out the wrapping cycle, communicating it to the wrapping element that will only start the wrapping cycle if there is enough space.

After verifying that the assembly is stopped and that there is enough space, the wrapping cycle begins.

For this, the cutting and welding device (11) retains the film with a clamp while the reel-carrying carriage starts its orbital and upward movement around the load until it reaches its maximum height, and then descends again.

Once the film has been applied, the cutting and welding element (11) proceeds to weld the end of the film with the layers already applied to it and to cut it, leaving it fixed to a clamp for the next cycle.

Once the load is packed, if it has not been done before, it is moved to its final destination, again with the intervention of the navigation and guidance teams that govern the driving element.

Claims (9)

1. AUTONOMOUS BANDING MACHINE characterized by that it integrally includes a load element (3) suitable for positioning and supporting the pallet during wrapping operations, a wrapping element (4) suitable for carrying out load identification operations and wrapping thereof, a driving element (2) suitable for moving and guiding the assembly formed by a driving element, a loading element and a baling element, a navigation and guiding equipment, as well as communications between the elements. 2. AUTONOMOUS BANDING MACHINE according to claim 1, characterized in that the loading element comprises a comprising a load detection and positioning sensor. 3. AUTONOMOUS BANDING MACHINE according to claim 1, characterized in that the wrapping element comprises a wrapping program selector. 4. AUTONOMOUS BANDING MACHINE according to claim 3, characterized in that the wrapping program selector includes a load identifier, a file with the different wrapping programs and a selection software. 5. AUTONOMOUS BANDING MACHINE according to claim 1, characterized in that the wrapping element comprises a device for cutting and welding the film. 6. AUTONOMOUS BANDING MACHINE according to claim 1, characterized in that the navigation and guidance equipment comprises positioning sensors (6), proximity sensors (7), space sensors (5) and navigation and guidance software. 7. AUTONOMOUS BANDING MACHINE according to claim 1 characterized in that the wrapping element (4) discriminates between the correct or incorrect position of the arm (10) and between whether the arm is running or stopped, communicating both results to the driving element (2) that it will only start the march if the arm is stopped and in the correct position. 8. AUTONOMOUS BANDING MACHINE according to claim 1, characterized in that the driving element (2) discriminates between running and stopping, communicating to the baling element (4) the start or stop position prior to the start of the baling cycle in such a way that it will only start this if the set is stopped. 9. AUTONOMOUS BANDING MACHINE according to claim 6 characterized in that the space sensor (5) discriminates between sufficient space or insufficient space to carry out the wrapping cycle communicating it to the wrapping element that will only start the wrapping cycle if there is sufficient space.