Robotic strapping machine with pivoting strapping head and method

Abstract

A strapping system is mountable to an end effector of a robotic arm for automatically applying strapping to an object. The strapping system has: a frame; a strapping head mounted to the frame; a fixed vertical track section mounted to the frame; a lower track section mounted to the frame below the strapping head; an upper track section mounted to the frame above the strapping head; and, a movable track section mounted to a distal end of one of the upper or lower track sections. The movable track section is movable from a first open position to a second closed position, and cooperates with the lower track section, the upper track section and the vertical track section when in the second closed position to form a chute for advancing strapping around the object.

1 . A strapping system mountable to an end effector of a robotic arm for automatically applying strapping to at least one associated object, the strapping system comprising:
 a frame;   a strapping head mounted to the frame;   a fixed vertical track section mounted to the frame;   a lower track section mounted to the frame below the strapping head;   an upper track section mounted to the frame above the strapping head;   a movable track section mounted to a distal end of one of the upper or lower track sections, the movable track section movable from a first open position to a second closed position, the movable track section cooperating with the lower track section, the upper track section and the vertical track section when in the second closed position to form a chute for advancing strapping around the at least one associated object.   
     
     
         2 . The strapping system of  claim 1 , wherein the movable track section extends parallel to the track section to which it is mounted in the first open position, and wherein the movable track section extends perpendicular to the track section to which it is mounted in the second closed position. 
     
     
         3 . The strapping system of  claim 1 , further comprising at least one track actuator for moving the movable track section between the first open position and the second closed position. 
     
     
         4 . The strapping system of  claim 3 , further comprising at least one retention member for securing the movable track section in the second closed position. 
     
     
         5 . The strapping system of  claim 4 , wherein the retention member includes at least one gas strut. 
     
     
         6 . The strapping system of  claim 5 , wherein the strapping head is pivotally secured to the frame for tilting movement relative to the vertical track section. 
     
     
         7 . The strapping system of  claim 6 , wherein the strapping head can pivot between vertical and horizontal orientations. 
     
     
         8 . The strapping system of  claim 6 , further comprising a strapping head actuator supported by the frame, the strapping head actuator operatively connected between the frame and the strapping head for effecting tilting movement of the strapping head. 
     
     
         9 . A strapping system comprising a strapping chute for advancing an associated strapping material around and object to be strapped, and a strapping head, the strapping chute and the strapping head being supported by a frame mountable to an end effector, wherein the strapping head is pivotally secured to the frame for tilting movement relative to the chute. 
     
     
         10 . The strapping system of  claim 9 , wherein the strapping head is pivotally secured to the frame. 
     
     
         11 . The strapping system of  claim 10 , wherein the strapping chute includes a vertical track section mounted to the frame, and wherein the strapping head is pivotable about a non-vertical axis such that the strapping head can be tilted relative to the vertical track section. 
     
     
         12 . The strapping system of  claim 11 , further comprising a strapping head actuator supported by the frame, the strapping head actuator operatively connected between the frame and the strapping head for effecting tilting movement of the strapping head. 
     
     
         13 . A method of strapping an object comprising:
 positioning a strapping system adjacent the object, the strapping system having a frame, a strapping head mounted to the frame, a fixed vertical track section mounted to the frame, a lower track section mounted to the frame below the strapping head, an upper track section mounted to the frame above the strapping head, a movable track section mounted to a distal end of one of the upper or lower track sections, the movable track section movable from a first open position to a second closed position, the movable track section cooperating with the lower track section, the upper track section and the vertical track section when in the second closed position to form a chute for advancing strapping around the at least one associated object;   advancing the upper and lower track sections into position on opposing sides of the object with the movable track section in the first open position;   moving the movable track section to the second closed position;   advancing strapping material through the chute to surround the object;   tensioning the strapping material with the strapping head; and   severing the strapping material with the strapping head.