Strapping device configured to carry out a strap-attachment check cycle

1. A strapping device comprising:

a sealing assembly comprising a first gripper and an actuator; and

a controller configured to:

cause the sealing assembly to attach a leading strap end of a strap and a trailing strap end of the strap to one another at an attachment area to form a tensioned strap loop around a load; and

after the leading and trailing strap ends are attached to one another, and after the first gripper grips a first portion of the strap that forms the tensioned strap loop, control the actuator to cause the first gripper to impose a pulling force on the attachment area, wherein the pulling force is at least partially aligned with a longitudinal axis of the strap.

2. The strapping device of claim 1 , wherein the actuator is configured to send feedback associated with a characteristic of the actuator to the controller, wherein the controller is further configured to determine, based on the feedback, whether a strap-attachment condition is satisfied.

3. The strapping device of claim 2 , further comprising an output device, wherein the controller is further configured to control the output device to output an indication responsive to determining that the strap-attachment condition is not satisfied.

4. The strapping device of claim 2 , wherein the actuator comprises a motor, the characteristic comprises a stall characteristic, and the strap-attachment condition is satisfied when a stall condition is satisfied.

5. The strapping device of claim 4 , wherein the stall condition is satisfied when a rotational speed of an output shaft of the motor is below a threshold rotational speed for a designated period of time.

6. The strapping device of claim 4 , wherein the stall condition is satisfied when a rotational position of an output shaft of the motor changes less than a designated amount during a designated period of time.

7. The strapping device of claim 4 , wherein the stall condition is satisfied when a back-electromotive force of the motor is below a threshold back-electromotive force upon expiration of a designated period of time.

8. The strapping device of claim 1 , wherein the sealing assembly comprises a second gripper, wherein the controller is further configured to control the actuator to, before causing the first gripper to impose the pulling force on the attachment area, cause the second gripper to grip a second portion of the strap such that the attachment area is between the first and second portions of the strap.

9. The strapping device of claim 8 , wherein the controller is further configured to control the actuator to cause the first gripper to impose the pulling force on the attachment area by controlling the actuator to attempt to move the first gripper away from the second gripper.

10. The strapping device of claim 9 , wherein the sealing assembly further comprises a weld transformer, wherein the controller is configured to cause the sealing assembly to attach the leading and trailing strap ends of the strap to one another by:

causing the second gripper to grip the second portion of the strap,

causing the first gripper to grip the first portion of the strap,

activating the weld transformer to heat at least one of the leading and trailing ends of the strap, and

moving the first gripper toward the second gripper until the leading and trailing ends of the strap engage and attach to one another at the attachment area.

11. A method of operating a strapping device, the method comprising:

attaching, by a sealing assembly, a leading strap end of a strap and a trailing strap end of the strap to one another at an attachment area to form a tensioned strap loop around a load;

after the leading and trailing strap ends are attached to one another and after a first gripper of the sealing assembly grips a first portion of the strap that forms the tensioned strap loop, causing, by an actuator of the sealing assembly, the first gripper to impose a pulling force on the attachment area, wherein the pulling force is at least partially aligned with a longitudinal axis of the strap.

12. The method of claim 11 , further comprising:

sending, by the actuator, feedback associated with a characteristic of the actuator to a controller; and

determining, by the controller and based on the feedback, whether a strap-attachment condition is satisfied.

13. The method of claim 12 , further comprising, responsive to the controller determining that the strap-attachment condition is not satisfied, outputting, by an output device, an indication.

14. The method of claim 12 , wherein the actuator comprises a motor, the characteristic comprises a stall characteristic, and the strap-attachment condition is satisfied when a stall condition is satisfied.

15. The method of claim 14 , further comprising determining, by the controller, that the stall condition is satisfied when a rotational speed of an output shaft of the motor is below a threshold rotational speed for a designated period of time.

16. The method of claim 14 , further comprising determining, by the controller, that the stall condition is satisfied when a rotational position of an output shaft of the motor changes less than a designated amount during a designated period of time.

17. The method of claim 14 , further comprising determining, by the controller, that the stall condition is satisfied when a back-electromotive force of the motor is below a threshold back-electromotive force upon expiration of a designated period of time.

18. The method of claim 11 , further comprising, before causing the first gripper to impose the pulling force on the attachment area, causing, by the actuator, a second gripper to grip a second portion of the strap such that the attachment area is between the first and second portions of the strap.

19. The method of claim 18 , further comprising causing, by the actuator, the first gripper to impose the pulling force on the attachment area by attempting to move the first gripper away from the second gripper.

20. The method of claim 19 , further comprising attaching, by the sealing assembly, the leading and trailing strap ends of the strap to one another by:

causing, by the actuator, the second gripper to grip the second portion of the strap;

causing, by the actuator, the first gripper to grip the first portion of the strap;

heating, by a weld transformer, at least one of the leading and trailing ends of the strap; and

moving, by the actuator, the first gripper toward the second gripper until the leading and trailing ends of the strap engage and attach to one another at the attachment area.