EP3303149B1 - Spulenverpackungssystem und verfahren - Google Patents

Spulenverpackungssystem und verfahren Download PDF

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Publication number
EP3303149B1
EP3303149B1 EP16803855.2A EP16803855A EP3303149B1 EP 3303149 B1 EP3303149 B1 EP 3303149B1 EP 16803855 A EP16803855 A EP 16803855A EP 3303149 B1 EP3303149 B1 EP 3303149B1
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EP
European Patent Office
Prior art keywords
coil
robot arm
horizontal axis
wrapping material
along
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP16803855.2A
Other languages
English (en)
French (fr)
Other versions
EP3303149A1 (de
EP3303149A4 (de
Inventor
Jonas TEGSTRÖM
Patrik TOIVONEN
Ulla LINNA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lamiflex AB
Original Assignee
Lamiflex AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lamiflex AB filed Critical Lamiflex AB
Publication of EP3303149A1 publication Critical patent/EP3303149A1/de
Publication of EP3303149A4 publication Critical patent/EP3303149A4/de
Application granted granted Critical
Publication of EP3303149B1 publication Critical patent/EP3303149B1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/14—Packaging paper or like sheets, envelopes, or newspapers, in flat, folded, or rolled form
    • B65B25/146—Packaging paper or like sheets, envelopes, or newspapers, in flat, folded, or rolled form packaging rolled-up articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B11/00—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material
    • B65B11/04—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material the articles being rotated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/24—Packaging annular articles, e.g. tyres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
    • B65B65/02—Driving gear

Definitions

  • the present invention relates generally to a coil packaging system for wrapping a coil with wrapping material, with a hand-over of wrapping material between two robotic arms and to a process of wrapping coil comprising said system.
  • a coil packaging system comprising a first robot arm having a grappling portion adapted to grip a wrapping material, a second robot arm having a grappling portion adapted to grip the wrapping material, and a coil rotating means adapted to carry and rotate a coil about a coil axis.
  • the first robot arm is only movable along a first horizontal axis in a process of wrapping the coil which, in an operating position, coincides with the coil axis, and the second robot arm is movable along a second horizontal axis, the second horizontal axis being parallel to the first horizontal axis, and along a third horizontal axis, the third horizontal axis being perpendicular to the second axis.
  • the robot arms are adapted to pass the wrapping material between each other.
  • the system By implementing the system as describe above, an easier, simpler, cheaper, more cost-effective and more compact solution for wrapping coils than previously possible may be achieved. Furthermore, the system may be implemented using existing technology which further facilitates implementation of such a system.
  • first grappling portion is adapted to grip a top part of the wrapping material
  • second grappling portion is adapted to grip a bottom part of the wrapping material
  • the second robot arm is extendable along the third axis and is mounted on a guide rail movable along the second axis.
  • the first and second robot arms are adapted to move simultaneously along the first and second horizontal axes. By having the robot arms move parallel to one another there is no need for a sensing and/or coordinating system to keep them properly aligned with each other during operation.
  • first robot arm is arranged at a first height and the second robot arm is arranged at a second height, wherein the distance between the first and the second height is substantially the same as the height of the wrapping material. This may further decrease the need for coordinating and moving the system during operation, as it may be preconfigured for specific heights of coils and wrapping materials.
  • the robot arms are adjustable along a vertical axis.
  • the coil rotating means may also be adjustable along a vertical axis. This enables the system to accommodate coils of various sizes and shapes, since the first robot arm should be roughly aligned with the eye of the coil during operating.
  • a coil packaging system comprising a first robot arm having a grappling portion adapted to grip a wrapping material, a second robot arm having a grappling portion adapted to grip the wrapping material, and a coil rotating means adapted to carry and rotate a coil about a coil axis.
  • the first robot arm is only movable along a first horizontal axis which, in an operating position, coincides with the coil axis, and the second robot arm is movable along a second horizontal axis, the second horizontal axis being parallel to the first horizontal axis, and along a third horizontal axis, the third horizontal axis being perpendicular to the second axis.
  • the robot arms are adapted to pass the wrapping material between each other.
  • Fig. 1 shows a top view of a system 100 for packaging coils according to the present disclosure in an operational position.
  • the system comprises a first robot arm 110, which is movable along a first horizontal axis A1, and a second robot arm 120, which is movable along a second horizontal axis A2.
  • the second horizontal axis A2 is parallel to the first horizontal axis A1, and the second robot arm 120 is also movable along a third horizontal axis A3, which is perpendicular to the first and second horizontal axes A1 and A2.
  • the system 100 further comprises a coil rotating means 140, adapted to carry and rotate a coil 150 about a coil axis A1, wherein the coil axis A1 is the same as the first horizontal axis A1 along which the first robot arm 110 is movable.
  • the first robot arm 110 and the second robot arm 120 are both adapted to grip and carry a wrapping material 114.
  • the first robot arm comprises a grappling portion 112 and the second robot arm comprises a grappling portion 122, where the two grappling portions are similarly adapted to grip and carry a wrapping material.
  • the height of the grappling portions 112, 122 are adapted to grip the wrapping material 114 at different heights, for instance the first grappling portion 112 of the first robot arm 110 may be adapted to grip a bottom portion of the wrapping material 114 while the second grappling portion 122 of the second robot arm 120 may be adapted to grip a top portion of the wrapping material 114.
  • each grappling portion may comprise two grappling arms which are adapted to grip the wrapping material on one side each, and the wrapping material may have handles adapted to be gripped by the grappling portions.
  • the first robot arm 110 is typically only movable in one direction, which is along the first horizontal axis A1. According to one embodiment, the first robot arm 110 is only movable or adapted to move in one direction in or during a process of wrapping the coil, as described for instance in [0031] which is along the first horizontal axis A1. According to one embodiment, the first robot arm 110 is only movable or adapted to move in one direction, during operation or during operation of wrapping the coil, as described for instance in [0031] which is along the first horizontal axis A1.
  • the first robot arm 110 may be adapted to move in a plurality of directions, however for the purpose of carrying out the process of, or during operation of wrapping the coil, the first robot arm 110 is only moving or is movable or adapted to move in one direction which is along the first horizontal axis A1.
  • the second robot arm 120 is movable in two directions, wherein the second direction is perpendicular to the first direction, meaning that the second robot arm is movable along the second horizontal axis A2 which is parallel to the first horizontal axis A1, as well as along the third horizontal axis A3 which is perpendicular to the first and second horizontal axes A1, A2.
  • the wrapping system In order to cover the coil, the wrapping system must be able to move around a coil, i.e. to move in at least four directions along two axes, and an easy way to implement such functionality is by a system according to the present disclosure.
  • the robot arms are further adapted to pass the wrapping material 114 between one another, in order to be able to completely cover a coil 150 with wrapping material 114.
  • the first robot arm 110 is adapted to pass the wrapping material to the second robot arm 120, and the second robot arm 120 is likewise adapted to pass the wrapping material to the first robot arm 110, so that the wrapping material 114 may be passed around the entirety of the coil 150, as well as through the eye of the coil 150.
  • the first robot arm 110 is movable along the first horizontal axis A1, which is also the axis of the coil 150, and therefore the first robot arm 110 is adapted to move through the eye of the coil 150.
  • the second robot arm 120 is adapted to give the wrapping material 114 to the first robot arm 110 before the first robot arm 110 moves through the eye of the coil 150, and is also adapted to receive the wrapping material 114 from the first robot arm 110 after it has moved through the eye of the coil 150. Since the first 110 and second 120 robot arms are similarly adapted with grappling portions, there is virtually no difference between the first arm 110 giving the wrapping material and the second arm 120 receiving it, and the second arm 120 giving the wrapping material 114 and the first arm 110 receiving it.
  • the first robot arm 110 and the second robot arm 120 are adapted to move parallel to each other. This removes the need for a system for coordinating the arms with one another, since the movements will always be coordinated along the parallel axes A1 and A2.
  • Fig. 2 shows a side view of the system of Fig.1 .
  • the first robot arm 110 and the second robot arm 120 may be mounted at different heights relative to the ground. This is for facilitating the hand-over of the wrapping material 114 in an embodiment wherein the first arm 110 grips the wrapping material at a top side, and the second arm 120 grips the material at a bottom side.
  • the coil rotating means 140 are adapted to carry and rotate a coil 150.
  • the rotating means 140 must be sturdy enough to handle the weight of a coil 150 which may be very heavy.
  • the rotating means 140 may comprise two rollers 142 which are rotatable in order to rotate the coil 150.
  • the rotating means 140 may be differently arranged while still achieving the same purpose, for instance they may comprise a bottom part adapted to carry the coil and have two rollers disposed at a top side of the coil 150 adapted to rotate the coil.
  • first 110 and/or second 120 robot arm may be vertically adjustable in order for the system to handle coils of various sizes and shapes. Since at least one of the robot arms 110 is adapted to transport the wrapping material 114 through the eye of the coil 150, vertical adjustability between the arms 110, 120 and the coil 150 is required. This may be achieved by having at least one of the robot arms mounted on vertically adjustable rails 160, which may be for instance pneumatically operated. In some embodiments, the coil rotating means 140 may be adapted to be vertically adjustable instead of the robot arms, for instance by being mounted on vertically adjustable rails 170, for achieving the same functionality. Furthermore, both the robot arms 110, 120 and the coil rotating means 140 may be vertically adjustable.
  • FIG. 3 a three-dimensional side view of the system is shown, which exemplifies the positioning of the robot arms 110, 120, the coil 150 and the wrapping material 114, before the robot arm 110 is about to move through the eye 154 of the coil 150.
  • the robot arm 110 is in the figure holding the wrapping material 114 by using the grappling portion 112, and this position will be referred to as the starting position for the purpose of this explanation, even though the system may have any number of different starting positions.
  • the robot arm 110 will extend through the eye 154 of the coil 150, by moving the robot arm 110 along the first horizontal axis A1, in order to pass the wrapping material 114 through the eye 154 of the coil 150 and thereby wrap the inside of the coil 150 with wrapping material 114.
  • the wrapping material will be passed over to the second robot arm 120.
  • the second robot arm 120 will move parallel to the first robot arm 110 along the second horizontal axis A2, but it is also possible that the robot arms move independently of each other.
  • the second robot arm 120 When passing the material from the first robot arm 110 to the second robot arm 120, it is the second robot arm 120 that moves towards the first robot arm 110 along the third horizontal axis A3, and subsequently grips the wrapping material 114 by use of the grappling portion 122. Since the second robot arm 120 is the one movable along two axes, it needs to be the second robot arm 120 that moves towards the first robot arm 110 rather than the other way around. After the second robot arm 120 has taken the wrapping material 114 from the first robot arm, the second robot arm moves back to the same position along the third axis A3 as it was in the starting position. When moving back, the second robot arm 120 will transport the wrapping material that is being held by the grappling portion 122, which will cover the left side of the coil 150.
  • the second robot arm 120 which is still holding the wrapping material 114, will move towards its starting position along the second horizontal axis A2, thereby wrapping the front side of the coil 150.
  • the second robot arm 120 will once again extend outward along the third horizontal axis A3 in order to pass the wrapping material 114 back to the first robot arm 110, thereby wrapping the right side of the coil.
  • the procedure described above only covers one side of the coil 150 in the case the coil 150 is stationary.
  • the coil rotating means 140 are typically rotating during the whole procedure described above, which will enable the whole coil 150 to be covered with wrapping material 114.
  • the coil is slowly rotating the whole time, while in other implementations the coil rotating means 140 may be adapted to rotate the coil a predetermined amount after each repetition of a cycle as described above. It will be understood that the above cycle has to be reiterated multiple times in order to cover the entire coil 150 with wrapping material 114.
  • the robot arms of the present disclosure are typically pneumatically, mechanically or electrically driven, but it will be understood that other driving mechanisms are possible.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Basic Packing Technique (AREA)
  • Manipulator (AREA)
  • Packaging Of Special Articles (AREA)

Claims (12)

  1. Spulenverpackungssystem (100), umfassend:
    einen ersten Roboterarm (110) mit einem Greifabschnitt (112), der zum Greifen eines Umwickelungsmaterials (114) angepasst ist;
    einen zweiten Roboterarm (120) mit einem Greifabschnitt (122), der zum Greifen eines Umwickelungsmaterials (114) angepasst ist;
    ein Spulenrotationsmittel (140), das zum Tragen und Rotieren einer Spule (150) um eine Spulenachse angepasst ist;
    der erste Roboterarm (110) ist entlang einer ersten horizontalen Achse (A1) beweglich,
    der zweite Roboterarm (120) ist entlang einer zweiten horizontalen Achse (A2) beweglich, wobei die zweite horizontale Achse (A2) parallel zu der ersten horizontalen Achse (A1) ist, und entlang einer dritten horizontalen Achse (A3), wobei die dritte horizontale Achse (A3) senkrecht zu der zweiten horizontalen Achse (A2) ist, wobei die Roboterarme so angepasst sind, dass sie das Umwickelungsmaterial (114) untereinander übergeben,
    dadurch gekennzeichnet, dass
    der erste Roboterarm (110) nur entlang einer ersten horizontalen Achse (A1) in einem Verfahren zum Umwickeln der Spule (150) beweglich ist, die in einer Betriebsposition mit der Spulenachse zusammenfällt.
  2. Spulenverpackungssystem (100) nach Anspruch 1, wobei der erste Roboterarm (110) so angepasst ist, dass er sich durch das Auge (154) der Spule (150) bewegt.
  3. Spulenverpackungssystem (100) nach einem der Ansprüche 1 bis 2, wobei der Greifabschnitt (112) des ersten Roboterarms (110) zum Greifen eines oberen Teils des Umwickelungsmaterials (114) und der Greifabschnitt (122) des zweiten Roboterarms (120) zum Greifen eines unteren Teils des Umwickelungsmaterials (114) angepasst ist.
  4. Spulenverpackungssystem (100) nach einem der Ansprüche 1 bis 3, wobei der zweite Roboterarm (120) entlang der dritten Achse (A3) erweiterbar ist und auf einer entlang der zweiten Achse (A2) beweglichen Führungsschiene montiert ist.
  5. Spulenverpackungssystem (100) nach einem der Ansprüche 1 bis 4, wobei der erste (110) und der zweite (120) Roboterarm angepasst sind, dass sie sich gleichzeitig entlang der ersten (A1) und zweiten (A2) horizontalen Achse bewegen.
  6. Spulenverpackungssystem (100) nach einem der Ansprüche 1 bis 5, wobei der erste Roboterarm (110) in einer ersten Höhe und der zweite Roboterarm (120) in einer zweiten Höhe angeordnet ist, wobei der Abstand zwischen der ersten und der zweiten Höhe im Wesentlichen gleich der Höhe des Umwickelungsmaterials (114) ist.
  7. Spulenverpackungssystem (100) nach einem der Ansprüche 1 bis 6, wobei die Roboterarme (110, 120) entlang einer vertikalen Achse (V1) einstellbar sind.
  8. Spulenverpackungssystem (100) nach einem der Ansprüche 1 bis 7, wobei die Spulenrotationsmittel (140) vertikal einstellbar sind.
  9. Spulenverpackungssystem (100) nach einem der Ansprüche 1 bis 8, wobei die Roboterarme (110, 120) pneumatisch angetrieben werden.
  10. Spulenverpackungssystem (100), umfassend:
    einen ersten Roboterarm (110) mit einem Greifabschnitt (112), der zum Greifen eines Umwickelungsmaterials (114) angepasst ist;
    einen zweiten Roboterarm (120) mit einem Greifabschnitt (122), der zum Greifen eines Umwickelungsmaterials (114) angepasst ist;
    ein Spulenrotationsmittel (140), das zum Tragen und Rotieren einer Spule (150) um eine Spulenachse angepasst ist;
    der erste Roboterarm (110) ist entlang einer ersten horizontalen Achse (A1) beweglich,
    der zweite Roboterarm (120) ist entlang einer zweiten horizontalen Achse (A2),
    wobei die zweite horizontale Achse (A2) parallel zu der ersten horizontalen Achse (A1) ist, und entlang einer dritten horizontalen Achse (A3) beweglich, wobei die dritte horizontale Achse (A3) senkrecht zu der zweiten horizontalen Achse (A2) ist, wobei die Roboterarme so angepasst sind, dass sie das Umwickelungsmaterial (114) untereinander übergeben,
    dadurch gekennzeichnet, dass
    der erste Roboterarm (110) nur entlang einer ersten horizontalen Achse (A1) beweglich ist, die, in einer Betriebsposition, mit der Spulenachse zusammenfällt.
  11. Verfahren zum Umwickeln einer Spule, die folgenden Schritte umfasst:
    - Halten eines Umwickelungsmaterials (14) durch einen Greifabschnitt (112) eines ersten Roboterarms (110),
    - Bewegen des ersten Roboterarms (110) entlang einer ersten horizontalen Achse (A1), die mit einer Spulenachse zusammenfällt, durch das Auge (154) der Spule (150),
    - Bewegen eines zweiten Roboterarms (120) in Richtung des ersten Roboterarms (110) entlang einer dritten horizontalen Achse (A3), die senkrecht zu der ersten horizontalen Achse (A1) ist,
    - Übergeben des Materials von dem ersten Roboterarm (110) an den zweiten Roboterarm (120) durch Greifen des Umwickelungsmaterials (114) unter Verwendung eines Greifabschnitts (122) des zweiten Roboterarms (120),
    - Zurückbewegen des zweiten Roboterarms (120) entlang der dritten horizontalen Achse (A3),
    - Bewegen des zweiten Roboterarms (120) entlang der zweiten horizontalen Achse (A2), die parallel zu der ersten horizontalen Achse (A1) ist,
    - Zurückbewegen des ersten Roboterarms (110) entlang der ersten horizontalen Achse (A1),
    - Bewegen des zweiten Roboterarms (120) entlang der dritten horizontalen Achse (A3),
    - Übergeben des Umwickelungsmaterials (114) an den ersten Roboterarm (110) durch Greifen des Umwickelungsmaterials (114) unter Verwendung des Greifabschnitts (112),
    - Rotation der Spule um die Spulenachse unter Verwendung eines Spulenrotationsmittels (140).
  12. Verfahren zum Umwickeln einer Spule nach Anspruch 11, wobei sich der erste (110) und zweite (120) Roboterarm gleichzeitig entlang der ersten (A1) und zweiten (A2) horizontalen Achse bewegen.
EP16803855.2A 2015-05-29 2016-05-30 Spulenverpackungssystem und verfahren Active EP3303149B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1550699A SE541534C2 (en) 2015-05-29 2015-05-29 Coil packaging system
PCT/SE2016/050501 WO2016195578A1 (en) 2015-05-29 2016-05-30 Coil packaging system

Publications (3)

Publication Number Publication Date
EP3303149A1 EP3303149A1 (de) 2018-04-11
EP3303149A4 EP3303149A4 (de) 2018-04-25
EP3303149B1 true EP3303149B1 (de) 2020-10-14

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP16803855.2A Active EP3303149B1 (de) 2015-05-29 2016-05-30 Spulenverpackungssystem und verfahren

Country Status (6)

Country Link
EP (1) EP3303149B1 (de)
JP (1) JP6788616B2 (de)
KR (1) KR20180046913A (de)
ES (1) ES2833083T3 (de)
SE (1) SE541534C2 (de)
WO (1) WO2016195578A1 (de)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE545823C2 (en) 2020-04-30 2024-02-13 Lamiflex Group Ab Robot Tool, Robot System and Method for Coil Packaging
USD980299S1 (en) 2020-04-30 2023-03-07 Lamiflex Group Ab Industrial robot tool
SE2051554A1 (en) * 2020-12-23 2022-06-24 Lamiflex Group Ab Robot System and Method for Coil Packaging
SE2250772A1 (en) * 2022-06-22 2023-12-23 Lamiflex Group Ab Robot system and method for coil packaging with different angular velocities

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1014463A (en) * 1963-08-30 1965-12-22 Allin Larmuth Improvements relating to wrapping machines
US4829753A (en) * 1988-01-15 1989-05-16 Bricmont Francis H Apparatus for wrapping overlapping laps of strip material over a cylindrical object having an axial opening therein
US6705060B1 (en) * 2000-10-24 2004-03-16 Applied Technology Group, Inc. Method and apparatus for wrapping a coil
GB0109646D0 (en) * 2001-04-19 2001-06-13 Itw Ltd Web tensioning device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
KR20180046913A (ko) 2018-05-09
WO2016195578A1 (en) 2016-12-08
EP3303149A1 (de) 2018-04-11
ES2833083T3 (es) 2021-06-14
JP6788616B2 (ja) 2020-11-25
EP3303149A4 (de) 2018-04-25
SE541534C2 (en) 2019-10-29
SE1550699A1 (en) 2016-11-30
JP2018516814A (ja) 2018-06-28

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