KR20180048155A - Robot tool for coil packing and method of coil packing using the same - Google Patents

Abstract

A robot tool for packaging a coil according to the present invention is supported by a packaging robot disposed around a steel plate coil and binds a packaging material to the coil while turning around an outer circumferential surface of the coil by the packaging robot. The robot tool includes: a support bar disposed in a width direction of the coil while being supported by the packaging robot; a grip portion which is supported by the support bar to grip a front end portion of the packaging material; a coil contact sensing unit for sensing the grip portion coming into contact with the coil when the packaging material is brought into close contact with the coil and the packaging robot moves the grip portion, which is pivoted around the coil, to the coil to overlap a front end of the packaging material to a distal end of the packaging material; a packaging material tension sensing unit for sensing a tension of the packaging material adhering to an outer periphery of the coil in order to bind the front end of the packaging material to the distal end of the packaging material; and a taping unit for binding the front end of the packaging material to the distal end of the packaging material by using an adhesive tape. Therefore, the coil, the packaging material, and the robot tool are prevented from being damaged, and the binding process of the packaging material can be safely performed.

Description

Technical Field [0001] The present invention relates to a robot tool for packaging a coil and a coil packaging method using the robot tool.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot tool for packing a coil and a coil packing method using the same, and more particularly, to a robot packing tool for bundling a coil wrapping a wrapping material for wrapping an outer circumferential surface of a coil.

The steelmaking process consists of a steelmaking process to produce various materials such as iron ore using raw materials, a steelmaking process to remove molten steel from impurities, a casting process to convert the molten steel into a solid state, And the like.

In the casting process, molten steel in a liquid state is injected into a mold, which is then passed through a continuous casting machine and cooled and solidified to form an intermediate material such as a continuous slab, bloom, or billet. The slab is produced as a product in the form of a thin steel plate while passing between a plurality of rolls rotating in the rolling process. The steel sheet thus produced is wound in a coil form (hereinafter referred to as a coil) for convenience of distribution, and is packaged and transported and circulated by a wrapping material.

The wrapping material is composed of an anti-rust paper surrounding the outer circumferential surface and the side surface of the coil for moisture proofing the coil, an outer circumferential protection plate for protecting the outer circumferential surface of the coil, an inner circumferential protection plate for protecting the inner circumferential surface of the coil, And an outer peripheral ring for fixing the outer peripheral protection plate to the outer peripheral surface of the coil.

Of these, the outer protection plate is generally made of steel. The process of wrapping the coil using the outer protective plate includes a step of winding the outer protective plate around the coil and a step of fixing the outer protective plate wound around the coil to the coil.

The process of packaging the coils by using the outer protective plate is generally performed manually by an operator.

However, when the process of wrapping the coils by using the outer protective plate is performed manually, safety accidents frequently occur to workers who handle the outer protective plate made of steel, and it takes much time for the coil packaging due to manual work, And the reliability of the coil package is deteriorated.

In order to solve such a problem, the present applicant has disclosed a coil packaging automation technology through "Korean Patent No. 1155826, Coil Packaging Robot".

However, in the above-mentioned patent, before the packaging robot binds the packaging material, the grip unit which grips the tip end of the packaging material should be brought close to the coil in order to make the tip end of the packaging material overlapped with the coil end close to the end portion of the packaging material. There is a problem that the coil or the packaging robot is damaged due to the collision with the coil.

In addition, the above-described patent has a problem in that, when an excessive tension is formed on the packaging material when the packaging material is on the outer circumferential surface of the coil, the leading end of the packaging material is detached from the clamp unit and the packaging material can be released from the coil.

Korean Registered Patent No. 1155826 (Bulletin of Mar. 07, 2012)

SUMMARY OF THE INVENTION An object of the present invention is to provide a robot tool for wrapping a coil that prevents a collision between a robot tool and a coil that grips the wrapping material when the wrapping material is close to the coil, and a coil packaging method using the robot tool.

It is another object of the present invention to provide a robot tool for packaging a coil, which prevents an excessive tension from being formed on a packing material when the packing material is closely attached to the outer circumferential surface of the coil, and a coil packaging method using the same.

The robot tool for packing a coil according to the present invention, which is supported by a packaging robot disposed around a steel plate coil and which pivots the outer circumferential surface of the coil by the packaging robot and binds the packaging material to the coil, A gripping portion supported by the supporting bar to grip a distal end portion of the packaging material; a wrapping robot for holding the wrapping robot in a state in which the wrapping robot is in contact with the coil so that a distal end of the wrapping material is in close contact with the coil and a distal end portion of the wrapping material is overlapped with a distal end portion of the wrapping material; A coil contact sensing part for sensing that the grip part is brought into contact with the coil by bringing the grip part pivoting about the coil into contact with the coil so that the tip part of the package is connected to the end part of the package, A packing material tension sensing the tension of the packaging material adhered to the outer circumferential surface May be using a portion, and the adhesive tape comprise a taping unit of the front end portion of the casing and the end coupling portion of the packaging.

Wherein the robot packing tool for packing a coil further comprises a transfer block coupled to the support bar so as to be transported in the longitudinal direction of the support bar and supporting the grip portion.

The grip portion includes a base supported by the conveying block, a floating jaw supported by the base, a movable jaw provided to be rotatable about a rotation axis installed on the base, and a movable jaw rotating toward the jaw, And a grip cylinder for gripping a leading end portion of the packaging material positioned between the movable jaw and the movable jaw.

The coil contact sensing unit may include an elastic body disposed between the conveying block and the base and extending and contracting as the base contacts the coil, and a first sensor for sensing elongation and contraction of the elastic body.

The robot packing robot tool may further include a first elastic support rotatably installed on the base and supporting one end of the elastic body and a second elastic support rotatably mounted on the transfer block to support the other end of the elastic body, , The first elastic support and the second elastic support may be connected by the elastic body.

The packaging material tension sensing unit may include a tension sensing cylinder connected to the second elastic supporting body and installed to be able to expand and contract in accordance with the rotation of the second elastic body transfer block, and a second sensor for sensing the expansion and contraction of the tension sensing cylinder.

The feed block and the grip portion may be provided in plural, and may be spaced apart from each other in the longitudinal direction of the support bar according to the width of the coil.

The packaging material binding method using the robot tool for packing a coil according to the present invention, which is supported by a packaging robot disposed in the periphery of a steel plate coil and which pivots the outer peripheral surface of the coil by the packaging robot and binds the packaging material to the coil, A grip portion supported by the support bar and supported by a support bar disposed in the width direction of the coil to grip the distal end portion of the packaging material; a distal end portion of the packaging material being in close contact with the coil and overlapping a distal end portion of the packaging material with a distal end portion of the packaging material; A robot tool proximity step in which the packaging robot approaches the grip part to the coil, a coil contact sensing step in which the coil contact sensing part senses that the grip part contacts the coil, and the packaging robot transfers the robot tool, Wherein a leading end portion of the wrapping material is in close contact with an outer peripheral surface of the coil, The mounting step and the taping unit may use the adhesive tape comprises a tape end to the coupling step of coupling the distal end of the packaging material in the packaging material.

The packaging material binding method using the robot wrapping tool for packaging includes a packaging material tension sensing step in which the packaging material tension sensing unit senses the tension of the packaging material that is in close contact with the outer circumferential surface of the coil between the packaging material front end contact step and the tape binding step .

Wherein the robot tool includes a transfer block which is coupled to the support bar so as to be transported in the longitudinal direction of the support bar and supports the grip portion, wherein the transfer block and the grip portion are respectively provided in plural, The spacing distance can be adjusted in the lengthwise direction.

The robot tool for packaging a coil and the coil packaging method using the same according to the present invention prevent the collision of the coil and the robot tool due to excessive pressure when the packaging material is close to the coil for bundling of the packaging material to prevent damage to the coil, And the binding process of the packaging material can be performed safely.

Further, since the robot tool for packing a coil and the coil packaging method using the same according to the present invention can prevent the packing material from being brought into close contact with the coil due to excessive pressure during the process of firmly adhering the packing material to the coil, In addition, the packaging material can be prevented from being unwound from the coil, and the binding process of the packaging material can be safely performed.

1 is a view schematically showing an installation state of a robot packing robot tool according to the present embodiment.
2 is a side view showing a part of a robot packing robot tool according to the present embodiment.
3 is a flowchart showing a coil packaging method using the robot tool for packing a coil according to the present embodiment.
4 is a view showing an operation in which the robot tool for packing a coil according to the present embodiment grips the tip end of the package.
Fig. 5 is a view showing a state in which the robot tool for packing a coil according to the present embodiment pivots the outer peripheral surface of the coil and the tip end of the package reaches the binding position.
6 is a view showing an operation in which the robot tool for packing a coil according to the present embodiment brings the tip end of the package close to the coil.
7 is a view showing a state in which the robot tool for packing according to the present embodiment detects that the grip portion comes into contact with the coil as the tip end of the package comes close to the coil.
8 is a view showing an operation in which the robot tool for packing a coil according to the present embodiment closely contacts the front end of a packaging material with a coil and senses the tension of the packaging material tension sensing part.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms and the inventor may appropriately define the concept of the term in order to best describe its invention It should be construed as meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are only examples of the present invention, and are not intended to represent all of the technical ideas of the present invention, so that various equivalents and modifications may be made thereto .

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, a robot packing robot tool according to the present invention will be described with reference to the accompanying drawings.

Fig. 1 is a view schematically showing an installation state of the robot packing tool for packaging a coil according to the present embodiment, and Fig. 2 is a side view showing a part of a robot packing robot tool according to this embodiment.

1 and 2, a coil packing apparatus 10 for packing the outer circumferential surface of a coil 1 includes a coil supporting portion 1a for supporting the coil 1, And a robot tool 100 supported by the packaging robot 11 and turning the outer circumferential surface of the coil 1 by the packaging robot 11. [

A robot tool for packaging a coil 100 according to the present embodiment is a robot tool for binding a distal end portion of a packaging material 3 and a distal end portion of a packaging material 3 and includes a support bar 110, A coil contact sensing unit 130, a packaging material tension sensing unit 140, and a taping unit 150. [

The support bar 110 is supported by the packaging robot 11 and disposed in the width direction of the coil 1. [ The support bar 110 serves as a base on which the components of the robot tool 100 can be installed.

Here, the grip portion 120 may be provided in plural so that the packaging material 3 can be gripped together at a plurality of places in the width direction of the packaging material 3. [ The support bar 110 is provided with a plurality of conveying blocks 111 for supporting the plurality of grip parts 120. The spacing between the plurality of conveying blocks 111 is adjusted according to the width of the coil 1. [ A plurality of conveying blocks 111 may be separately transportably installed in the longitudinal direction of the support bar 110. [

That is, a rail groove may be formed in the support bar 110, and a rail for restricting the conveying block 111 in the longitudinal direction of the support bar 110 is formed in each of the conveying blocks 111, . The spacing of the plurality of conveying blocks 111 is manually adjusted by the operator with reference to the width data of the coil 1, and then a means such as a positioning pin is fastened to the supporting bar 110, Can be fixed. In another embodiment, the plurality of conveying blocks 111 are connected to linear actuators such as a ball screw, a rack and pinion, and the like, not shown, Can be adjusted according to the data.

Each of the grip portions 120 is for gripping the distal end portion of the package 3 and may include a base 121, a floating base 122, a movable base 123, and a grip cylinder 124.

The base 121 is supported on the conveying block 111. The floating jaw 122 is supported on the base 121. The movable jaw 123 is rotatably supported on the base 121. The housing of the grip cylinder 124 is rotatably supported on the base 121 and the rod of the grip cylinder 124 can be rotatably connected to the base 121. When the leading end of the packaging material 3 is carried between the floating jaw 122 and the movable jaw 123, the grip cylinder 120 moves the movable jaw 123 toward the floating jaw 122 So that the front end portion of the packaging material 3 can be gripped. Unevenness may be formed on one side of the floating jaw 122 facing the movable jaw 123 so that the gripped packaging material 3 is not easily detached.

On the other hand, when the robot tool 100 gripping the distal end portion of the packaging material 3 reaches the binding position where the distal end portion of the packaging material 3 and the distal end portion of the packaging material 3 are bound, And a clamping part 13 for holding the position of the clamping part 13. The packaging robot 11 moves the leading end portion of the packaging material 3 to the distal end portion of the packaging material 3 in the state in which the leading end portion of the packaging material 3 reaches the binding position and the packaging material 3 is clamped by the clamping portion 13, The robot tool 100 is moved toward the coil 1 in order to overlap the package 3 and the robot tool 100 in order to closely contact the coil 3 with the coil 1 .

The coil contact sensing part 130 is for sensing that the grip part 120 contacts the coil 1 when the robot tool 100 approaches the coil 1. The coil contact sensing part 130 includes an elastic body 131 and a first sensor 132 ).

The elastic body 131 may be disposed between the base 121 and the transfer block 111. The elastic body 131 may be a compression coil spring. Such an elastic body 131 is compressed as the base 121 is brought into contact with the coil 1. The first sensor 132 may be a pressure sensor that generates an electrical signal in response to the compression of the elastic body 131.

Here, the first elastic supporting body 134 may be provided on the base 121, and the second elastic supporting body 134 may be provided on the transfer block 111. The first elastic support 134 may be rotatably connected to the base 121 and the second elastic support 134 may be rotatably connected to the transfer block 111.

The wrapping material tension sensing unit 140 is for sensing the tension of the wrapping material 3 when the leading end of the wrapping material 3 is brought into close contact with the outer circumferential surface of the coil 1 and includes a tension sensing cylinder 141 and a second sensor 142, . ≪ / RTI >

The housing of the tension sensing cylinder 141 is rotatably connected to the conveying block 111 and the rod of the tension sensing cylinder 141 can be rotatably connected to the second elastic support 134. The tension sensing cylinder 141 is rotatably connected to the transport block 111 and the tension sensing cylinder 141 is connected to the second elastic supporter 134, the elastic body 131 and the first elastic supporter 134, And the floating jaw 122 is supported on the base 121. The base 121 is fixed to the base 121,

Therefore, the grip portion 120 gripping the front end portion of the packaging material 3 can be tilted from the transfer block 111. When the leading end of the packaging material 3 reaches the binding position as described above, the packaging robot 11 inserts the robot tool 100 into the wrapping material 3 in order to tightly close the packaging material 3 to the coil 1, Lt; / RTI > At this time, since the packaging material 3 is held by the clamping portion 13 and the grip portion 120 grips the front end portion of the packaging material 3, when the packaging material 3 is excessively tensioned, Is tilted toward the coil (1) and the base (121) is tilted, a pressure greater than a predetermined pressure acts on the tension sensing cylinder (141). At this time, the tension sensing cylinder 141 is elongated and the second sensor senses the elongation of the tension sensing cylinder 141. The second sensor may be a pressure sensor that generates an electrical signal in accordance with the extension of the tension sensing cylinder 141.

On the other hand, the taping unit 150 binds the packaging material 3 to the coil 1 by adhering an adhesive tape to the distal end portion of the packaging material 3 and the distal end portion of the packaging material 3. This taping unit 150 is similar to the "taping unit" disclosed by " Korean Patent No. 1155826, Coil Packaging Robot " already filed and registered by the present applicant. Therefore, a detailed description of the taping unit 150 will be omitted, and the taping unit 150 will be understood with reference to the description of the "taping unit"

Hereinafter, a coil packaging method using the robot packing robot for packaging according to the present embodiment will be described with reference to the accompanying drawings.

3 is a flowchart showing a coil packaging method using the robot tool for packing a coil according to the present embodiment.

Referring to FIG. 3, the coil packaging method using the robot tool for packing a coil according to the present embodiment includes a grip step S11, a robot tool close step S13, a coil contact sensing step S15, a packing material tip contact step S17, A packaging material tension sensing step S19, and a tape binding step S21.

First, the packaging robot 11 places the robot tool 100 on the lower side of the coil 1 in order to grip the packaging material 3. The gripping step S11 is a step of gripping the packaging material 3 supplied to the lower portion of the coil 1. [

4 is a view showing an operation in which the robot tool for packing a coil according to the present embodiment grips the tip end of the package.

Referring to Fig. 4, the packaging material 3 can be supplied to the lower side of the coil 1. Fig. At this time, the clamping part 13 is spaced from the coil 1, and the package 3 passes between the lower end surface of the coil 1 and the clamping part 13.

The grip portion 120 grips the distal end portion of the packaging material 3 that has passed between the lower end surface of the coil 1 and the clamping portion 13. That is, the grip cylinder 124 rotates the movable jaw 123 toward the floating jaw 122. The distal end of the packaging material 3 positioned between the floating jaw 122 and the movable jaw 123 is pressed between the floating jaw 122 and the movable jaw 123 as the movable jaw 123 rotates, ).

Fig. 5 is a view showing a state in which the robot tool for packing a coil according to the present embodiment pivots the outer peripheral surface of the coil and the tip end of the package reaches the binding position.

5, the packaging robot 11 pivots the robot tool 100 along the outer circumferential surface of the coil to transfer the front end portion of the packaging material 3 to the binding position where the distal end portion of the packaging material 3 is bound. When the leading end portion of the packaging material 3 reaches the binding position, the clamping portion 13 clamps the packaging material 3 to maintain the position of the packaging material 3. At this time, the distal end portion of the packaging material 3 can reach the binding position by a tightening device (not shown) and can be brought into close contact with the outer circumferential surface of the coil 1.

The robot tool close step S13 is a step in which the packaging robot 3 is brought into close contact with the coil 1 at the distal end portion of the packaging material 3 and the packaging robot 11 is moved to the grip portion 120 in order to overlap the distal end portion of the packaging material 3 at the distal end portion of the packaging material 3. [ And the coil contact sensing step S15 is a step in which the coil contact sensing part 130 senses that the grip part 120 is in contact with the coil.

Fig. 6 is a view showing an operation in which the robot tool for packing a coil according to the present embodiment approaches the tip end of a package to a coil, Fig. 7 is a view showing a state in which the robot tool for packing a coil approaches the coil, And the grip portion is in contact with the coil.

6 and 7, the packaging robot 11 brings the robot tool 100, which grips the tip end of the packaging material 3, toward the coil 1. As shown in Fig. At this time, the grip portion 120 may contact the outer circumferential surface of the coil 1. That is, the outer peripheral surface of the floating jaw 122 contacts the outer peripheral surface of the coil 1, and the floating jaw 122 contacts the outer peripheral surface of the coil 1, so that the base 121 can be tilted. As the base 121 is tilted, the elastic body 131 is compressed, and the first sensor 132 senses the compression of the elastic body 131 and generates an electrical signal. When the contact of the grip part 120 and the coil 1 is detected by the coil contact sensing part 130, the packaging robot 11 stops the operation of bringing the robot tool 100 close to the coil 1.

As described above, the packaging material binding method using the robot packing tool 100 for packaging according to the present embodiment is characterized in that when the packaging material 3 is brought close to the coil 1 to bind the packaging material 3, The packaging material 3 and the robot tool 100 are prevented from being damaged and the binding process of the packaging material 3 can be safely performed.

Next, in the step S17, the packaging robot 11 transfers the robot tool 100 and the front end of the packaging material 3 is brought into close contact with the outer peripheral surface of the coil 1, and the packaging material tension sensing step S19 Is a step in which the packaging material tension sensing unit 140 senses the tension of the packaging material 3 which is in close contact with the outer peripheral surface of the coil 1.

8 is a view showing an operation in which the robot tool for packing a coil according to the present embodiment closely contacts the front end of a packaging material with a coil and senses the tension of the packaging material tension sensing part.

8, the packaging robot 11 further transports the robot tool 100 in the direction in which the packaging material 3 is wound so that the packaging material 3 is brought into close contact with the outer peripheral surface of the coil 1 more closely. At this time, since the packaging material 3 is held by the clamping portion 13 and the grip portion 120 grips the front end portion of the packaging material 3, when the packaging material 3 is excessively tensioned, Is tilted toward the coil (1) and the base (121) is tilted, a pressure greater than a predetermined pressure acts on the tension sensing cylinder (141). At this time, the tension sensing cylinder 141 is extended, and the second sensor 142 generates an electrical signal in accordance with the extension of the tension sensing cylinder 141. When the extension detecting cylinder 140 detects the extension of the tension sensing cylinder 141, the packaging robot 11 stops the transfer of the robot toll 100.

As described above, the packaging material binding method using the robot tool for packing a coil 100 according to the present embodiment is characterized in that the packaging material 3 is brought into close contact with the coil 1 with an excessive pressure during a process of firmly adhering the packaging material 3 to the coil 1 It is possible to prevent the packaging material 3 from being detached from the robot tool 100 and prevent the packaging material 3 from being unwound from the coil 1 to safely carry out the binding process of the packaging material 3. [ .

Subsequently, the tape binding step S21 is a step in which the taping unit 150 binds the distal end portion of the packaging material 3 and the distal end portion of the packaging material 3 using the adhesive tape. That is, the packaging robot 11 transfers the robot tool 100 in the axial direction of the coil 1 and in the direction in which the packaging material 3 is wound, and the taping unit 150 attaches the adhesive tape to the packaging material 3 The packaging material 3 is bound.

As for the binding method of the packaging material 3 by the taping unit 150, a method of binding the packaging material 3 using the "taping unit" disclosed by " Korean Registered Patent No. 1155826; coil packaging robot " already filed and registered by the present applicant It is very much like the binding method. Therefore, the binding method of the packaging material by the taping unit 150 will not be described in detail, and the binding method of the packaging material by the taping unit 150 is not limited to the binding method of the packaging material by the "taping unit & As will be understood by reference to the description of FIG.

The embodiments of the present invention described above and shown in the drawings should not be construed as limiting the technical idea of the present invention. The scope of protection of the present invention is limited only by the matters described in the claims, and those skilled in the art will be able to modify the technical idea of the present invention in various forms. Accordingly, such improvements and modifications will fall within the scope of the present invention as long as they are obvious to those skilled in the art.

1: coil 1a: coil support
3: Packing material 10: Coil packaging device
11: Packing robot 13: Clamping part
100: robot tool 110: support bar
111: Feed block 120:
121: base 122: floating jaw
123: movable jaw 124: grip cylinder
130: Coil contact sensing unit 131: Elastic body
132: first sensor 133: first elastic support
134: second elastic support 140: packaging material tension sensing unit
141: tension sensing cylinder 142: second sensor
150: Taping unit

Claims (10)

A robot tool for packing a coil supported by a packaging robot disposed in the periphery of a steel coil, for pivoting an outer circumferential surface of the coil by the packaging robot and binding a package to the coil,
A support bar supported by the packaging robot and disposed in a width direction of the coil;
A grip portion supported by the support bar to grip a distal end portion of the packaging material;
Wherein the wrapping robot brings the grip portion of the wrapping robot pivoting the coil close to the coil so that the distal end portion of the wrapping material is brought into close contact with the coil and overlaps the distal end portion of the wrapping material with the end portion of the wrapping material, A coil contact sensing unit for sensing a touch of the coil;
A packaging material tension detector for sensing a tension of the packaging material when the packaging robot transports the grip portion to bring the front end of the packaging material into close contact with the outer circumferential surface of the coil;
And a taping unit for binding the distal end portion of the packaging material and the distal end portion of the packaging material using an adhesive tape. The method according to claim 1,
Further comprising a transfer block coupled to the support bar so as to be transportable in the longitudinal direction of the support bar and supporting the grip portion. 3. The method of claim 2,
The grip portion
A base supported by the transport block;
A floating jaw supported by the base;
A movable jaw rotatably installed on the base;
And a grip cylinder for rotating the movable jaw toward the floating jaw so as to grip the tip end of the packaging material positioned between the floating jaw and the movable jaw. The method of claim 3,
The coil contact sensing unit
An elastic body disposed between the transfer block and the base and being expanded and contracted as the base contacts the coil;
And a first sensor for sensing elongation and contraction of the elastic body. 5. The method of claim 4,
A first elastic supporter rotatably installed on the base and supporting one end of the elastic body;
And a second elastic supporter rotatably mounted on the transport block for supporting the other end of the elastic body,
Wherein the first elastic support and the second elastic support are connected by the elastic body. 6. The method of claim 5,
The packaging material tension sensing unit
A tension sensing cylinder connected to the second elastic supporter and installed to be stretchable in accordance with rotation of the second elastic body transfer block;
And a second sensor for sensing elongation and contraction of the tension sensing cylinder. 3. The method of claim 2,
Wherein the feed block and the grip portion are respectively provided in a plurality of locations and spaced apart from each other in the longitudinal direction of the support bar according to the width of the coil. A packaging material binding method using a robot tool for coil packaging, which is supported by a packaging robot disposed in the periphery of a steel plate coil and which pivots the outer circumferential surface of the coil by the packaging robot and binds the packaging material to the coil,
A gripping step of gripping a leading end portion of the packaging material by a grip portion supported by the supporting bar disposed in the width direction of the coil supported by the packaging robot;
A robot tool proximity step of causing the packaging robot to bring the grip part into close proximity to the coil so that a distal end portion of the packaging material is in close contact with the coil and the distal end portion of the packaging material is overlapped with a distal end portion of the packaging material;
A coil contact sensing unit sensing that the grip portion contacts the coil;
The packaging robot transferring the robot tool so that the leading end of the packaging material is in close contact with the outer circumferential surface of the coil,
And a tape binding step in which the taping unit binds a distal end portion of the packaging material and a distal end portion of the packaging material using an adhesive tape. 9. The method of claim 8,
And a packaging material tension sensing unit for sensing a tension of the packaging material that is in close contact with an outer circumferential surface of the coil between the packaging material tip end contact step and the tape binding step. Binding method. 9. The method of claim 8,
The robot tool
And a transfer block coupled to the support bar and supporting the grip portion in a longitudinal direction of the support bar,
Wherein a plurality of the transfer blocks and the grip portions are provided, and the distance in the longitudinal direction of the support bars is adjusted according to the width of the coils.

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