SE1550699A1

SE1550699A1 - Coil packaging system

Info

Publication number: SE1550699A1
Application number: SE1550699A
Authority: SE
Inventors: LINNA Ulla; Tegström Jonas; TOIVONEN Patrik
Original assignee: Lamiflex Ab
Priority date: 2015-05-29
Filing date: 2015-05-29
Publication date: 2016-11-30
Also published as: ES2833083T3; EP3303149A1; EP3303149B1; KR20180046913A; JP6788616B2; SE541534C2; JP2018516814A; WO2016195578A1; EP3303149A4

Abstract

Disclosed is a coil packaging system (100). The system comprises a first robot arm (110) having a grappling portion (112) adapted to grip a wrapping material (114), a second robot arm (120) having a grappling portion (122) adapted to grip the wrapping material (114), and a coil rotating means (140) adapted to carry and rotate a coil (150) about a coil axis. The first robot arm. (110) is movable along a first horizontal axis (A1) which, in an operating position, coincides with the coil axis, while the second robot arm (120) is movable along a second horizontal axis (A2), the second horizontal axis (A2) being parallel to the first horizontal axis (A1), and along a third horizontal axis (A3), the third horizontal axis (A3) being perpendicular to the second horizontal axis (A2).

Description

69670 COI L PACKAGI NG SYSTEM Technical field

[0001] The present invention relates generally to a coil packaging system forwrapping a coil with wrapping material, with a hand-over of wrapping material between two robotic arms.

Background art

[0002] Packing of sensitive goods by wrapping them with an impervious,stretchable wrapping medium, for example a stretch wrap plastic film, has beenknown for many years. When using this wrapping method the goods areprotected against corrosion or soiling during transport and handling. Even largearticles, such as coils of steel strip, are packaged with this method. However,packaging of coils of steel strip is particularly difficult due to their shape, sizeand weight. ln order to fully wrap the coil still leaving an open center to receivecoil handling equipment a method called through-the-eye wrapping has been developed.

[0003] Further, there are solutions available which discloses hand-over of awrapping material between robotic arms. US6705060 describe such a system,comprising a pair of opposing robotic arms, which travel around both ends of acoil, handing off a roll of wrapping material back and forth above the coil andin the center of its hollow core, as the coil is slowly rotated by a variable- speed coil roller.

[0004] However, a system such as the one described in US6705060 is verylarge and heavy, partly because it comprises large devices for the robotic arms, and requires sensing systems for coordinating the robotic arms. 69670

[0005] lt would be desirable to achieve a solution which is smaller, cheaper and easier to implement.

Summary of invention[0006] lt is an object of the solution to address at least some of the issuesoutlined above. lt is possible to achieve these objects and others by using systems as defined in the attached claims.

[0007] According to one aspect, there is provided a coil packaging system.The system comprises a first robot arm having a grappling portion adapted togrip a wrapping material, a second robot arm having a grappling portion adaptedto grip the wrapping material, and a coil rotating means adapted to carry androtate a coil about a coil axis. The first robot arm is movable along a firsthorizontal axis which, in an operating position, coincides with the coil axis, andthe second robot arm is movable along a second horizontal axis, the secondhorizontal axis being parallel to the first horizontal axis, and along a thirdhorizontal axis, the third horizontal axis being perpendicular to the second axis.ln an optional embodiment, the robot arms may further be adapted to pass the wrapping material between each other.

[0008] By implementing the system as describe above, an easier, simpler,cheaper, more cost-effective and more compact solution for wrapping coils thanpreviously possible may be achieved. Furthermore, the system may beimplemented using existing technology which further facilitates implementation of such a system. 69670

[0009] ln an optional embodiment the first grappling portion is adapted to gripa top part of the wrapping material, and the second grappling portion is adapted to grip a bottom part of the wrapping material.

[OOOlO] ln another optional embodiment, the second robot arm is extendablealong the third axis and is mounted on a guide rail movable along the second axis.

[OOOll] ln yet an optional embodiment, the first and second robot arms areadapted to move simultaneously along the first and second horizontal axes. Byhaving the robot arms move parallel to one another there is no need for asensing and/or coordinating system to keep them properly aligned with each other during operation.

[00012] ln another optional embodiment the first robot arm is arranged at a firstheight and the second robot arm is arranged at a second height, wherein thedistance between the first and the second height is substantially the same as theheight of the wrapping material. This may further decrease the need forcoordinating and moving the system during operation, as it may be pre- configured for specific heights of coils and wrapping materials. [©0013] ln an optional embodiment the robot arms are adjustable along avertical axis. The coil rotating means may also be adjustable along a verticalaxis. This enables the system to accommodate coils of various sizes andshapes, since the first robot arm should be roughly aligned with the eye of the coil during operating. 69670

[00014] The above system may be configured and implemented according toother optional embodiments. Further possible features and benefits of this solution will become apparent from the detailed description below.

Brief description of drawinds

[00015] The invention is now described, by way of example, with reference to the accompanying drawings, in which: Fig. 1 discloses a top view of a coil packaging system in an operational position.

Fig. 2 discloses a side view of the coil packaging system of Fig.1 in the operational position.

Fig. 3 discloses a perspective side view of the coil packaging system of Fig. 1 in the operational position.

Description of embodiments

[00016] ln the following, a detailed description of the coil packaging systemis disclosed. All examples herein should be seen as part of the generaldescription and therefore possible to combine in any way in general terms.Again, individual features of the various embodiments may be combined orexchanged unless such combination or exchange is clearly contradictory to the overall function of the system.

[00017] Fig. 1 shows a top view of a system 100 for packaging coilsaccording to the present disclosure in an operational position. The systemcomprises 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 69670 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. Thesystem 100 further comprises a coil rotating means 140, adapted to carry androtate 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.

[00018] The first robot arm 110 and the second robot arm 120 are bothadapted to grip and carry a wrapping material 114. ln a typical embodiment, thefirst robot arm comprises a grappling portion 112 and the second robot armcomprises a grappling portion 122, where the two grappling portions are similarlyadapted to grip and carry a wrapping material. However, in some embodimentsthe height of the grappling portions 112, 122 are adapted to grip the wrappingmaterial 114 at different heights, for instance the first grappling portion 112 of thefirst robot arm 110 may be adapted to grip a bottom portion of the wrappingmaterial 114 while the second grappling portion 122 of the second robot arm 120may be adapted to grip a top portion of the wrapping material 114. By adaptingthe grappling portions 112, 122 of the robot arms 110, 120 as described above,the first robot arm 110 and the second robot arm 120 may more easily passthe wrapping material 114 between one another, as compared to a solutionwherein the grappling portions 112, 122 are adapted to grip the same part ofthe wrapping material 114. The grappling portions 112, 122 may be implementedin various ways as will be understood by a skilled person, for instance eachgrappling portion may comprise two grappling arms which are adapted to grip thewrapping material on one side each, and the wrapping material may have handles adapted to be gripped by the grappling portions. 69670

[00019] The first robot arm 110 is typically only movable in one direction,which is along the first horizontal axis A1. The second robot arm 120 ismovable in two directions, wherein the second direction is perpendicular to thefirst direction, meaning that the second robot arm is movable along the secondhorizontal axis A2 which is parallel to the first horizontal axis A1, as well asalong the third horizontal axis A3 which is perpendicular to the first and secondhorizontal axes A1, A2. By implementing the system 100 with two robot armsmovable as described above, it is possible to achieve a system which is simplewhile still achieving the desired functionality of being able to completely cover acoil 150 with wrapping material, including the eye of the coil 150. ln order tocover the coil, the wrapping system must be able to move around a coil, i.e. tomove 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.

[00020] The robot arms are further adapted to pass the wrapping material114 between one another, in order to be able to completely cover a coil 150with wrapping material 114. The first robot arm 110 is adapted to pass thewrapping material to the second robot arm 120, and the second robot arm 120is likewise adapted to pass the wrapping material to the first robot arm 110, sothat the wrapping material 114 may be passed around the entirety of the coil150, as well as through the eye of the coil 150. The first robot arm 110 ismovable along the first horizontal axis A1, which is also the axis of the coil150, and therefore the first robot arm 110 is adapted to move through the eyeof the coil 150. The second robot arm 120 is adapted to give the wrappingmaterial 114 to the first robot arm 110 before the first robot arm 110 movesthrough 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 69670 the coil 150. Since the first 110 and second 120 robot arms are similarlyadapted with grappling portions, there is virtually no difference between the firstarm 110 giving the wrapping material and the second arm 120 receiving it, andthe second arm 120 giving the wrapping material 114 and the first arm 110 receiving it.

[00021] ln some implementations, the first robot arm 110 and the secondrobot arm 120 are adapted to move parallel to each other. This removes theneed for a system for coordinating the arms with one another, since the movements will always be coordinated along the parallel axes A1 and A2.

[00022] Fig. 2 shows a side view of the system of Fig.1. As can be seenfrom the figure, the first robot arm 110 and the second robot arm 120 may bemounted at different heights relative to the ground. This is for facilitating thehand-over of the wrapping material 114 in an embodiment wherein the first arm110 grips the wrapping material at a top side, and the second arm 120 grips the material at a bottom side.

[00023] The coil rotating means 140 are adapted to carry and rotate a coil150. The rotating means 140 must be sturdy enough to handle the weight of acoil 150 which may be very heavy. The rotating means 140 may comprise tworollers 142 which are rotatable in order to rotate the coil 150. However, in someembodiments the rotating means 140 may be differently arranged while stillachieving the same purpose, for instance they may comprise a bottom partadapted to carry the coil and have two rollers disposed at a top side of the coil 150 adapted to rotate the coil. 69670

[00024] Furthermore, the first 110 and/or second 120 robot arm may bevertically adjustable in order for the system to handle coils of various sizes andshapes. Since at least one of the robot arms 110 is adapted to transport thewrapping material 114 through the eye of the coil 150, vertical adjustabilitybetween the arms 110, 120 and the coil 150 is required. This may be achievedby having at least one of the robot arms mounted on vertically adjustable rails160, which may be for instance pneumatically operated. ln some embodiments,the coil rotating means 140 may be adapted to be vertically adjustable instead ofthe 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.

[00025] Looking now at Fig. 3, a three-dimensional side view of the systemis shown, which exemplifies the positioning of the robot arms 110, 120, the coil150 and the wrapping material 114, before the robot arm 110 is about to move through the eye 154 of the coil 150.

[00026] An exemplifying process of wrapping a coil 150 with a systemaccording to the present disclosure will now be described with reference to Fig.3. The robot arm 110 is in the figure holding the wrapping material 114 byusing the grappling portion 112, and this position will be referred to as thestarting position for the purpose of this explanation, even though the system mayhave any number of different starting positions. The robot arm 110 will extendthrough the eye 154 of the coil 150, by moving the robot arm 110 along thefirst horizontal axis A1, in order to pass the wrapping material 114 through theeye 154 of the coil 150 and thereby wrap the inside of the coil 150 with wrapping material 114. When the first robot arm 110 has moved through the eye 69670 154 of the coil 150 and emerges on the other side of the coil 150, thewrapping material will be passed over to the second robot arm 120. ln someembodiments, the second robot arm 120 will move parallel to the first robot arm110 along the second horizontal axis A2, but it is also possible that the robot arms move independently of each other.

[00027] When passing the material from the first robot arm 110 to thesecond robot arm 120, it is the second robot arm 120 that moves towards thefirst robot arm 110 along the third horizontal axis A3, and subsequently grips thewrapping material 114 by use of the grappling portion 122. Since the secondrobot arm 120 is the one movable along two axes, it needs to be the secondrobot arm 120 that moves towards the first robot arm 110 rather than the otherway around. After the second robot arm 120 has taken the wrapping material114 from the first robot arm, the second robot arm moves back to the sameposition along the third axis A3 as it was in the starting position. When movingback, the second robot arm 120 will transport the wrapping material that is beingheld by the grappling portion 122, which will cover the left side of the coil 150.Then, the second robot arm 120, which is still holding the wrapping material114, will move towards its starting position along the second horizontal axis A2,thereby wrapping the front side of the coil 150. When back in the startingposition, the second robot arm 120 will once again extend outward along thethird 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.

[00028] As can be understood, the procedure described above only coversone side of the coil 150 in the case the coil 150 is stationary. ln order to achieve the wrapping of the whole coil 150, the coil rotating means 140 are 69670 typically rotating during the whole procedure described above, which will enablethe whole coil 150 to be covered with wrapping material 114. ln someimplementations the coil is slowly rotating the whole time, while in otherimplementations the coil rotating means 140 may be adapted to rotate the coil apredetermined amount after each repetition of a cycle as described above. lt willbe understood that the above cycle has to be reiterated multiple times in order to cover the entire coil 150 with wrapping material 114.

[00029] 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.

[00030] By implementing a system as described in the present disclosure, asimpler and cheaper system which is also easier to implement and operate, when compared with existing solutions, may be achieved.

Claims

1. A coil packaging system (100) comprising: a first robot arm (110) having a grappling portion (112) adapted to grip a wrapping material (114 ); a second robot arm (120) having a grappling portion (122) adapted to grip the wrapping material (114), a coil rotating means (140) adapted to carry and rotate a coil (150) about a coil axis; characterized in that the first robot arm (110) is movable along a first horizontal axis (A1) which, in an operating position, coincides with the coil axis; and the second robot arm (120) is movable along a second horizontal axis (A2),the second horizontal axis (A2) being parallel to the first horizontal axis (A1),and along a third horizontal axis (A3), the third horizontal axis (A3) being perpendicular to the second horizontal axis (A2).

2. The coil packaging system (100) according to claim 1, wherein the robot arms are adapted to pass the wrapping material (114) between one another.

3. The coil packaging system (100) according to any one of claims 1 to 2,wherein the grappling portion (112) of the first robot arm (110) is adapted togrip a top part of the wrapping material (114), and the grappling portion (122)of the second robot arm (120) is adapted to grip a bottom part of the wrapping material (114 ). 69670 12

4. The coil packaging system (100) according to any one of claims 1 to 3,wherein the second robot arm (120) is extendable along the third axis (A3) and is mounted on a guide rai| movable along the second axis (A2).

5. The coil packaging system (100) according to any one of claims 1 to 4,wherein the first (110) and second (120) robot arms are adapted to move simultaneously along the first (A1) and second (A2) horizontal axes.

6. The coil packaging system (100) according to any one of claims 1 to 5,wherein the first robot arm (110) is arranged at a first height and the secondrobot arm (120) is arranged at a second height, wherein the distance betweenthe first and the second height is substantially the same as the height of the wrapping material (114).

7. The coil packaging system (100) according to any one of claims 1 to 6, wherein the robot arms (110, 120) are adjustable along a vertical axis (V1).

8. The coil packaging system (100) according to any one of claims 1 to 7, wherein the coil rotating means (140) are vertically adjustable.

9. The coil packaging system (100) according to any one of claims 1 to 8, wherein the robot arms (110, 120) are pneumatically driven.