WO2020005664A1

WO2020005664A1 - Apparatus and methods for reel handling

Info

Publication number: WO2020005664A1
Application number: PCT/US2019/037924
Authority: WO
Inventors: Joerg Beckmann
Original assignee: Kraft Foods Schweiz Holding Gmbh
Priority date: 2018-06-27
Filing date: 2019-06-19
Publication date: 2020-01-02
Also published as: CN112272645B; AU2023200930A1; CN112272645A; EP3814258A1; CA3102272C; AU2019295562A1; CA3102272A1

Abstract

A multi-function reel change tool (10) is provided for use with a robotic arm (20), such as a collaborative robotic arm, for changing film rolls on packaging equipment. The tool includes a first part (18) capable of acquiring, cradling, transporting and depositing a partially full or full reel of material by contacting an outer periphery of the reel and a second part (22) capable of acquiring, cradling, transporting and depositing the core of a spent or partially spent reel of material by contacting the outer periphery of the core of the spent reel or material or the outer periphery of the material remaining on a partially spent reel. Preferably, but not necessarily, the tool has no independently moveable components.

Description

APPARATUS AND METHODS FOR REEL HANDLING

Field

[0001] Apparatus and methods for reel handling are described herein and, specifically, reel handling using a tool, optionally attached to a robotic arm, configured for removal of a spent reel core and placement of a new reel on a spindle of packaging equipment.

Backgroiind

[0002] Packaging equipment often is used to form packages for items, such as food items, from flexible material, such as film. The flexible material can be provided on a reel that is placed on a spindle of the packaging equipment for unwinding and further processing. Once a reel is spent, a core of the reel is removed from the spindle of the packaging equipment and a new reel of material can be placed on the spindle. However, the film reels can weigh 15 to 50 or more pounds, which can make them cumbersome to handle. The reel can have an outer diameter of about 30 inches, for example, and the core can have a diameter of between about 1 and 4 inches, although the reel and core can have a wide variety of dimensions.

[0003] One approach to automating handling of film reels is to manipulate the reels by the cores. For example, U.S. Patent Nos. 4,934,624; 5,265,999; and 6,276,629 disclose automated handling equipment for placing reels of feel onto spindles of equipment by attachment or grabbing of the core.

[0004] A hybrid approach to manipulating a reel is disclosed in U.S. Patent No. 9,120,636. This patent discloses first clamping the periphery of the reel prior to insertion of a spindle through a central opening, but then movies the reel via the spindle to the packaging machine. More specifically, the patent discloses using a pair of clamping arms to clamp a reel therebetween by contacting the periphery of the reel. A spindle is inserted into a central opening of the reel while the reel is held by the clamping arms. The clamping arms move the reel, with the spindle, into a stand where the reel is supposed by the spindle. The clamping arms are then released from clamping the periphery of the reel, followed by being rotated so that seats of the clamping arms can then lift the reel by the spindle and move the reel, via the spindle, from the stand to a packaging machine. [0005] A different approach to manipulating a reel is disclosed in U.S. Patent No. 8,353,662. Instead of lifting the reel by a core, this patent discloses the use a suction head at the end of an articulated, robotic arm to move the reel. A mechanical gripper is provided in a central portion of the suction head for use with removal of a core. Thus, the suction head includes a portion for manipulation of a reel by contacting the side face of the reel, and a different portion for removal of the core of a spent reel. However, there are moving parts associated with the suction head. For example, the mechanical gripper includes jaws and actuators. Also, the suction head contacts the side face of the reel.

[0006] Yet another approach is disclosed m U.S. Patent No. 5,249,757. Like the‘662 patent disclosed immediately above, this patent discloses the use of a gripping device having tubular appendages for contacting the periphery of a reel. The gripping device also has a m echanism for removal of a core of a spent reel. However, this patent discloses that the appendages and the mechanism for removal of the spent reel are movable via pressurized actuation.

[0007] A multi-function reel change tool is provided for placing a reel of material on a spindle of packaging equipment and removing a core of a spent reel of material from the spindle. The tool includes a first set of one or more operative structures arranged for lifting a reel of material, supporting the reel of material during movement toward the packaging equipment, and placing the reel of material on the spindle by contacting the outer periphery of the reel of material. The tool also includes a second set of one or more operative structures, different at least in part from the first set of operative structures, arranged for pulling the core of a spent reel of material from the spindle and supporting the core during movement of the core away from the packaging equipment by con ta cting the outer periphery of the core.

[0008] Optionally, the tool has an axis of rotation about which the tool can be rotated to move between a first orientation, whereby the first set of operative structures are arranged for lifting a reel of material and placing the reel of material on the spindle, and a second orientation, different from the first orientation, whereby the second set of operative structures are arranged for removing the core of a spent reel of material from the spindle.

[0009] In one aspect, the tool includes one or more rear support members, wherein the first set of operative structures includes a first group of prongs projecting relative to the one or more rear support members for cradling the reel of material, and wherein the second set of operative structures includes a second group of prongs projecting relative to the one or more rear support members for cradling the core.

[00010] In another aspect, the reel change tool includes one or more rear support members, wherein the first set of operative structures includes a first group of prongs projecting relative to the one or more rear support members for cradling the reel of material, and wherein a pair of the second set of operative structures are provided, with each of the pair including a second group of prongs projecting relative to the one or more rear support members for cradling the core.

[Q0011] In yet another aspect, the reel change tool includes one or more rear support members, wherein the second set of operative structures includes a first pair of prongs projecting relative to the one or more rear support members and a second pair of prongs, different from the first pair of prongs, projecting relative to the one or more rear support members, and wherein the first set of operative structures includes the first and second pairs of prongs.

[00012] In any of the foregoing aspects, the second group of prongs can include a pair of prongs spaced a distance apart that is smaller than a diameter of the core for supporting the core during movement of the core away from the packaging equipment.

[00013] Optionally, the first and second groups of prongs have at least one prong in common.

[00014] Optionally, at least two of the prongs of the second set of operative structures can be connected by a bridge spaced from the one or more rear support members. Optionally, the at least two of each of the pairs of the second group of prongs can be connected by a bridge. The bridge or bridges may each have an arcuate cut-out configured for pulling the core from the spindle.

[00015] In one aspect, the first set of operative structures includes a front support and a rear support spaced a distance apart by a plurality of spacers, the distance being sufficient for the reel of material to be supported between the front and rear supports by at least the plurality of spacers.

[00016] Optionally, the second set of operative structures includes at least the front support. Also optionally, the front support may include an arcuate cut-out configured for pulling the core from the spindle.

[00017] Any of the tools described herein can include no independently moveable components. [00018] Any of the tools described herein can be attached to a robotic arm.

[00019] Optionally, either the tool or the arm can include a flexible pusher for closing an access door to spindle of the packaging equipment.

[00020] A method of using the tools described herein can include using the first set of one or more operative structures for lifting a reel of material, moving the reel of material toward a spindle of packaging equipment, and placing the reel of material on the spindle; rotating the tool from the first orientation to the second orientation; and using the second set of one or more operative structures for pulling a core of the reel of material off of the spindle and moving the core away from the packaging equipment.

[00021] The method may also include the steps of moving the tool away from the spindle of the packaging equipment after the step of using the first set of one or more operative structures; and moving the tool toward the spindle of the packaging equipment following dispensing of at least some material from the reel of material.

[0001] Figure 1 is a perspective view of a robotic arm having an attached reel change tool, and showing the robotic arm moving a reel of material, supported by the reel change tool, toward a spindle of an unwind station of packaging equipment;

[0002] Figure 2 is a perspective view of the robotic arm of Figure 1, but showing the reel of material having been inserted onto the spindle of the unwind station of the packaging equipment and the robotic arm moving the now-empty reel change tool away from the equipment;

[0003] Figure 3 is a perspective view of the robotic arm of Figure 1 , but showing the reel of material having been spent so that a core remains on the spindle of the unwind station of the packaging equipment, and the robotic arm moving the empty reel change tool toward the equipment;

[0004] Figure 4 is a perspective view of the robotic arm of Figure 1, but showing the core having been removed from the spindle of the unwind station of the packaging equipment using the reel change tool and the core, now supported by the reel change tool, moving away from the equipment;

[0005] Figure 5 is a perspective view of the reel change tool of Figure 1, showing the reel change tool supporting the reel of material; [0006] Figure 6 is a detailed view' of the reel change tool of Figure 1, showing the reel change too supporting the core of a spent reel of material;

[0007] Figure 7 is a front elevation vie w of the reel change tool of Figure 1, with the tool supporting the core of a spent reel of material;

[0008] Figure 8 is a top plan view of the reel change tool of Figure 1, showing the tool empty;

[0009] Figure 9 is a perspective v ew- of an alternative reel change tool;

[00010] Figure 10 is a top plan view of the alternative reel change tool of Figure 9;

[00011] Figure 11 is a front elevation view of the alternative reel change tool of Figure 9, showing the tool supporting a reel of material (shown in phantom); and

[00012] Figure 12 is a front elevation view of the alternative reel change tool of Figure 9, showing the tool support a core of a spent reel of material (shown in phantom).

[00013] A multi -function reel change tool is provided for use with a robotic arm, such as a collaborative robotic arm, for changing film rolls on packaging equipment. The tool includes a first part capable of acquiring, cradling, transporting and depositing a partially full or full reel of material by contacting an outer periphery of the reel and a second part capable of acquiring, cradling, transporting and depositing the core of a spent or partially spent reel of material by contacting the outer periphery of the core of the spent reel or material or the outer periphery of the material remaining on a partially spent reel. Preferably, but not necessarily, the tool has no independently moveable components.

[00014] A first embodiment of the reel change tool is depicted in Figures 1-8. The reel change tool 10 includes a first set of one or more operative structures arranged for lifting a reel of material 2, supporting the reel of material 2 during movement toward the packaging equipment 6, and placing the reel of material 2 on the spindle 8 by contacting the outer periphery of the reel of material 2. The reel change tool 10 also includes a second set of one or more operative structures, different at least in part from the first set of operative structures, arranged for pulling the core 4 of a spent reel of material from the spindle 8 and supporting the core 4 during movement of the core 4 away from the packaging equipment 6 by contacting the outer periphery of the core 4. The tool 10 has an axis of rotation about which the tool 10 can be rotated to move between a first orientation, whereby the first set of operative structures are arranged for lifting a reel of material 2 and placing the reel of material 2 on the spindle 8, and a second orientation, different from the first orientation, whereby the second set of operative structures are arranged for removing the core 4 of a spent reel of material from the spindle 8.

[00015] Turning to details of the first embodiment of the reel change tool 10, the first set of operative structures includes a front support 12 and a rear support 14 spaced a distance apart by a plurality of spacers 16a-16e, as shown in Figures 5- 8 The distance being sufficient for the reel of material 2 to be supported between the front and rear supports 12 and 14 by at least the plurality of spacers 16 such that the reel 2 is cradled between the front and rear supports 12 and 14 with the weight of the reel 2 supported by some of the spacers 16a- 16c to a large extent, as shown m Figure

5. In other words, the spacers 16a- 16c support the reel 2 in a vertical direction, while the front and rear supports 12 and 14 provide lateral support to the reel 2. The rear support 14 can include an attachment location for connecting the tool to the robotic arm 20.

[QQQ16] The front and rear supports 12 and 14 are plate-like in appearance. The rear support can 14 be generally rectangular with rounded corners. The front support 12, however, has a pair of upward facing arcuate edges 18 and 22. A first, larger one of the arcuate edges 18 spans nearly from side to side of the front support 12. A second, smaller one of the arcuate edges 22 is formed as a deviation from the first arcuate edge 18 The second arcuate edge 22 is dimensioned for supporting the core 4 of a spent reel of material by the outer periphery thereof! as shown m Figure

6. More specifically, there are a pair of spacers 16a and 16b positioned adjacent the smaller arcuate edge 22, as shown in Figures 6 and 7, for supporting the core 4 of a spent reel of material. That pair of spacers 16a and 16b cooperate with a third one of the spacers 16c for supporting the reel 2, as shown in Figure 5. The remaining pair of spacers 16d and I6e provide additional support to the front and rear supports 12 and 14

[00017] The purpose of the first, larger arcuate edge 18, which is discontinuous due to the second, smaller arcuate edge 22, is twofold. The first, larger arcuate edge 18 provides access to the second, smaller arcuate edge 22 while keeping the latter relative close to the axis of rotation. The raised ends of the first, larger arcuate edge 18 also provide stability to the reel 2 when cradled m the tool 10, as shown m Figure 5, by contacting the reel 2 at a sufficient span and elevation, relative to the core 4 thereof. In addition to the upward facing arcuate edges 18 and 22, the front support 12 also includes a downward facing arcuate edge for weight reduction purposes. [00018] The spacers 16 can be bolts or the like, either with or without a sleeve disposed thereabout. Other constructions of the spacers 16 can be used, such as an element having internal threads disposed at each end. A pair of spacers 16 can be provided, with one adjacent each end of the front and rear supports 12 and 14, as shown m Figures 7 and 8. The spacers 16 join the front and rear supports 12 and 14 together at a distance sufficient for a reel of material 2 to be positioned between the supports 12 and 14. Thus, for a wider roll of material than that illustrated, spacers of increased length than illustrated can be utilized. The spacers 16 are preferably closer to the lower edges as compared to the top edges of the supports 12 and 14 such that more of the height of the supports 12 and 14 are available for supporting the reel of material 2.

[00019] As mentioned above, the reel change tool 10 is preferably attached to a robotic arm 20, as shown in Figures 1-6. Preferably, though not necessarily, the robotic arm 20 is part of a cobot or cooperative robot. An example of a robotic arm is available from Universal Robots (Odense, Denmark).

[QQQ2Q] The robotic arm 20 can be of many different forms suitable for carrying out the steps described herein with respect to manipulation of reels of materials 2 and their cores 4. In the example illustrated in Figures 1-6, the robotic arm 20 has multiple axes of rotation. The arm 20 can be attached to a base station 24, as shown in Figure 1. A support post 26 of the robotic arm 20 can be attached to the base station 24, as shown in Figure 1. A proximate arm 28 can be attached relative to the support post 26 at a proximate joint 29 and configured for rotation relative to the support post 26 in both a horizontal direction and a vertical direction. A distal arm 30 can in turn be attached relative to the proximate arm 28 at a distal joint 32 and also configured for rotation relative to the proximate arm 28 in both a horizontal direction and a vertical direction. A multi- direction joint 34 can be attached relative to the distal arm 30, at an opposite end portion thereof from the proximate arm 28. The multi -direction joint 34 can have an attachment for connecting relative to the tool 10, such as the rear support 14 of the tool 10. The multi-direction joint 34 can have multiple directions of rotation, as shown m Figure 6.

[00021] A mentioned above, the robotic arm 20 can optionally be attached to a base station 24. An exemplary embodiment of the base station 24 is shown in Figure 1. The base station 24 includes a controller 36 for the robotic arm 20, a platform 38, and can include one or more locations 40 for holding reels of material 2. A cart 42 configured to support a row of reels can also be provided. [00022] To add a reel of material 2 to the spindle 8 of the packaging equipment 6, the robotic arm 20 is used to position the reel change tool 10 to lift the reel 2 from the base station 24. More specifically, the front and rear supports 12 and 14 of the tool 10 are aligned generally parallel to but below the faces of the reel of material 2. The tool 10 is then moved upward m a generally vertical direction so that the reel 2 is disposed between the front and rear supports 12 and 14. As the tool 10 continues to move upward in a generally vertical direction, the spacers 16 of the tool 10 contact the periphery edges of the reel 2 and lift the reel 2 from the base station 24. With the reel 2 now cradled by the tool 10, the tool 10 and reel 2 are moved toward the spindle 8 by the robotic arm 2, as shown in Figure 1. If the unwind station 7 of the packaging equipment 6 has one or more doors 9 for selectively blocking access to the spindle 8, the door or doors 9 can be manually or automatically opened. The robotic arm 20 them moves the tool 10 and the reel 2 to position the reel 2 on the spindle 8. The tool 10 is then moved generally vertically downward such that it no longer is supporting the reel 2 and then away from the spindle 8. If present, the one or more doors 9 can be closed. The doors 9 can optionally be closed using a finger 44, such as a flexible finger, attached relative to the robotic arm 20 or on the tool 10. The robotic arm 20 then moves the now- empty tool 10 away from the spindle 8 of the packaging equipment 6, as shown in Figure 2.

[00023] To remove the core 4 of a spent or otherwise at least partially depleted reel of material, the empty tool 10 of the robotic arm is moved toward the spindle 8 of the packaging equipment 6, as shown in Figure 3. If present, the one or more doors 9 can be manually or automatically opened to provide access to the spindle 8. The tool 10 is rotated about its axis of rotation relative to the robotic arm 20 to position the second arcuate edge 22 for pulling the core 4 from the spindle 8. Once the core 4 is supported by the tool 10, as shown in Figure 6, the robotic arm 20 moves the tool 10 and core 4 away from the spindle 8 and the packaging equipment 6, as shown in Figure 4. The core 4 can then be removed from the tool 10, such as manually or upon movement of the tool 10 into a position that allows the core 4 to fall out. The tool 10 and robotic arm 20 can then be used to place a new reel of film material 2 on the spindle 8 using the aforementioned process.

[00024] A second embodiment of the reel change tool 50 is depicted in Figures 9-12. The reel change tool 50 includes a first set of one or more operative structures arranged for lifting a reel of material 2, supporting the reel of material 2 during movement toward the packaging equipment 6, and placing the reel of material 2 on the spindle 8 by contacting the outer periphery of the reel of material 2, The reel change tool 50 also includes a second set of one or more operative structures, different at least in part from the first set of operative structures, arranged for pulling the core 4 of a spent reel of material from the spindle 8 and supporting the core 4 during movement of the core 4 away from the packaging equipment 6 by contacting the outer periphery of the core 4. The tool 50 has an axis of rotation about which the tool 50 can be rotated to move between a first orientation, whereby the first set of operative structures are arranged for lifting a reel of material 2 and placing the reel of material 2 on the spindle 8, and a second orientation, different from the first orientation, whereby the second set of operative structures are arranged for removing the core 4 of a spent reel of material from the spindle 8.

[00025] Turning to details of the second embodiment of the reel change tool 50, the tool includes a rear support 52 with a plurality of prongs 54, 56, 58 and 60 that project outwardly from the rear support 52, as shown in Figures 9 and 10. The reel change tool 50 of the second embodiment can be attached to a robotic or cobotie arm 20 of the type described herein.

[QQQ26] The rear support 52 can have a central hub 62 with arms 64, 66, 68 and 70 extending diagonally outwardly therefrom in a generally X-shaped configuration. The rear support 52 can include an attachment location, such as at the central hub 62, for connecting the tool 50 to the robotic arm 20. The arms 64, 66, 68 and 70 include an upper pair of arms 64 and 66 and a lower pair of arms 68 and 70. The lateral sides of rear support 52 can be connected as well by lateral supports 72, 74. The rear support 52 is preferably of a generally planar construction so that a face of the reel of material 2 can be supported thereagamst. The rear support 52 can be unitary, or it can be made of multiple parts joined together. Projecting outwardly and, preferably, generally perpendicularly to the rear support are the plurality of prongs 54, 56, 58 and 60.

[00027] The prongs 54, 56, 58 and 60 are disposed along the bottom portions of the lower pair of arms 68 and 70, as shown in Figure 9. A first pair of prongs 54 and 56 are attached to one of the bottom pair of arms 70 of the rear support 52, and a second pair of prongs 58 and 60 are attached to the other one of the bottom pair of arms 68. The first pair of prongs 58 and 60 are connected at their end portions, opposite the rear support 52, by a bridge 76. Likewise, the second pair of prongs 58 and 60 are connected that their end portions, opposite the rear support 52, by a bridge 80. The bridges 76 and 80 are preferably, though not necessarily, identical. The bridges 76 and 80 each include an arcuate cut out 78 and 82 configured for facilitating removal of the hub 4 of a spent or partially spent reel of material. Each of the pairs of prongs 54, 56 and 58, 60 are spaced closer together than the pairs of prongs are spaced, altho ugh these dimensions can be altered to accommodate reels of material 2 of different sizes. A pair of short, protruding guides 84 can optionally be provided at end portions of the upper pair of arms 64 and 66, as shown m Figure 9, for supporting upper peripheral portions of the reel of material 2.

[00028] Each of the pairs of prongs 54, 56 and 58, 60 individually constitute a second group of prongs and, optionally, together with the rear support 52, constitute the second set of operative structures. Each of the pairs of prongs 54, 56 and 58, 60 are configured to support the core 4 or a partially spent reel of material therebetween, as shown m Figure 12. With two such pairs of prongs 54, 56 and 58, 60 provided on the tool 50, either pair can be used for removal of the core 4 or partially spent reel of material. Together, all four prongs 54, 56, 58, 60 constitute at least part of the first group of operative structures and are positioned to support the reel of material 2 by the periphery thereof, as shown in Figure 11, with the rear support 52 optionally being part of the first group of operative structures for supporting the reel 2.

[QQQ29] To add a reel 2 of material to the spindle 8 of the packaging equipm ent 6, the robotic arm 20 is used to positi on the second embodiment of the reel change tool 50 to lift the reel 2 from the base station 24. More specifically, the first and second pair of prongs 54, 56 and 58, 60 are pointed toward the reel of material 2 and positioned therebelow. The tool 50 is then moved upward in a generally vertical direction so that the reel 2 is lifted upward by some or all of the prongs 54, 56, 58, 60, contacting peripheral surfaces of the reel 2, and can lean rearward toward the rear support 52, as shown in Figure 1 1. With the reel 2 now cradled by the tool 50, the tool 50 and reel 2are moved toward the spindle 8 by the robotic arm 20. If the unwind station 7 of the packaging equipment 6 has one or more doors 9 for selectively blocking access to the spindle 8, the door or doors 7 can be manually or automatically opened. The robotic arm 20 them moves the tool 50 and the reel 2 to position the reel 2 on the spindle 8. The tool 50 is then moved generally vertically downward such that it no longer is supporting the reel 2 and then away from the spindle 8 If present, the one or more doors 9 can be closed. The doors 9 can optionally be closed using a finger 44, such as a flexible finger, attached relative to the robotic arm 20 or the tool 50. The robotic arm 20 then moves the now-empty tool 50 away from the spindle 8 of the packaging equipment 6.

[00030] To remove the core 4 of a spent or otherwise at least partially depleted reel of material, the empty tool 50 of the robotic arm 20 is moved toward the spindle 8 of the packaging equipment 6. If present, the one or more doors 9 can be manually or automatically opened to provide access to the spindle 8. The tool 50 is rotated about its axis of rotation relative to the robotic arm 20 to position the arcuate edge 78 or 82 of one of the bridges 76 or 80 for pulling the core 4 from the spindle 8. Once the core 4 is supported by the tool 50, as shown in Figure 12, the robotic arm 20 moves the tool 50 and core 4 away from the spindle 8 and the packaging equipment 6. The core 4 can then be removed from the tool 50, either manually or upon movement of the tool 50 into a position that allows the core 4 to fall out. The tool 50 and robotic arm 20 can then be used to place a new reel of material 2 on the spindle 8 using the aforementioned process.

Claims

Claims;

1 A multi-function reel change tool for placing a reel of material on a spindle of packaging equipment and removing a core of a spent reel of material from the spindle, the tool comprising:

a first set of one or more operative structures arranged for lifting a reel of material, supporting the reel of material during movement toward the packaging equipment, and placing the reel of material on the spindle by contacting the outer periphery of the reel of material; and

a second set of one or more operative structures, different at least in part from the first set of operative structures, arranged for pulling the core of a spent reel of material from the spindle and supporting the core during movement of the core away from the packaging equipment by contacting the outer periphery of the core;

wherein the tool has an axis of rotation about which the tool can be rotated to move between a first orientation, whereby the first set of operative structures are arranged for lifting a reel of material and placing the reel of material on the spindle, and a second orientation, different from the first orientation, whereby the second set of operative structures are arranged for removing the core of a spent reel of material from the spindle.

2 The multi-function reel change tool of claim 1 , further comprising one or more rear support members, wherein the first set of operative structures includes a first group of prongs projecting relative to the one or more rear support members for cradling the reel of material, and wherein the second set of operative structures includes a second group of prongs projecting relative to the one or more rear support members for cradling the core.

3 The multi -function reel change tool of claim 1 , further comprising one or more rear support members, wherein the first set of operative structures includes a first group of prongs projecting relative to the one or more rear support members for cradling the reel of material, and wherein a pair of the second set of operative structures are provided, with each of the pair including a second group of prongs projecting relative to the one or more rear support members for cradling the core.

4. The multi-function reel change tool of claim 1 , further comprising one or more rear support members, wherein the second set of operative structures includes a first pair of prongs projecting relative to the one or more rear support members and a second pair of prongs, different from the first pair of prongs, projecting relative to the one or more rear support members, and wherein the first set of operative structures includes the first and second pairs of prongs.

5. The multi-function reel change tool of any one of claims 2 and 3, wherein the second group of prongs includes a pair of prongs spaced a distance apart that is smaller than a diameter of the core for supporting the core during movement of the core away from the packaging equipment.

6. The multi-function reel change tool of any one of claims 2, 3 and 5, wherein the first and second groups of prongs have at least one prong in common.

7. The multi-function reel change tool of any one of claims 2-6, wherein at least two of the prongs of the second set of operative structures are connected by a bridge spaced from the one or more rear support members.

8. The multi-function reel change tool of claim 3, wherein the at least two of each of the pairs of the second group of prongs are connected by a bridge.

9. The multi-function reel change tool of any one of claims 7 and 8, wherein the bridge has an arcuate cut-out configured for pulling the core from the spindle.

10. The multi-function reel change tool of claim 1, wherein the first set of operative structures includes a front support and a rear support spaced a distance apart by a plurality of spacers, the distance being sufficient for the reel of material to be supported between the front and rear supports by at least the plurality of spacers.

1 1. The multi-function reel change tool of claim 10, wherein the second set of operative structures includes at least the front support.

12 The multi -function reel change tool of claim 11, wherein the front support includes an arcuate cut-out configured for pulling the core from the spindle.

13. The multi-function reel change tool of any one of claims 1 -12, wherein the tool has no independently moveable components.

14. The multi-function reel change tool of any one of claims 1-13, wherein the tool is attached to a robotic arm.

15. The multi-function reel change tool of any one of claims 1-14, wherein the tool further comprises a flexible pusher for closing an access door to spindle of the packaging equipment.

16. A method of using the tool of any one of claims 1-15, the method comprising: using the first set of one or more operative structures for lifting a reel of material, moving the reel of material toward a spindle of packaging equipment and placing the reel of material on the spindle;

rotating the tool from the first orientation to the second orientation; and

using the second set of one or more operative structures for pulling a core of the reel of material off of the spindle and moving the core away from the packaging equipment.

17. The method of claim 16, further comprising the steps of moving the tool away from the spindle of the packaging equipment after the step of using the first set of one or more operative structures; and

moving the tool toward the spindle of the packaging equipment following dispensing of at least some material from the reel of material.