Robot system and method for coil packaging with different angular velocities
AssigneeLamiflex Group AB
InventorsMarcus Forssblad, Björn Molin
Life of this patent
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Abstract
A robot system and a method for packaging coils of sheet metal. The method and robot system for coil packaging, having two industrial robots, each robot being provided with a robot arm provides for a solution where the angular velocity of the coil is adjusted during the wrapping process to thereby provide reinforcement of a certain cylindrical sector segment of the coil.
Claims22
A method for wrapping a coil in a robot system comprising a cradle for carrying the coil, a control system, means for conveying a rotational motion to the coil and two industrial robots, each industrial robot being provided with at least one robot arm having a coupling robot piece configured to interface with a robot tool having two ends each configured to interface with the coupling robot piece of the at least one robot arm, and a roll holder shaft projecting substantially perpendicular to an axis extending between said two ends and carrying a roll of wrapping material, said method comprising
- wrapping the coil with the wrapping material being rolled off the roll in successive wrapping turns or windings each comprising a sequence of robot movements including two handovers of the robot tool between the two robots per wrapping turn or winding, wherein a first handover phase takes place in a hollow cylindrical center core of the coil and a second handover phase takes place along a cylindrical surface, or curved envelope surface, of the coil,
- adjusting, by said control system and through said means for conveying a rotational motion of the coil, the angular velocity, or rotational speed, of the coil about its longitudinal axis during the process of wrapping the coil to thereby change the amount of overlap between successive wrapping turns or windings of wrapping material so that the cylindrical surface of the at least one first cylindrical sector segment of the coil is provided with a greater overlap between successive turns or windings of the wrapping material than the overlap of the cylindrical surface of at least one other second cylindrical sector segment of the coil, and
- positioning, by said control system, the roll holder shaft position in three-dimensional space along a first circumferential edge by determining a start position for the wrapping of the cylindrical surface, or curved envelope surface, of the coil so that the start position is adapted to the currently imposed angular velocity of the coil, and controlling, by said control system, the movement of the robot arms so that a direction of travel of the robot tool and the respective robot arm holding the robot tool along the cylindrical surface, or curved envelope surface, is in a straight direction within an angle range of 0.1 to 15 degrees relative an axis along the curved envelope surface which is parallel to the rotational axis of the coil.
A robot system comprising a cradle for carrying the coil, a control system, means for conveying a rotational motion to the coil and two industrial robots, each industrial robot being provided with at least one robot arm having a coupling robot piece configured to interface with a robot tool having two ends each configured to interface with the coupling robot piece of the at least one robot arm, and a roll holder shaft projecting substantially perpendicular to an axis extending between said two ends and carrying a roll of wrapping material, wherein said control system is configured to;
- control the movements of the robots in relation to the coil in order to wrap the coil with the wrapping material in successive wrapping turns or windings each comprising a sequence of robot movements including two handovers of the robot tool between the two robots per wrapping turn where a first handover phase takes place in a hollow cylindrical center core of the coil and a second handover phase takes place along a curved envelope surface of the coil,
- adjust, through said means for conveying a rotational motion of the coil, an angular velocity, or rotational speed, of the coil about its rotational axis during the process of wrapping the coil to thereby change the amount of overlap between successive wrapping turns or windings so that the cylindrical surface of at least one first cylindrical sector segment of the coil is provided with a greater overlap between successive turns or windings than the overlap of the cylindrical surface of at least one other second cylindrical sector segment of the coil,
- control said means for conveying a rotational motion to the coil in order to adjust and change the angular velocity, or rotational speed, of the coil about its rotational axis during the process of wrapping the coil to thereby change the amount of overlap between successive wrapping turns or windings of wrapping material so that the cylindrical surface of at least one first cylindrical sector segment of the coil is provided with a greater overlap between successive turns or windings of the wrapping material than the overlap of the cylindrical surface of at least one other second cylindrical sector segment of the coil,
- control positioning of the roll holder shaft in three-dimensional space along a first circumferential edge by determining a start position for the wrapping of the cylindrical surface, or curved envelope surface, of the coil so that the start position is adapted to the currently imposed angular velocity of the coil, and
- control the movement of the robot arms so that a direction of travel of the robot tool and the respective robot arm holding the robot tool along the cylindrical surface, or curved envelope surface, is in a straight direction within an angle range of 0.1 to 15 degrees relative an axis along the curved envelope surface which is parallel to the rotational axis of the coil.
Dependencies are inferred from the claim text.