US 12,246,867 B2
Robot system and method for coil packaging
Adrian Robèrt, Lidingö (SE); Petter Järte, Bromma (SE); Marcus Forssblad, Stigtomta (SE); Fredrik Rosenlind, Nyköping (SE); and Kristoffer Olsson, Nyköping (SE)
Assigned to Lamiflex Group AB, Nyköping (SE)
Appl. No. 18/267,085
Filed by Lamiflex Group AB, Nyköping (SE)
PCT Filed Dec. 23, 2021, PCT No. PCT/SE2021/051310
§ 371(c)(1), (2) Date Jun. 13, 2023,
PCT Pub. No. WO2022/139673, PCT Pub. Date Jun. 30, 2022.
Claims priority of application No. 2051554-0 (SE), filed on Dec. 23, 2020.
Prior Publication US 2024/0051692 A1, Feb. 15, 2024
Int. Cl. B65B 11/04 (2006.01); B25J 9/00 (2006.01); B25J 11/00 (2006.01); B65B 41/12 (2006.01)
CPC B65B 11/04 (2013.01) [B25J 9/0084 (2013.01); B25J 11/005 (2013.01); B65B 41/12 (2013.01)] 27 Claims
OG exemplary drawing
 
1. A method for wrapping a coil in a robot system comprising a robot control system, a cradle for carrying the coil, 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 with each end being configured to interface with the coupling robot piece of a respective one of the at least one robot arms, 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 each comprising a sequence of robot movements including two handovers of the robot tool between the two robots per wrapping turn, 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 curved envelope surface of the coil, and wherein the application of the wrapping material to the surfaces of the coil is comprising at least one of:
a. positioning, in three-dimensional space along and outside a first outer circumferential edge of the coil, the robot arm of a first robot holding the robot tool with the roll of wrapping material in a different position in three-dimensional space relative a corresponding position along and outside said first outer circumferential edge for the immediately preceding wrapping turn, and
b. positioning the robot arm of the respective robots so that the longitudinal axis of the roll holder shaft of the robot tool holding the roll is directed in an inclined angular direction relative a direction of rotation of the coil, and
c. moving the respective robot and robot arm holding the robot tool along the curved envelope surface so that a direction of travel for the respective robot and robot arm holding the robot tool with the roll so that the roll is travelling along the curved envelope at an angular direction within the angle range of 0.1 to 15 degrees relative an axis along the curved envelope surface which is parallel to a rotational axis of the coil.