Robot System and Method for Coil Packaging at Different Angular Velocities

Abstract

A robot system and method for packaging sheet metal coils. A method and robot system for coil packaging comprising two industrial robots each provided with a robot arm, provides a solution in which the angular velocity of the coil is adjusted during the packaging process, thereby providing reinforcement of a specific cylindrical sector segment of the coil.

Description

Technical Field

[0001] Generally, the present disclosure relates to an apparatus, a system, and a method for packaging an article with a packaging material. More specifically, the present disclosure relates to a robotic system, a computer program product, and a method for packaging an annular article that rotates while being packaged with a packaging material, such as a coil of sheet metal.

Background Art

[0002] The packaging of coils of sheet metal generally takes time in the production of sheet metal. Different solutions for automated coil packaging are available. Although they function well and reduce the risk of damage to the coil or the packaging material or film applied to the surface of the coil, there is still a need to provide an improved or sufficiently high productivity of the process for packaging the coil with the packaging material. Related Art

[0003] Patent Publication WO2016 / 195578 shows a setup of linear robots configured to package sheet metal coils.

[0004] Another patent publication US6705060B1 shows a similar setup of linear robots configured to package sheet metal coils.

[0005] Patent Publication EP3070008A1 shows a setup of robots with a higher degree of freedom that gives a more flexible configuration. However, this disclosure lacks practical solutions for actually making such a configuration function well.

[0006] Objectives of the Disclosed Embodiments The object of the embodiments disclosed in this specification is to overcome the drawbacks of related art known in enabling a faster overall process and / or a sufficiently fast packaging process for packaging an annular object, such as a coil, and also to provide a robot tool, system, and method that reduces the risk of damage to the coil and / or the packaging material applied to the surface of the coil after packaging the coil with the packaging material.

[0007] Another object of the disclosed technology is to reduce the risk of damage to the coil and / or the packaging material applied to the surface of the coil, yet still provide an improved or sufficiently high productivity of the process for packaging the coil with the packaging material.

[0008] Yet another object of the disclosed technology is to eliminate and / or reduce the need for a separate protection device, such as a more advanced mechanical edge protection device, for the packaged coil, while providing an improved or sufficiently high productivity of the overall process for protecting the coil from mechanical, physical, and / or chemical damage.

[0009] A further object of the disclosed technology is to apply the film locally thicker or have more layers locally than the remaining part of the coil, so that, for example, when subsequently removing and moving the packaged coil from the cradle, the specific, e.g., predetermined, cylindrical sector segment of the coil and / or the packaging material applied to the specific cylindrical sector segment is prevented and / or reduced from being damaged by the gripping of the packaged coil by a gripping machine or tool that grips at least a part of the area of the cylindrical sector segment.

[0010] A further object of the disclosed technology is to apply the film locally thicker or with more layers than the remaining part of the coil, so that the specific, for example, predetermined, cylindrical sector segment of the coil and / or the packaging material applied to the specific cylindrical sector segment has at least a part of the area of the specific cylindrical sector segment of the packaged coil in contact with the contact surface, for example, to eliminate and / or reduce damage caused by the surface friction of the ground on which the packaged coil abuts.

SUMMARY OF THE INVENTION

[0011] The disclosed technology relates to a method, a computer program product, and a robot system for packaging a coil, including a control system for controlling the operation of at least two industrial robots each having an angular velocity or rotational speed of the coil and at least one robot arm.

[0012] In exemplary applications and embodiments, the disclosed technology is intended to reduce the risk that the coil and / or the protective packaging material applied to the surface of the coil is damaged when the curved envelope surface of a specific cylindrical sector segment of the coil or a part of the cylindrical surface abuts the contact surface after completion of the packaging process, and / or that a specific cylindrical sector segment is damaged by gripping the coil after applying the packaging material or film, for example, when the coil is moved away from the cradle by a gripping machine or gripping tool.

[0013] In an embodiment, the disclosed technology relates to a method, a computer program product, and a robot system for controlling the operation of at least two industrial robots used to wrap the surface of a coil with a packaging material, such as a stretch film, in a continuous wrapping turn. The robot system comprises a computer program product and a control system configured to control the angular velocity, or rotational speed, of the coil while applying the packaging material to the surface of the coil and the operation of at least two industrial robots and at least one robotic arm of each.

[0014] In an aspect, the disclosed technology relates to a robot system comprising a control system configured to adjust and vary the angular velocity, or rotational speed, of a coil about its longitudinal axis during the process of wrapping the coil, thereby varying the amount of overlap during a continuous wrapping turn or winding of the packaging material, such that a greater overlap during a continuous turn or winding of the packaging material is provided on the cylindrical surface of at least one first cylindrical sector segment of the coil than the overlap of the cylindrical surface of at least one other second cylindrical sector segment of the coil.

[0015] In an embodiment, the disclosed technology relates to a method, a computer program product, and a control system for automatically adjusting and varying the angular velocity, or rotational speed, of a coil during the process of wrapping by adjusting the angular velocity, or rotational speed, of at least one coil roller of a cradle that transports the coil. The rotation of at least one coil roller transmits a rotational movement to the coil disposed within the cradle. According to various embodiments, a specific change in the angular velocity, or rotational speed, for at least one coil roller corresponds to a specific change in the angular velocity, or rotational speed, for the coil disposed on at least one coil roller within the cradle, depending on the diameter of the coil to be wrapped with the packaging material and the diameter of at least one coil roller.

[0016] According to the embodiments and aspects of the disclosed technology, the control system of the robotic system is configured to adjust and vary the angular velocity of the coil disposed within the cradle, thereby further adjusting and varying the overlap of the stretch film between successive wrapping turns, by adjusting and varying the angular velocity, or rotational speed, of the rotating coil roller of the cradle that transmits rotational movement to the coil during the process of wrapping.

[0017] In an embodiment, the control system of the robotic system is configured to adjust and vary the angular velocity, or rotational speed, of the rotating coil roller of the cradle such that a plurality of layers of stretch film, i.e., at least a double layer of film over the entire cylindrical surface area, are provided over the entire surface area of the cylindrical surface of at least one first cylindrical sector segment of the coil.

[0018] In an aspect, the disclosed technology relates to a robotic system comprising a cradle for transporting a coil and a control system configured to control means for transmitting rotational movement to the coil, where the means for transmitting rotational movement to the coil is in the form of at least one coil roller that is part of the cradle. The control system may then vary the angular velocity of the at least one coil roller, the angular velocity, or rotational speed, of the coil about its longitudinal axis during the process of wrapping the coil, thereby varying the amount of overlap between successive wrapping turns or windings of the packaging material, such that a greater overlap between successive turns or windings of the packaging material than the overlap between the cylindrical surface of at least one first cylindrical sector segment of the coil and the cylindrical surface of at least one other second cylindrical sector segment of the coil is provided on the cylindrical surface of the coil.

[0019] In an embodiment, the robotic system includes a cradle for transporting a coil, a control system, means for transmitting a rotational movement to the coil, and two industrial robots, each of the industrial robots being provided with at least one robotic arm having a connecting robotic piece interfacing with a robotic tool having two ends each configured to interface with the connecting robotic piece of the at least one robotic arm, and a roll holder shaft protruding substantially perpendicular to an axis extending between the two ends and transporting a roll of packaging material. The control system is configured at this time to adjust and vary the angular velocity, or rotational speed, of the coil about its longitudinal axis during the process of packaging the coil, thereby varying the amount of overlap between successive packaging turns or wraps of the packaging material, such that there is provided between successive turns or wraps of the packaging material on the cylindrical surface of at least one first cylindrical sector segment of the coil a greater overlap than the overlap of the cylindrical surface of at least one other second cylindrical sector segment of the coil, by controlling the means for transmitting a rotational movement to the coil.

[0020] In an embodiment, the robotic system includes a cradle for transporting a coil, a control system, means for transmitting rotational movement to the coil, and two industrial robots, each industrial robot being provided with at least one robotic arm having a connecting robotic piece interfacing with a robotic tool having two ends each configured to interface with a connecting robotic piece configured to interface with a connecting robotic piece of at least one robotic arm, and a roll holder shaft projecting substantially perpendicular to an axis extending between the two ends and transporting a roll of packaging material. The control system may be configured at this time to control the operation of the robots on the coil to wrap the coil with packaging material in a continuous packaging turn or winding, each including a sequence of robot operations including two handovers of the robotic tool between the two robots per packaging turn in which a first handover phase occurs within the hollow cylindrical central core of the coil and a second handover phase occurs along the curved envelope surface of the coil. The control system may be further configured at this time to adjust and vary the angular velocity, or rotational speed, of the coil about its longitudinal axis during the process of packaging the coil, thereby varying the amount of overlap between successive packaging turns or windings of the packaging material, such that a greater overlap between successive turns or windings of the packaging material than the overlap of the cylindrical surface of at least one other second cylindrical sector segment of the coil is provided on the cylindrical surface of at least one first cylindrical sector segment of the coil.

[0021] In an embodiment, the control system adjusts and varies the angular velocity, or rotational speed, of the coil such that at least one lower angular velocity, or rotational speed, of the coil provided by means for transmitting rotational movement to the coil during at least a portion of the time for wrapping at least one first cylindrical sector segment is less than 70% of a higher rotational speed provided to the coil during wrapping of at least one other second cylindrical sector segment of the coil, thereby being configured to provide reinforcement of at least one first cylindrical sector segment.

[0022] In an embodiment, the control system is configured to adjust and vary the angular velocity, or rotational speed, of the coil such that the coil does not rotate during at least a portion of the time for wrapping at least one first cylindrical sector segment by controlling means for transmitting rotational movement to the coil.

[0023] In an embodiment, the control system is configured to adjust and vary the angular velocity, or rotational speed, of the coil during the wrapping process such that the coil rotates at at least one lower angular velocity, or rotational speed, during at least 5 consecutive wrapping turns or windings.

[0024] In an embodiment, the control system adjusts and varies the angular velocity, or rotational speed, of the coil during the wrapping process such that at least one lower angular velocity, or rotational speed, of the coil provided by means for transmitting rotational movement to the coil during wrapping of at least one first cylindrical sector segment of the coil results in an overlap between consecutive wrapping turns or windings along at least one first cylindrical sector segment of the coil over 50% of the width of the roll of wrapping material, along the cylindrical surface, or curved envelope surface, thereby being configured to provide reinforcement of at least one first cylindrical sector segment.

[0025] In an embodiment, the control system controls the means for transmitting rotational movement to the coil so that at least one other second cylindrical sector segment of the coil is provided with at least one higher rotational speed provided by the means for transmitting rotational movement to the coil during the wrapping of the coil, such that during the process of wrapping, a overlap is brought about between successive wrappings or turns along the cylindrical surface, or the curved envelope surface, of at least one other second cylindrical sector segment of the coil that is less than 35% of the width of the roll of packaging material. The control system is configured to vary and change the angular velocity, or rotational speed, of the coil.

[0026] In an embodiment, the control system of the robotic system is configured to adjust and vary the angular velocity, or rotational speed, of the rotating coil roller of the cradle such that a composite single and double layer of stretch film is provided on the cylindrical surface area of at least one other cylindrical sector segment of the coil with an overlap between successive wrappings or turns that is less than 45% of the width of the stretch film, while a plurality of layers of stretch film, i.e., at least a double layer of film over the entire cylindrical surface area, are provided over the entire surface area of the cylindrical surface of at least one first cylindrical sector segment of the coil. By applying a plurality of layers of stretch film over the entire cylindrical surface of at least one first cylindrical sector segment of the coil and at locations where only a single layer of film is provided on portions of the cylindrical surface area of at least one other cylindrical sector segment of the coil, greater protection against mechanical, physical, and / or chemical damage is provided, reducing the risk of damage to the coil and / or the stretch film applied to the cylindrical surface of at least one first cylindrical sector segment of the coil after the coil is wrapped in stretch film, while providing an improved or sufficiently high productivity of the overall process for protecting the coil from mechanical, physical, and / or chemical damage.

[0027] In an embodiment, the control system is configured to control the positioning of the robot arm of each robot such that the longitudinal axis of the roll holder shaft of the robot tool holding the roll is oriented in an inclined direction with respect to the rotation direction of the coil, where the roll holder shaft is oriented in the inclined direction in at least a portion of the operation of the robot tool along the cylindrical surface or the curved envelope surface of the coil.

[0028] In an embodiment, the control system is configured to control the direction of the roll holder shaft with respect to the rotation direction of the coil such that the shaft is inclined by a larger angle by each robot arm during use at at least one higher angular velocity of the coil than during use at at least one lower angular velocity of the coil, where the inclination of the shaft is adapted to the angular velocity, or rotational speed, imparted to the coil.

[0029] In an embodiment, the control system is configured to control the positioning of the roll holder shaft in three-dimensional space along a first circumferential edge that defines a starting position such that the starting position for the packaging of the cylindrical surface or the curved envelope surface of the coil is adapted to the currently imparted angular velocity of the coil.

[0030] In an embodiment, the control system is configured to control the positioning of the longitudinal axis of the roll holder shaft of the robot tool such that the shaft is positioned at an angle within an angular range of 2 to 30 degrees with respect to the rotation direction along the cylindrical surface of the coil to which the packaging material is applied.

[0031] In an embodiment, the control system is configured to control the operation of the robot such that the direction of travel of the robot tool and each robot arm holding the robot tool along the curved envelope surface is in a direction essentially parallel to the axis of rotation of the coil, where the longitudinal axis of the roll holder shaft of the robot tool is positioned at an angle within an angular range of 3 to 30 degrees with respect to the rotation direction of a sub-region of the cylindrical surface or the curved envelope surface to which the packaging material is applied.

[0032] In an embodiment, the control system is configured to control the operation of the robot such that the traveling directions of the robot tool and each robot arm holding the robot tool along the cylindrical surface or the curved envelope surface are in a direction along the curved envelope surface that is essentially parallel to the rotation axis of the coil.

[0033] In an embodiment, the control system is configured to control the operation of the robot arm such that the traveling directions of the robot tool and each robot arm holding the robot tool along the cylindrical surface or the curved envelope surface are in a linear direction within an angular range of 0.1 to 15 degrees with respect to the axis along the curved envelope surface parallel to the rotation axis of the coil.

[0034] In an embodiment, the disclosed technology relates to a method and a robot system for coil packaging having two industrial robots, each robot being provided with a robot arm for holding a robot tool together with a roll of stretch film, where the robot system is configured to adjust and vary the angular velocity, or rotational speed, of the coil while applying the packaging material during the packaging process such that a plurality of layers of stretch film, i.e., at least a double layer of film over the entire surface area, are provided over the entire surface area of at least one cylindrical sector segment of the coil, while on a portion of the cylindrical surface area of at least one other cylindrical sector segment only a single layer of film is provided, with a composite single layer of stretch film being provided on the surface area of at least one other cylindrical sector segment with an overlap of less than 45% of the width of the stretch film. By applying a plurality of layers of stretch film over the entire cylindrical surface of at least one first cylindrical sector segment of the coil and at locations where only a single layer of film is provided on a portion of the cylindrical surface area of at least one other cylindrical sector segment, greater protection against mechanical, physical, and / or chemical damage is provided, reducing the risk of damage to the stretch film applied to the coil and / or to the cylindrical surface of at least one first cylindrical sector segment of the coil after the coil is packaged with the stretch film, while providing an improved or sufficiently high productivity of the overall process for protecting the coil from mechanical, physical, and / or chemical damage.

[0035] According to an embodiment, the control system of the robot system includes a computer program product storing software code and instructions that, when executed, control the operation and path of at least two industrial robots and their respective at least one robot arm such that the path of the continuous packaging turn / wrap / pass is different in order to define a specific width of the overlap of the continuous packaging path along the curved envelope surface, taking into account the outer radius of the coil and the rotational speed of the coil, e.g., the rotational speed imparted to the coil by a pair of coil rollers of a cradle that transports the coil and is disposed within the cradle.

[0036] According to the embodiments and aspects of the disclosed technology, when executed, it adjusts and varies the angular velocity of the coil disposed within the cradle, thereby further adjusting and varying the overlap of the stretch film between successive packaging turns, such that a plurality of layers of stretch film, i.e., at least a double layer of film over the entire surface area, is provided over the entire cylindrical surface area of at least one cylindrical sector segment of the coil, while a double layer of film is provided over less than 45% of the cylindrical surface area of at least one other cylindrical sector segment, and a composite single layer of stretch film is provided over the area of the cylindrical surface of at least one other cylindrical sector segment with an overlap with less than 45 of the width of the stretch film, in order to adjust and vary the angular velocity, or rotational speed, of the rotating coil roller of the cradle that transmits rotational motion to the coil during the packaging process. By applying a plurality of layers of stretch film over the entire cylindrical surface of at least one first cylindrical sector segment of the coil, greater protection against mechanical, physical, and / or chemical damage is provided and reduced, thereby reducing the risk of damage to the coil and / or the stretch film applied to the surface of the coil after the coil is packaged in stretch film, while providing improved or sufficiently high productivity of the overall process for protecting the coil from mechanical, physical, and / or chemical damage.

[0037] In an aspect, the disclosed technology relates to a method for wrapping a coil in a robotic system comprising a cradle for transporting the coil, a control system, and means for transmitting a rotational movement to the coil, the method comprising adjusting, by the control system, through the means for transmitting a rotational movement to the coil, the angular velocity, or rotational speed, of the coil about its longitudinal axis during the process of wrapping the coil, thereby varying the amount of overlap between successive wrapping turns or windings of the wrapping material, such that a greater overlap between successive turns or windings of the wrapping material is provided on the cylindrical surface of at least one first cylindrical sector segment of the coil than the overlap of the cylindrical surface of at least one other second cylindrical sector segment of the coil.

[0038] In an aspect, the disclosed technology relates to a method for wrapping a coil in a robotic system comprising a cradle for transporting the coil, a control system, means for transmitting a rotational movement to the coil, and two industrial robots, each industrial robot being provided with at least one robotic arm having a connecting robotic piece configured to interface with a robotic tool having two ends each configured to interface with a connecting robotic piece of at least one robotic arm, and a roll holder shaft projecting substantially perpendicular to an axis extending between the two ends and transporting a roll of wrapping material, the method comprising adjusting, by the control system, through the means for transmitting a rotational movement to the coil, the angular velocity, or rotational speed, of the coil about its longitudinal axis during the process of wrapping the coil, thereby varying the amount of overlap between successive wrapping turns or windings of the wrapping material, such that a greater overlap between successive turns or windings of the wrapping material is provided on the cylindrical surface of at least one first cylindrical sector segment of the coil than the overlap of the cylindrical surface of at least one other second cylindrical sector segment of the coil.

[0039] In an aspect, the disclosed technology is a method for packaging a coil in a robotic system comprising a cradle for transporting the coil, a control system, means for transmitting a rotational movement to the coil, and two industrial robots, each industrial robot being provided with at least one robotic arm having a connecting robotic piece configured to interface with a robotic tool having two ends each configured to interface with the connecting robotic piece. The method comprises, in each of a series of continuous packaging turns or wraps each including a sequence of robotic operations including two handovers of the robotic tool between the two robots per packaging turn or wrap, packaging the coil with the packaging material unwound from the roll, wherein a first handover phase occurs within the hollow cylindrical central core of the coil and a second handover phase occurs along the cylindrical surface, or the curved envelope surface, of the coil. The method further comprises adjusting, by the control system, through the means for transmitting a rotational movement to the coil, the angular velocity, or rotational speed, of the coil about its longitudinal axis during the process of packaging the coil, thereby varying the amount of overlap between successive packaging turns or wraps of the packaging material, such that there is provided a greater overlap between successive turns or wraps of the packaging material on the cylindrical surface of at least one first cylindrical sector segment of the coil than the overlap of the cylindrical surface of at least one other second cylindrical sector segment of the coil.

[0040] In an embodiment, the method further comprises adjusting the angular velocity, or rotational speed, of the coil by the control system such that at least one lower angular velocity, or rotational speed, of the coil provided by the means for transmitting rotational movement to the coil during at least a portion of the time for wrapping the at least one first cylindrical sector segment is less than 70% of a higher rotational speed provided to the coil during the wrapping of the at least one other second cylindrical sector segment of the coil, thereby providing reinforcement of the at least one first cylindrical sector segment.

[0041] In an embodiment, the method further comprises adjusting the angular velocity, or rotational speed, of the coil by the control system such that the coil does not rotate during at least a portion of the time for wrapping the at least one first cylindrical sector segment through the means for transmitting rotational movement to the coil.

[0042] In an embodiment, the angular velocity, or rotational speed, of the coil is adjusted by the control system such that the coil rotates at at least one lower angular velocity, or rotational speed, during at least five consecutive wrapping turns or windings.

[0043] In an embodiment, the method includes providing reinforcement of the at least one first cylindrical sector segment by causing an overlap between consecutive wrapping turns or windings along the cylindrical surface, or curved envelope surface, of the at least one first cylindrical sector segment of the coil that exceeds 50% of the width of the roll of the packaging material by the at least one lower rotational speed of the coil provided by the means for transmitting rotational movement to the coil during the wrapping of the at least one first cylindrical sector segment of the coil.

[0044] In an embodiment, the method involves providing at least one lower rotational speed imparted by the means for transmitting rotational movement to the coil during the wrapping of at least one first cylindrical sector segment of the coil, which results in an overlap between successive wrapping turns or windings along the cylindrical surface, or the curved envelope surface, of at least one first cylindrical sector segment of the coil that exceeds 70% of the width of the roll of wrapping material, thereby providing reinforcement for at least one first cylindrical sector segment.

[0045] In an embodiment, the method involves providing at least one lower rotational speed imparted by the means for transmitting rotational movement to the coil under the control of a control system and during the wrapping of at least one first cylindrical sector segment of the coil, which results in an overlap between successive wrapping turns or windings along the cylindrical surface, or the curved envelope surface, of at least one first cylindrical sector segment of the coil that exceeds 90% of the width of the roll of wrapping material, thereby providing reinforcement for at least one first cylindrical sector segment.

[0046] In an embodiment, at least one higher rotational speed imparted by the means for transmitting rotational movement to the coil during the wrapping of at least one other second cylindrical sector segment of the coil results in an overlap between successive wrapping turns or windings along the cylindrical surface, or the curved envelope surface, of at least one other second cylindrical sector segment of the coil that is less than 45% of the width of the roll of wrapping material.

[0047] In an embodiment, due to the at least one higher rotational speed provided by the means for transmitting rotational movement to the coil during the packaging of the at least one other second cylindrical sector segment of the coil, an overlap is brought about during consecutive packaging turns or wraps along the cylindrical surface, or the curved envelope surface, of the at least one other second cylindrical sector segment of the coil that is less than 35% of the width of the roll of packaging material.

[0048] In an embodiment, under the control system and due to the at least one higher rotational speed provided by the means for transmitting rotational movement to the coil during the packaging of the at least one other second cylindrical sector segment of the coil, an overlap is brought about during consecutive packaging turns or wraps along the cylindrical surface, or the curved envelope surface, of the at least one other second cylindrical sector segment of the coil that is less than 20% of the width of the roll of packaging material.

[0049] In an embodiment, the width of the roll of packaging material is in the range of 200 to 300 mm, and the width of the overlap produced along the cylindrical surface, or the curved envelope surface, of the at least one first cylindrical sector segment of the coil exceeds 150 mm.

[0050] In an embodiment, the process for packaging the entire coil includes between 15 and 50 packaging turns or wraps in total.

[0051] In an embodiment, the method further comprises adapting the positioning of the robotic arm of each respective robot by the control system such that the longitudinal axis of the roll holder shaft of the robotic tool holding the roll is oriented in an inclined direction with respect to the rotational direction of the coil, where the roll holder shaft is oriented in the inclined direction during at least the portion of the operation of the robotic tool along the cylindrical surface, or the curved envelope surface, of the coil.

[0052] In an embodiment, the method further comprises adapting, by a control system, the direction of the roll holder shaft relative to the direction of rotation of the coil such that the inclination of the shaft provided to the coil matches the angular velocity, or rotational speed, imparted to the coil by each robotic arm at at least one higher angular velocity of the at least one coil than during use at a lower angular velocity.

[0053] In an embodiment, the method further comprises positioning, by the control system, the position of the roll holder shaft in three-dimensional space along a first circumferential edge defining a starting position for the wrapping of the cylindrical surface, or curved envelope surface, of the coil to be adapted to the currently imparted angular velocity of the coil.

[0054] In an embodiment, the method further comprises positioning, by a control system, the inclination of the longitudinal axis of the roll holder shaft of the robot tool by each robotic arm holding the robot tool at an angle within an angular range of 2 to 30 degrees relative to the direction of rotation along the cylindrical surface of the coil to which the packaging material is applied.

[0055] In an embodiment, the method further comprises controlling, by a control system, the direction of travel of the robot tool and each robotic arm holding the robot tool along a curved envelope surface in a direction essentially parallel to the axis of rotation of the coil, wherein the longitudinal axis of the roll holder shaft of the robot tool is positioned at an angle within an angular range of 3 to 30 degrees relative to the direction of rotation of a sub-region of the curved envelope surface to which the packaging material is applied.

[0056] In an embodiment, the method further comprises controlling, by the control system, the movement of the robot arm such that the direction of travel of the robot tool and each respective robot arm holding the robot tool along the cylindrical surface or the curved envelope surface is in a direction along the curved envelope surface that is essentially parallel to the axis of rotation of the coil.

[0057] In an embodiment, the method further comprises controlling, by the control system, the movement of the robot arm such that the direction of travel of the robot tool and each respective robot arm holding the robot tool along the cylindrical surface or the curved envelope surface is in a linear direction within an angular range of 0.1 to 15 degrees with respect to the axis along the curved envelope surface that is parallel to the axis of rotation of the coil.

[0058] In an embodiment, the disclosed technique relates to a method of packaging a coil in a robotic system comprising a control system, a cradle for transporting the coil, at least one robot arm having a connecting robot piece configured to interface with a robot tool having two ends each configured to interface with a connecting robot piece of the at least one robot arm, and a roll holder shaft that projects substantially perpendicular to an axis extending between the two ends and transports a roll of packaging material, the method comprising packaging the coil with packaging material unwound from a roll in successive packaging turns each including a sequence of robot operations including two handovers of the robot tool between the two robots per packaging turn / pass, wherein a first handover phase occurs within the hollow cylindrical center core of the coil and a second handover phase occurs along the curved envelope surface of the coil, and wherein applying the packaging material to the surface of the coil includes adjusting, by the control system, the angular velocity of the coil through means for transmitting rotational movement to the coil, thereby varying the overlap between successive wraps of packaging material along the cylindrical surface of the coil.

[0059] In an embodiment, the method comprises the step of wrapping the coil with a packaging material in a sequence of robotic operations that includes a wrap, or two handovers of a robotic tool between two robots per packaging cycle / pass, where a first handover phase occurs within the hollow cylindrical central core of the coil and a second handover phase occurs along the curved envelope surface of the coil. In certain embodiments, at least one of the first and second handovers of the robotic tool between the two robots and their respective robotic arms is performed while both of the two robotic arms that hand over the robotic tool between each other are moving while simultaneously holding the robotic tool. In an exemplary embodiment, both of the two robotic arms are moving during the handover that occurs within the hollow cylindrical central core of the coil, and / or both of the two robotic arms are moving during the second handover that occurs along the curved envelope surface of the coil.

[0060] In certain embodiments, to achieve this "on-the-fly" handover, the operating power, e.g., pneumatic or hydraulic power, of the robotic arm of the robot that hands over the robotic tool to the other robotic arm is reduced or turned off at a specific distance within a distance interval of 20 to 200 mm from the position / area in three-dimensional space of the handover phase when both of the two robotic arms first hold the robotic tool simultaneously.

[0061] In an exemplary embodiment, when the robotic tool is completely turned off at a specific distance from the handover position / area, the robotic tool is typically held and locked to the connecting robotic piece of the robotic arm that hands over the robotic tool solely by mechanical force, for example, solely by mechanical spring tension, when the robotic tool is held by both robotic arms. In an exemplary embodiment, when the robotic tool is reduced at a specific distance from the handover position / area, the robotic tool is typically held and locked to the connecting robotic piece of the robotic arm that hands over the robotic tool solely by mechanical force between before and the initial phase of the handover when the robotic tool is held by both robotic arms partly by pneumatic power or hydraulic power and partly by mechanical force. At least one of the two robotic arms or an inductive sensor on the robotic tool may be used to determine the time to reduce or turn off the operating power, or the software program and control data of the robotic control system may determine the point in time to reduce or cut off the operating power of the robotic arm that hands over the robotic tool. These handover "on-the-fly" procedures, including reducing or cutting off the operating power at a specific distance from the handover position / area, eliminate the need for either of the two robotic arms to stop during the handover and waste time, resulting in faster handovers and improved productivity.

[0062] In certain aspects, the disclosed technology relates to a method for packaging a coil in a robotic system that includes a robotic control system, a cradle for transporting the coil, two industrial robots, each industrial robot being provided with at least one robotic arm having a connecting robotic piece interfacing with the connecting robotic piece of at least one robotic arm and interfacing with a robotic tool having two ends each configured to interface with the connecting robotic piece of the at least one robotic arm, and a roll holder shaft that projects substantially perpendicular to an axis extending between the two ends and transports a roll of packaging material, the method comprising, in successive packaging turns each including a sequence of robotic operations including two handovers of the robotic tool between the two robots per packaging turn, packaging the coil with packaging material unwound from the roll, wherein a first handover phase occurs within the hollow cylindrical center core of the coil and a second handover phase occurs along the curved envelope surface of the coil, wherein applying the packaging material to the surface of the coil a. reducing or turning off the operating power, such as pneumatic power or hydraulic power, of the robotic arm of the robot that hands over the robotic tool to another robotic arm at a specific distance within a distance interval of 20 to 200 mm from the handover position comprises.

[0063] In certain embodiments, the disclosed technology relates to a robotic system having at least one robotic arm provided on each of two industrial robots, each robotic arm having a robotic tool configured to interface with a robotic control system, a cradle for transporting a coil, and a connecting robotic piece configured to interface with two ends each configured to interface with a connecting robotic piece of a robotic arm, and a roll holder shaft that protrudes substantially perpendicular to an axis extending between the two ends and is provided for transporting a roll of packaging material, where the robotic control system is configured to control the operation of the robots with respect to the coil to package the coil with the packaging material in successive packaging turns, each successive packaging turn including a sequence of robotic operations including two handovers of the robotic tool between the two robots per packaging turn, where the robotic control system is further configured to control the operation of the robots and their respective robotic arms to include a. reducing or turning off the operating power, such as pneumatic power or hydraulic power, of the robotic arm of the robot that hands over the robotic tool to another robotic arm at a specific distance within a distance interval of 20 to 200 mm from the handover position as described.

Brief Description of the Drawings

[0064] The embodiments disclosed herein are further described with reference to the accompanying drawings.

[0065]

Figure 1A

[0066]

Figure 1B

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Figure 1C

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Figure 1D

[0069]

Figure 1E

[0070]

Figure 2

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Figure 3

DETAILED DESCRIPTION OF THE INVENTION

[0072] The present disclosure describes systems and devices for packaging the exposed surface of a large annular coil, including its hollow cylindrical core, thereby preventing contamination and / or preparing the coil for shipping.

[0073] The disclosed technology relates to a system, apparatus, and method for packaging a coil in a robotic system comprising a control system and a cradle for transporting the coil.

[0074] The method according to the disclosed technology comprises adjusting the rotational speed of the coil about its longitudinal axis during the process of wrapping the coil, thereby varying the amount of overlap between successive wrapping turns or windings of the wrapping material, such that at least one first cylindrical sector segment of the coil is wrapped with an overlap between successive turns or windings of the wrapping material that is greater than the overlap produced for at least one other second cylindrical sector segment of the coil. The wrapping of the coil may typically include between 15 and 70 wrapping turns or windings.

[0075] The robot system and apparatus according to the disclosed technology comprise a control system configured to adjust and vary the angular velocity, or rotational speed, of the coil about its longitudinal axis during the process of wrapping the coil, thereby varying the amount of overlap between successive wrapping turns or windings of the wrapping material, such that at least one first cylindrical sector segment of the coil is wrapped with an overlap between successive turns or windings of the wrapping material that is greater than the overlap produced for at least one other second cylindrical sector segment of the coil.

[0076] In an embodiment, the robot system and apparatus according to the disclosed technology comprise a control system configured to control means for imparting rotational movement to a coil disposed within a cradle such that, during the process of wrapping the coil, the angular velocity, or rotational speed, of the coil about its longitudinal axis is adjusted and varied, thereby varying the amount of overlap between successive wrapping turns or windings of the wrapping material, such that at least one first cylindrical sector segment of the coil is wrapped with an overlap between successive turns or windings of the wrapping material that is greater than the overlap produced for at least one other second cylindrical sector segment of the coil.

[0077] In various embodiments and applications, by being able to vary the amount of overlap between successive wrapping turns or windings of the wrapping material during the process of wrapping, as enabled by the disclosed technology, reinforcement of at least one first cylindrical sector segment is provided, reducing the risk that the coil and / or the wrapping material applied to the surface of the coil is damaged after the coil is wrapped with the wrapping material.

[0078] In various embodiments and applications, by being able to vary the amount of overlap between successive wrapping turns or windings of the wrapping material during the process of wrapping, as enabled by the disclosed technology, the need for a separate protective device for the wrapped coil, such as a more sophisticated mechanical edge protection device, is eliminated and / or reduced, while at the same time an improved or sufficiently high productivity of the overall process for protecting the coil from mechanical, physical, and / or chemical damage is provided.

[0079] In various embodiments and applications, by being able to vary the amount of overlap between successive wrapping turns or windings of the wrapping material during the process of wrapping, as enabled by the disclosed technology, the risk that a coil wrapped with a stretch film is damaged by the gripping of a crane that grips the coil at a location on a first cylindrical sector segment that is wrapped with more layers of stretch film than other areas of the coil is reduced, while still providing an improved or sufficiently high productivity of the process for wrapping the coil with the wrapping material. In an embodiment, the method of the disclosed technology may comprise, for example, determining, by a control system, a first cylindrical sector segment where it is permissible for a gripper tool to grip the coil after the coil is wrapped with the stretch film, before the process of wrapping begins.

[0080] In various embodiments and applications, the disclosed technology enables changing the amount of overlap between successive wrapping turns or windings of the packaging material during the wrapping process, thereby locally thickening the film or locally increasing the number of layers relative to the remaining portion of the coil, such that a particular first cylindrical sector segment of the coil, e.g., a predetermined first cylindrical sector segment of the coil, and / or the packaging material applied to the particular first cylindrical sector segment is protected against damage by a contact surface against which at least a portion of the area of the particular first cylindrical sector segment of the packaged coil abuts, e.g., damage caused by the surface friction of the ground against which the packaged coil abuts. In an embodiment, the method of the disclosed technology may comprise, for example, prior to the start of the wrapping process, determining, by a control system, a first cylindrical sector segment of the coil that is permitted to abut an external contact surface, e.g., the ground.

[0081] Accordingly, an advantage of the disclosed technology is that adaptively, the packaging material is locally thickened relative to the remaining portion of the coil, e.g., locally increasing the number of layers of stretch film, such that, for example, when subsequently removing and moving the packaged coil from a cradle, the particular, e.g., predetermined, cylindrical sector segment of the coil and / or the packaging material applied to the particular cylindrical sector segment is protected against and / or reduced in damage caused by gripping of the packaged coil by a gripping machine or tool that grips at least a portion of the area of the cylindrical sector segment.

[0082] In an embodiment, the system and apparatus may comprise a pair of robots that pass / hand over or transfer a robot tool, including a roll of packaging material such as a plastic stretch film, from a connecting robot piece on one robot arm of a first robot, e.g., a gripper, to a connecting robot piece on a robot arm of another robot. The system and apparatus according to the disclosed technology may further comprise a control system configured to adjust the rotational speed of the coil about its longitudinal axis during the process of packaging the coil. The system and apparatus may thereby be configured to vary the amount of overlap between successive packaging turns or wraps of the packaging material. At least one first cylindrical sector segment of the coil may then be packaged with an overlap between successive turns or wraps of the packaging material that is greater than the overlap generated for at least one other second cylindrical sector segment of the coil. In an exemplary embodiment, the system and apparatus are configured to adjust the rotational speed of the coil such that the resulting overlap when packaging at a lower rotational speed exceeds 50% of the width of the roll of packaging material for at least one first cylindrical sector segment of the coil and is less than 45% of the width of the roll when packaging at a higher rotational speed for at least one other second cylindrical sector segment.

[0083] In aspects and embodiments of the disclosed technology, by reducing the angular velocity for a particular at least one first cylindrical sector segment to an angular velocity in the range of 5 - 70% of a standard angular velocity for at least one other cylindrical sector segment (where this standard angular velocity gives an overlap of 5 - 45%), an overlap in the range of 50 - 95% of the width of the film for the entire cylindrical surface of at least one first cylindrical sector segment, typically a thickness of 2 - 30 layers of the film, is provided to protect at least one first cylindrical sector segment from mechanical, physical, and / or chemical effects for which reinforcement is required.

[0084] As an exemplary embodiment of the disclosed technology when applying a stretch film with a width of 240 mm to a coil having a diameter of 2200 mm, the overlap between successive wrapping materials along the cylindrical surface of at least one first cylindrical sector segment that requires reinforcement is in the range of 120 to 230 mm along the cylindrical surface of at least one first cylindrical surface segment, while the overlap between successive wrapping materials along the cylindrical surface of at least one other cylindrical sector segment is in the range of 12 to 110 mm.

[0085] In yet another exemplary embodiment of the disclosed technology when applying a stretch film with a width of 100 mm to a coil having a diameter of 600 mm, the overlap between successive wrapping materials along the cylindrical surface of at least one first cylindrical sector segment that requires reinforcement is in the range of 50 to 95 mm along the cylindrical surface of at least one first cylindrical surface segment, while the overlap between successive wrapping materials along the cylindrical surface of at least one other cylindrical sector segment is in the range of 3 to 270 mm.

[0086] In an embodiment, the control system of the system and apparatus may be configured to adjust the rotational speed of the coil such that at least one first lower rotational speed used when wrapping at least one first cylindrical sector segment is in the range of 5 to 70% of a higher second rotational speed used to wrap at least one other second cylindrical sector segment of the coil.

[0087] In a particular embodiment, for example when using a combination of measures to vary the amount of overlap between successive wrapping turns or windings of the wrapping material during coil wrapping, the control system of the system and apparatus may be configured to adjust the rotational speed of the coil such that at least one first lower rotational speed used when wrapping at least one first cylindrical sector segment is in the range of 5 to 80% of a higher second rotational speed used to wrap at least one other second cylindrical sector segment of the coil.

[0088] In certain embodiments, for example when using a combination of measures to vary the amount of overlap between successive wrapping turns or windings of the wrapping material during the wrapping of the coil, the control system of the system and apparatus may be configured to adjust the rotational speed of the coil such that at least one first lower rotational speed used when wrapping at least one first cylindrical sector segment of the coil is in the range of 70 to 90% of a higher second rotational speed used to wrap at least one other second cylindrical sector segment of the coil.

[0089] In an embodiment, the system and apparatus may comprise a pair of robots that pass / hand over or transfer a robot tool including a roll of wrapping material, such as a plastics stretch film, from a connecting robot piece on one robot arm of a first robot, for example a gripper, to a connecting robot piece on a robot arm of another robot.

[0090] The system and apparatus according to the disclosed technology may then further comprise a control system configured to adjust the rotational speed of the coil about its longitudinal axis during the process of wrapping the coil. The system and apparatus may thereby be configured to vary the amount of overlap between successive wrapping turns or windings of the wrapping material. At least one first cylindrical sector segment of the coil may then be wrapped with an overlap between successive turns or windings of the wrapping material that is greater than the overlap produced for at least one other second cylindrical sector segment of the coil.

[0091] In an exemplary embodiment, at least one first lower rotational speed used when packaging at least one first cylindrical sector segment is in the range of 5 to 70% of a higher second rotational speed used to package at least one other second cylindrical sector segment of the coil. In an embodiment, the systems and apparatuses of the disclosed technology are then configured to adjust the rotational speed of the coil such that the resulting overlap when packaging at the lower rotational speed exceeds 50% of the width of the roll of packaging material for at least one first cylindrical sector segment of the coil and is less than 45% of the width of the roll when packaging at least one other second cylindrical sector segment at the higher rotational speed. In a particular embodiment, the systems and apparatuses of the disclosed technology are then configured to adjust the rotational speed of the coil such that the resulting overlap when packaging at the lower rotational speed exceeds 60% of the width of the roll of packaging material for at least one first cylindrical sector segment of the coil and is less than 45% of the width of the roll when packaging at least one other second cylindrical sector segment at the higher rotational speed. In other embodiments, the systems and apparatuses of the disclosed technology are then configured to adjust the rotational speed of the coil such that the resulting overlap when packaging at the lower rotational speed exceeds 70% of the width of the roll of packaging material for at least one first cylindrical sector segment of the coil and is less than 45% of the width of the roll when packaging at least one other second cylindrical sector segment at the higher rotational speed. In other embodiments, the systems and apparatuses of the disclosed technology are then configured to adjust the rotational speed of the coil such that the resulting overlap when packaging at the lower rotational speed exceeds 60% of the width of the roll of packaging material for at least one first cylindrical sector segment of the coil and is less than 40% of the width of the roll when packaging at least one other second cylindrical sector segment at the higher rotational speed.

[0092] In an embodiment, the robotic system may comprise a control system and two industrial robots, and each robot may be provided with a robotic arm having a connecting robotic piece configured to interface with a roll or a robotic tool.

[0093] In an exemplary embodiment, when the connecting robotic piece of the robotic arm interfaces directly with a roll, the method comprises the step of wrapping the coil in a sequence of robotic operations involving the handover of a roll of packaging material from a first industrial robot to a second industrial robot and vice versa. The wrapping of the coil may typically include between 15 and 70 wrapping turns or windings with two handovers per wrapping turn or winding. The width of the roll of packaging material typically ranges from 200 to 300 mm, but may be narrower than 200 mm or wider than 300 mm.

[0094] According to aspects and embodiments of the disclosed technology, at least one first cylindrical sector segment of a coil being wrapped while the coil is rotating at a lower angular velocity, or rotational speed, is provided with more layers of packaging material compared to at least one second cylindrical sector segment of a coil being wrapped while the coil is rotating at a higher angular velocity, or rotational speed.

[0095] According to aspects and embodiments of the disclosed technology, the entire cylindrical surface of at least one first cylindrical sector segment of a coil being wrapped while the coil is rotating at a lower angular velocity, or rotational speed, is provided with a plurality of layers of packaging material, while on the cylindrical surface of at least one second cylindrical sector segment of a coil being wrapped while the coil is rotating at a higher angular velocity, or rotational speed, a single layer of packaging material is provided in part and a double layer of packaging material, for example a stretch film, is provided in part.

[0096] According to the disclosed technical aspects and embodiments, on the entire cylindrical surface of at least one first cylindrical sector segment of a coil that is packaged while the coil is rotating at a lower angular velocity or rotational speed, at least five layers of packaging material are provided. On the other hand, on the cylindrical surface of at least one second cylindrical sector segment of a coil that is packaged while the coil is rotating at a higher angular velocity or rotational speed, a single layer of packaging material is provided in part, and a double layer of packaging material, such as a stretch film, is provided in part.

[0097] According to the disclosed technical aspects and embodiments, on the entire cylindrical surface of at least one first cylindrical sector segment of a coil that is packaged while the coil is rotating at a lower angular velocity or rotational speed, at least ten layers of packaging material are provided. On the other hand, on the cylindrical surface of at least one second cylindrical sector segment of a coil that is packaged while the coil is rotating at a higher angular velocity or rotational speed, less than three layers of packaging material, such as a stretch film, are provided.

[0098] In an exemplary embodiment, when a robotic arm interfaces with a robotic tool, the robotic tool may include two ends each provided with a connecting tool piece configured to interface with the robotic arm, and a roll holder shaft configured to hold a roll of packaging material, where at one end, the roll holder shaft is mounted between and projects substantially perpendicular to an axis extending between the ends. The disclosed method may then include the step of packaging the coil in a sequence of robotic operations involving the handover of the robotic tool with a roll of packaging material from a first industrial robot to a second industrial robot and vice versa.

[0099] In an embodiment, the disclosed technology relates to a system and method for packaging a coil in a robotic system that includes a control system, a cradle for transporting the coil, two industrial robots, each having at least one robotic arm provided with a connecting robotic piece interfacing with a robotic tool having two ends each configured to interface with the connecting robotic piece, and a roll holder shaft that protrudes substantially perpendicular to an axis extending between the two ends and that transports a roll of packaging material.

[0100] What is important for the success of the packaging process is that the extending strip of packaging material taken from the roll is maintained at and / or under a particular level of tension, which may or may not be selected by the operator. The connecting robotic piece of the robotic arm is controlled by an operating power, such as pneumatic power, to close a gripper or master piece configured to be able to grip or engage at least one end of a roll or robotic tool, and may be actuated by a central processing unit (CPU) of the robotic control system.

[0101] The sequence of operations of the robotic arm holding the robotic tool that transports the roll of packaging material is adapted to allow the packaging material to unwind smoothly at a controlled feed rate. Since the two robotic arms pull the roll back and forth around the coil, a uniform tension can be applied to the strip. If the roll is allowed to "freewheel" without any tension, the strip will flutter, wrinkle, and be applied haphazardly to the coil. The haphazard application of the strip does not contribute to the effective stretch wrapping of the coil.

[0102] The coil is typically slowly rotated by the rollers of a coil roller, so that with each completion of the shown packaging cycle, a strip of packaging material is applied to a segment of the loop, i.e., a segment of a different surface of the coil. The width of the segment along the curved envelope surface is preferably well defined by the movement and path of two robots and robotic arms in three-dimensional space, typically controlled by a robotic control system, which varies for each packaging turn / pass / cycle / period around the loop / coil. The width of the packaging material on the roll is typically reduced by tension.

[0103] In some embodiments of the disclosed technology, the path of the strip around the loop is not strictly radial; rather, the axis of rotation is positioned such that the path is directed along a curved envelope surface that is inclined with respect to the direction of rotation of the coil or in a cylindrical direction related to the axis of rotation of the coil. Since the slow rotation of the coil is not fully compensated by the proposed method herein, which involves positioning the axis of rotation of the roll, or the roll holder shaft, the path crosses the coil at a slight angle.

[0104] As a result, the packaging path is repeated several times with slightly different paths of the two robotic arms in three-dimensional space for successive packaging paths, so that the loop is typically spirally wrapped until the entire outer surface of the coil is sealed, i.e., so that the surface area of the coil is not left exposed. An overlap of adjacent strips of packaging material is required to firmly cover the entire surface of the coil. The amount of resulting material overlap is at least partially determined by the angular velocity, or rotational speed, of the coil.

[0105] In aspects and embodiments of the present technology, the amount of resulting material overlap is solely determined by the outer radius of the coil to be packaged and the angular velocity, or rotational speed, of the coil.

[0106] In aspects and embodiments of the present technology, the robotic arm travels along a fixed path for each wrapping pass / turn, and the amount of material overlap resulting therefrom is determined solely by the outer radius of the coil and the angular velocity, or rotational speed, of the coil, or the angular velocity of the coil roller of the cradle that further determines the rotational speed of the coil. The coil roller is typically controlled by the control system of the robotic system.

[0107] In aspects and embodiments of the present technology, the amount of material overlap resulting therefrom is also determined by at least one of the positioning and path change of the robotic arm during the wrapping process and the speed change of the robotic arm during the wrapping process, in addition to the outer radius of the coil and the angular velocity, or rotational speed, of the coil.

[0108] In an embodiment, the sequence of operations of the robotic arm is controlled by a software program of the robotic control system. At this time, control data may be transmitted from the robotic control system to the robot so as to control the operation of the robot and the robotic arm of the robot. In a particular embodiment, the robotic control system comprises a pre-stored software program associated with a particular coil for controlling the sequence of operations for wrapping individual coils with packaging material. In other embodiments, the specific dimensions of an individual coil, such as the inner and / or outer radius of the coil, are first measured, and a software program and / or control data for controlling the path, speed and sequence of operations of two robots and their respective robotic arms are selected or generated based on the measured dimensions of the coil.

[0109] According to an embodiment of the disclosed technology, the path of the robotic arm traveling around the coil is adjusted and adapted according to the rotational travel distance with respect to the application position on the envelope surface during the pass and the rotational speed of the coil, thereby minimizing the wrapping time and reducing wear and tear.

[0110] In certain embodiments, the disclosed technology proposes a combination of adjusting the rotational speed of the coil, the position of the robotic tool holding the roll, and the direction of travel for the robotic tool holding the roll being at an angle to a direction parallel to the axis of rotation of the coil. The combination of position adjustment and angle of direction of travel along the curved envelope may then be selected to be adapted to the rotational speed of the coil, and may vary slightly or not at all for each wrap. In certain embodiments, the combination includes position adjustment between wrapping turns / winds for the entry / start position of the robotic tool along / on the edge (outer edge with respect to the cylindrical surface of the coil) with respect to the curved envelope, and that at least one first lower rotational speed used when wrapping at least one first cylindrical sector segment is in the range of 70 - 90% of a higher second rotational speed used for wrapping at least one other second cylindrical sector of the coil (i.e., the required reduction / adjustment of rotational speed is less), by a control system that adjusts the rotational speed of the coil. In certain embodiments, the vertical position adjustment (perpendicular to the axis of rotation of the coil) and the overlap along the curved envelope may be between at least 20% of the width of the roll, for example between 20 and 45% of the width of the roll, and the direction of travel along the curved envelope is selected to be at an angle between 0.1 - 15 degrees with respect to a direction parallel to the axis of rotation of the coil, for example in a constant angular direction. The direction of inclination of the position adjustment and movement performed before and after applying the packaging material to the envelope is to achieve a more constant tension of the packaging material and to keep the packaging material, for example a stretch film, taut while being pulled along the curved envelope, thereby reducing the risk of wrinkles forming in the film applied to the curved envelope of the coil.

[0111] In an embodiment, the roll holder shaft that holds the roll is oriented at an angle with respect to the rotational direction of the coil while traveling along the curved envelope surface. At this time, the shaft may be tilted by the robot arm currently holding the roll with respect to the rotational direction of the coil along the envelope surface. Tilting the shaft is performed before starting the sequence of robot operations for wrapping the curved envelope surface for each wrap.

[0112] In an embodiment, the method of the disclosed technology - By each of the first and second industrial robots holding the longitudinal axis of the roll holder shaft at an angle inclined with respect to the rotational direction of the coil along the curved envelope surface area, the step of wrapping the cylindrical surface of the coil or the curved envelope surface is provided.

[0113] In an embodiment, the disclosed technology proposes a solution means including a combination of position adjustment for the robot tool holding the roll and tilting the roll holder shaft with respect to the rotational direction of the coil while traveling along the curved envelope surface, before starting to spread the packaging material on the curved envelope surface. In an embodiment, the position adjustment and the tilt angle may be adapted to the current rotational speed of the coil. The combination of position and tilt adjustment realizes a more constant tension of the packaging material and keeps the packaging material, for example a stretch film, taut while being pulled along the curved envelope surface, thereby reducing the risk that wrinkles are formed in the film applied to the curved envelope surface of the coil.

[0114] In certain embodiments of the disclosed technology, the direction of travel along the curved envelope surface is selected to be at a specific angle between 0.1 and 10 degrees with respect to the axial direction parallel to the axis of rotation, and the inclination (while traveling along the curved envelope surface) is selected to be at a specific angle between 2 and 15 degrees with respect to the direction of rotation of the coil. The inclination angle with respect to the direction of rotation of the coil may at this time be adapted to the rotational speed of the coil, to achieve a more constant tension in the packaging material and to keep the packaging material, for example a stretch film, taut while it is being pulled along the curved envelope surface, thereby reducing the risk of wrinkles forming in the film applied to the curved envelope surface of the coil.

[0115] In embodiments, by adapting the path of travel to the rotational speed of the coil and by adapting at least one of the inclination angle of the roll holder shaft with respect to the direction of rotation of the coil along the envelope surface and the vertical position of the roll before starting the wrapping of the curved envelope surface, a relatively constant tension can be achieved in the packaging material, for example a stretch film, so that it remains taut while being pulled along the curved envelope surface, thereby reducing the risk of wrinkles forming in the film applied to the curved envelope surface of the coil.

[0116] According to embodiments of the disclosed technology, a first handover phase occurs within the hollow cylindrical central core of the coil in the direction of travel of each robot holding the robotic tool before and after the first handover in the same first plane that is substantially parallel to the axis of rotation of the coil. A second handover phase occurs along the envelope surface of the coil in a second plane that is different from the first plane.

[0117] The first and second industrial robots may at this time both be configured to receive commands from a control system that moves the robot arms of each robot in the same horizontal plane while the first handover phase is occurring within the hollow cylindrical central core of the coil.

[0118] In an embodiment, both the first and second industrial robots are configured to receive commands from a robot control system such that a roller holder shaft of a robot tool is oriented substantially parallel to a rotation axis of a coil within a hollow cylindrical center core of the coil and substantially perpendicular to a gravity axis along a travel path of two robot arms.

[0119] The disclosed technology may also relate to - two ends, each end being provided with a connecting tool piece configured to interface with a robot arm; - a roll holder shaft configured to hold a roll of packaging material, the holder shaft being mounted substantially intermediate between the ends at one end and protruding substantially perpendicular to an axis extending between the ends of a robot tool for coil packaging.

[0120] The robot tool may at this time comprise a carrier piece, and the connecting tool pieces are each mounted at respective ends of the carrier piece. The connecting tool pieces may be configured to be able to transmit operating power from a power supply line of the robot.

[0121] The robot tool may comprise a coupling in the form of a robot tool changer having a connecting tool piece configured to be engageable with a connecting master piece of the tool changer mounted on the robot arm. The roll holder shaft of the robot tool may further have a roll fixture configured to releasably fix a roll of packaging material to the roll holder shaft.

[0122] A portion of the roll holder shaft may be configured to be radially expandable to allow a roll fixture to releasably secure a roll of packaging material to the roll holder shaft. The robotic tool may further comprise at least one motor configured to drive, prevent, and / or brake the rotation of the roll holder shaft.

[0123] In an embodiment, the disclosed technology - A carrier piece having two opposing ends, each end provided with a tool piece of a robotic tool changer configured to interface by mating with a corresponding master piece of a tool changer of a robotic arm; A roll holder shaft configured to hold a roll of packaging material, the holder shaft being mounted on the carrier piece substantially intermediate between the opposing ends at one end and protruding substantially perpendicular to an axis extending between the opposing ends; Comprising The tool changer is configured to transmit operating pneumatic power from a pneumatic power supply line of the robot when mated; A portion of the roll holder shaft is configured to be radially expandable by the pneumatic power to allow a roll fixture to releasably secure a roll of packaging material to the roll holder shaft; At least one air motor is mounted on the carrier piece and coupled to the roll holder shaft and is configured to drive, prevent, and / or brake the rotation of the roll holder shaft by the pneumatic power It may also relate to a robotic tool for coil packaging.

[0124] In an embodiment, the disclosed technology - Two industrial robots, each robot provided with a robotic arm having a connecting robotic piece configured to interface with a robotic tool; - A robot tool having two ends each provided with a connecting tool piece configured to interface with the robot arm, and a roll holder shaft configured to hold a roll of packaging material, the roll holder shaft having, at one end, a roll holder shaft mounted substantially intermediate between the ends and protruding substantially perpendicular to an axis extending between the ends may relate to a robot system for coil packaging comprising the same.

[0125] In an embodiment, the robot system may further comprise a control system configured to control the operation of the robot with respect to a coil positioned on a coil roller for being packaged with packaging material. The robot control system may comprise an input / output interface configured to be communicatively coupled to an industrial robot, to one or more coil rollers, and / or to a human / machine interface in the form of a GUI that generates a dashboard, for example.

[0126] The robot arm may be configured as an elongate beam with a connecting robot piece mounted at an end of the beam.

[0127] The connecting robot piece may be configured to transmit actuation power from any power supply line of the robot.

[0128] The coupling between the robot and the robot tool may be in the form of a robot tool changer having a connecting tool piece of the robot tool configured to be engageable with a connecting master piece mounted on each robot arm.

[0129] The robot arm may preferably include a packaging material clamp configured to hold a strip of packaging material, mounted near the distal end of the robot arm.

[0130] In certain embodiments, the robotic system - a robotic jig including first and second intersecting legs; - the first leg of the robotic jig is configured to have first and second robot base mounts disposed apart on the first leg; - the second leg of the robotic jig is configured to have a first coil roller abutment disposed at an end of the second leg may further include.

[0131] The robotic system may further include a first coil roller configured to impart rotational movement to a coil disposed within the first coil roller.

[0132] The robotic jig may further include, on its second leg, a second coil roller abutment disposed at the other end of the second leg.

[0133] The robotic system may further include the second coil roller configured to impart rotational movement to a coil disposed within the second coil roller.

[0134] The robotic system may further include a packaging material clamping station disposed substantially intermediate between the robots, the packaging material clamping station being provided with a packaging material clamp configured to hold a strip of packaging material.

[0135] The robotic system may include a packaging material clamping station disposed at the intersection of the first and second legs of the robotic jig substantially intermediate between the robot base mounts, the packaging material clamping station being provided with a packaging material clamp configured to hold a strip of packaging material.

[0136] The robot system may further include a roll magazine for storing a plurality of rolls of packaging material that can be used by one or more of the robots. The roll magazine is configured to have a roll location for each roll of packaging material and an associated packaging material clamp, and the packaging material clamp is configured to hold a strip of packaging material.

[0137] The robot system may further include a measurement system configured to measure the position and dimensions of a coil positioned on a coil roller to be packaged with the packaging material, for example, to measure the outer radius and inner radius of the coil that can be used to define the travel path of a robot and a robot arm that holds the roll together with the packaging material. By measuring the dimensions and taking into account the rotational speed of the coil, the overlap of the continuous packaging paths along the curved envelope of the coil can be determined by the defined travel path for each packaging path / turn.

[0138] The measurement system may include one or more laser measurement tools mounted, for example, on one or both of the robot arms.

[0139] In an embodiment, the disclosed technology relates to a - first and second intersecting legs; robot jig for coil packaging, where - the first leg of the robot jig is configured to have first and second robot base mounts spaced apart on the first leg; - the second leg of the robot jig is configured to have a first coil roller mount disposed at an end of the second leg.

[0140] The robot jig may further include a packaging material clamping station disposed at the intersection of the first and second legs of the robot jig that is substantially intermediate between the robot base mounts, and the packaging material clamping station is provided with a packaging material clamp configured to hold a strip of the packaging material.

[0141] The robot jig may further include a roll magazine for storing a plurality of rolls of packaging material that are available for use by one or more of the robots, the roll magazine being configured to have a roll location for each roll of packaging material and an associated packaging material clamp, and the packaging material clamp being configured to hold a strip of the packaging material.

[0142] In different embodiments, a method of coil packaging in a robot system is - placing a sheet metal coil on a coil roller associated with a robot system for coil packaging; - measuring the position of the coil relative to an industrial robot; - measuring the dimensions of the coil; - attaching a first turn of the packaging material fed from a roll of the packaging material attached to a robot tool; - packaging the coil in a sequence of robot operations involving a handover of the robot tool with the roll of packaging material from a first industrial robot to a second industrial robot; where a first handover phase occurs within the hollow cylindrical center core of the coil and a second handover phase occurs along the envelope surface of the coil, and where the angular velocity of the coil is adjusted and varied during packaging by the control system sending commands to control the angular velocity of at least one coil roller that conveys rotational motion to the coil; - finishing the packaging by clamping the strip of the packaging material and cutting the strip of the packaging material and may comprise a selection of.

[0143] In an embodiment, this disclosure describes a method, a robotic system, and an apparatus for wrapping all exposed surfaces of a large annular coil including its hollow cylindrical core in a plurality of packaging cycles / wraps / passes to prevent contamination and prepare it for shipping. A pair of parallel robotic arms transfer or move a roll of packaging material, such as a plastic stretch film, from a gripper on one arm to a gripper on the other arm. The arms travel around both ends of the coil and pass the roll back and forth at the center of its hollow core along the curved envelope surface of the coil.

[0144] In different embodiments, the robotic system typically comprises a drive unit, a program storage for storing a control program including operation instructions for two robots and robotic arms, a program execution unit adapted to execute the operation instructions for the robots, and a motion planner adapted to determine how the robots move around the coil for each successive packaging turn to enable execution of the operation instructions for the robots and generate control signals for the drive unit based thereon.

[0145] The program storage is typically adapted to store a control program including operation instructions for the robots and robotic arms. The program execution unit is adapted to execute the operation instructions, and the motion planner is adapted to determine how the two robots / robotic arms should move around the coil for each individual packaging turn to enable execution of the operation instructions.

[0146] In an embodiment, the disclosed technology at least one processor, and at least one memory containing computer program instructions A robot system device for wrapping a coil, comprising a robot control system, wherein at least one memory and computer program instructions, together with a processor, cause the robot system to determine an individual travel path for each successive wrapping turn of the robot / robot arm in three-dimensional space along the surface of the coil, based on the received, modeled and / or measured dimensions and / or position of the coil, the rotational speed of the coil, and / or a defined desired overlap / path between successive wrapping turns on the curved envelope surface of the coil; move the robot and / or robot arm along the surface of the coil based on the travel path for each successive wrapping turn and is configured to be.

[0147] In an embodiment, at least one memory and computer program instructions, together with a processor, cause the robot control system to acquire feedback information such as sensor data regarding the overlap between successive wrapping paths along the cylindrical surface; determine a deviation based on the acquired feedback information; and based on the deviation, determine a real-time adjustment of the angular velocity of the coil and / or the coil roller that transmits rotational motion to the coil. and is further configured to be.

[0148] In an embodiment, at least one memory and computer program instructions, together with a processor, cause the robot control system to determine whether the overlap deviation is greater than a predetermined threshold deviation; and in response to the deviation being greater than a predetermined threshold deviation, determine to adjust the angular velocity of the coil and / or the coil roller that transmits rotational motion to the coil. and is further configured to be.

[0149] The embodiments described herein are generally applicable in apparatuses, systems, and methods for packaging an article with a packaging material. Articles or objects packaged by the disclosed embodiments are packaged by relative movement of a robotic arm and / or the article, and thus the expressions "packaging" and "packaging material" are also used herein synonymously with the expressions "wrapping" and "wrapping material".

[0150] More specific embodiments described herein relate to robotic tools, systems, and methods for packaging annular articles, such as coils of sheet metal, that are rotated while being packaged with a packaging material. Such embodiments, preferably configured for use in a coil packaging production line, are schematically illustrated in FIGS. 1A through 1E.

[0151] Embodiments of the robotic tool FIGS. 1A through 1E schematically illustrate an embodiment of a robotic tool 100 provided with a roll holder shaft 104 for holding a roll 106 of packaging material and configured for handover between robotic arms 108, 109 of collaborative industrial robots 112, 113 (see FIG. 1D).

[0152] A general embodiment of a robotic tool 100 for coil packaging includes two, preferably opposing, ends 102, 103, each end provided with connection tool pieces 122, 123 configured to interface with robotic arms 108, 109. This embodiment further includes a roll holder shaft 104 configured to hold a roll 106 of packaging material, the holder shaft 104 being rotatably mounted substantially intermediate the above-described, preferably opposing, ends 102, 103 at one end and protruding substantially perpendicular to an axis extending between the above-described, preferably opposing, ends 102, 103. The robotic tool 100 may be provided with a housing 105 having one or more cover plates 107A, 107B.

[0153] In an embodiment, the two ends are ends that substantially face each other, and the connecting tool piece is preferably mounted on each end such that the robotic tool is substantially symmetric. In a particular embodiment, the holder shaft may be rotatably mounted substantially in the middle between the ends and project substantially perpendicular to the axis extending between the ends. At this time, the robotic tool may have a T-shape as a whole and a symmetric design so as to enable efficient operation and handling by two industrial robots.

[0154] In other embodiments of the robotic tool, the connecting tool piece may be arranged in other configurations. For example, the holder shaft may be rotatably mounted offset from a midpoint between the opposing ends and / or project at an angle different from perpendicular to the axis extending between the two ends. As an exemplary configuration of a robotic tool according to a particular aspect of the disclosed technology, the holder shaft may project at a particular angle within an angular range of 75 to 88 degrees with respect to the axis extending between the two opposing ends.

[0155] At this time, the angle of the projecting holder shaft with respect to the axis extending between the opposing ends may be selected and designed to be used for wrapping a coil having a specific outer radius. As an example, the angle of the projecting holder shaft that holds the packaging material with respect to the extending axis may be designed for a coil that is rotated, for example, by a drive roller of a cradle that transports the coil, around its axis of rotation, of a coil having a specific outer radius.

[0156] In different embodiments of the disclosed technology, at least one drive roller transmits a rotational movement to a coil during the packaging of the coil's curved envelope surface in overlapping strips of packaging material, such as overlapping strips of plastic stretch film. Thus, the angular velocity, or rotational speed, of the annular object, or the coil, changes with the angular velocity, or rotational speed, of at least one drive roller, or the coil roller. Therefore, since at least one drive roller transmits a specific rotational movement to the coil, a specific angular velocity of at least one drive roller, which can be controlled by a command from a control system, corresponds to a specific angular velocity of the coil.

[0157] Figure 1B schematically shows an embodiment of the robotic tool shown in Figure 1A, in which a roll 106 of packaging material is disposed on a roll holder shaft 104.

[0158] Figure 1C schematically shows an embodiment of the robotic tool shown in Figures 1A and 1B, which is connected to robotic arms 108, 109 (only 109 is shown in Figure 1C) at one side or end 102 of the robotic tool 100. Embodiments of the robotic arms 108, 109 are provided with connecting robotic pieces 124, 125, such as grippers or master pieces of a tool changer, configured to be able to grip or fit with the connecting tool pieces 122, 123 of the robotic tool 100. As shown in the embodiment of Figure 1C, the robotic arm 109 is connected to the robotic tool 100 via a connecting robotic piece 124 that is fitted with the robotic tool piece 122 at one end 102, which is the left one in Figure 1C. At another end 103 of the robotic tool 100, which is the right one in Figure 1C, a second connecting tool piece 123 is available for connection to another robotic arm 108 (not shown in Figure 1C).

[0159] FIG. 1D schematically shows an embodiment of the robotic tool shown in FIGS. 1A-1C in more detail and without the cover of the housing 105 shown in FIGS. 1A-1C. In the embodiment of FIG. 1D, the robotic tool 100 includes a carrier piece 128, and end pieces 130, 131 are attached to the carrier piece 128 at respective ends 102, 103 of the robotic tool 100. The connecting tool pieces 122, 123 are attached to the end pieces 130, 131 at respective, preferably opposite, ends 102, 103 of the carrier piece 128. Thus, the embodiment includes a carrier piece 128, where the connecting tool pieces 122, 123 are each mounted to respective ends of the carrier piece 128.

[0160] The connecting tool pieces 122, 123 are configured to be able to transmit operating power from a power supply line of a robot, such as an industrial robot. In different embodiments, the operating power can be in the form of, for example, pneumatic power, hydraulic power, or electric power. In the embodiments shown in FIGS. 1A-1D, the operating power is preferably pneumatic power. The connection can typically be connectable by a bayonet coupling and / or configured to be locked in place by the operating power controlled by each respective robot.

[0161] In an embodiment, the connection configured to interface between an industrial robot and the robotic tool is configured in the form of a robotic tool changer, and the connecting tool pieces 122, 123 are configured to be engageable with connection master pieces 124, 125 of the tool changer mounted on respective robot arms.

[0162] In the embodiment of the robotic tool shown in FIGS. 1A through 1D, the roll holder shaft 104 further includes roll fixtures 142, 143 configured to releasably secure a roll of packaging material to the roll holder shaft. For example, portions 142, 143 of the roll holder shaft are configured to be radially expandable to enable the roll fixtures to releasably secure the roll of packaging material to the roll holder shaft. In an embodiment, this is implemented as one or more inflatable bladders 142, 143 that are controllably inflatable by pneumatic power, i.e., pressurized air, transmitted from respective robots via a connection interface. In other embodiments, the roll fixtures 142, 143 are operable by, for example, electric or hydraulic power.

[0163] Embodiments of the robotic tool 100 further include at least one motor 132, 133 configured to drive, prevent, and / or brake the rotation of the roll holder shaft. As shown in the embodiment of FIG. 1E, the air motors 132, 133 are mounted on a carrier piece 128 at each side of the roll holder shaft 104. The roll holder shaft 104 is provided with a sprocket 134 configured to engage a toothed belt 136. The toothed belt 136 also engages sprockets 144, 145 connected to respective motors 132, 133 and is biased by tension wheels 138, 139 preferably mounted as backside idlers on the toothed belt 136.

[0164] The embodiments of the robot tool shown in FIGS. 1A to 1D have a basically symmetrical configuration. When a first robot arm is connected to the robot tool 100, for example, on the right side of the tool (in FIG. 1D) with respect to the connecting tool piece 123, the motor 133 and the roll fixtures 142, 143 are actuated by pneumatic power, i.e., pressurized air, supplied from the first robot arm (or the first robot) via the connecting tool piece 123. When a second robot arm is connected to the robot tool on the left side of the tool with respect to the connecting tool piece 122, the motor 132 and the roll fixtures 142, 143 are actuated by pneumatic power from the second robot arm via the connecting tool piece 122. In a certain phase, typically during the handover phase, when both the first robot and the second robot are engaged with the robot tool, the motors 132, 133 and the roll fixtures 142, 143 are actuated simultaneously or are actuatable by their respective first and second robots. In other embodiments, the motors 132, 133 and / or the roll fixtures 142, 143 are actuatable, for example, by electric power or hydraulic power.

[0165] - A carrier piece having two opposing ends, each end being provided with a tool piece of a robot tool changer configured to interface by fitting with a corresponding master piece of a tool changer of a robot arm; - A roll holder shaft configured to hold a roll of packaging material, the holder shaft being mounted on the carrier piece between the opposing ends at one end and protruding substantially perpendicular to an axis extending between the opposing ends An embodiment of a robot tool for coil packaging, comprising:

[0166] In an embodiment, the tool changer of the robot tool is configured to be able to transmit the actuating pneumatic power from a pneumatic power supply line of the robot when fitted; - Here, a portion of the roll holder shaft is configured to be radially expandable by the pneumatic power so as to enable the roll fixture to releasably fix the roll of packaging material to the roll holder shaft; - At least one air motor is mounted on the carrier piece, connected to the roll holder shaft, and configured to drive, prevent, and / or brake the rotation of the roll holder shaft by the pneumatic power.

[0167] In an embodiment, the disclosed technology is - A carrier piece having two opposing ends, and at each end, a tool piece of a robot tool changer configured to interface by fitting with a corresponding master piece of the tool changer of the robot arm is provided; - A roll holder shaft configured to hold a roll of packaging material, the holder shaft being mounted / positioned on the carrier piece substantially in the middle between the opposing ends at one end, and protruding substantially perpendicular to the axis extending between the opposing ends; comprising - The tool changer is configured to be able to transmit the operating pneumatic power from the pneumatic power supply line of the robot when fitted; - A portion of the roll holder shaft is configured to be radially expandable by the pneumatic power so as to enable the roll fixture to releasably fix the roll of packaging material to the roll holder shaft; - At least one air motor is mounted on the carrier piece, connected to the roll holder shaft, and configured to drive, prevent, and / or brake the rotation of the roll holder shaft by the pneumatic power relates to a robot tool for coil packaging.

[0168] In an embodiment, the disclosed technology is - A carrier piece having two opposing ends, each end being provided with a tool piece of a robot tool changer configured to interface by mating with a corresponding master piece of a tool changer of a robot arm; - A roll holder shaft configured to hold a roll of packaging material, the holder shaft being mounted / positioned on the carrier piece at one end, between the opposing ends, for example substantially intermediate between the opposing ends and on the carrier piece, and protruding at a specific angle within an angular range of 75 to 88 degrees with respect to an axis extending between the two opposing ends; Relates to a robot tool for coil packaging, comprising.

[0169] In a particular embodiment, a tool changer of a robot tool having a holder shaft protruding within an angular range of 75 to 88 degrees with respect to an axis extending between two opposing ends is configured to be able to transmit operating pneumatic power from a pneumatic power supply line of the robot when fitted; - Here, a portion of the roll holder shaft is configured to be radially expandable by the pneumatic power so as to enable a roll fixture to releasably fix a roll of packaging material to the roll holder shaft; - At least one air motor is mounted on the carrier piece and connected to the roll holder shaft and is configured to drive, prevent and / or brake the rotation of the roll holder shaft by the pneumatic power.

[0170] Embodiment of a robot system FIG. 1E schematically shows an overview of an embodiment of a robot system 110 configured to package a rotating annular object, such as a sheet metal coil 116, in this example including an embodiment of the robot tool shown in FIGS. 1A to 1D. An embodiment of the robot system 110 may be configured to operate with other embodiments of the robot tool.

[0171] In an embodiment, the disclosed technology relates to a. two industrial robots 112, 113, each robot having a robot arm 108, 109 configured to interface with a robot tool and having a connecting robot piece 124, 125 (125 is not shown in the figure) configured to interface with the robot tool, and b. a robot tool 100 for a robot system for coil packaging.

[0172] The robot tool 100 typically has two ends 102, 103 that may each be provided at their respective ends with connecting tool pieces 122, 123 configured to interface with the robot arms 108, 109, and a roll holder shaft 104 configured to hold a roll of packaging material 106. The roll holder shaft 104 is mounted between the ends 102, 103 at one end and projects at a particular angle that is substantially perpendicular to the axis extending between the ends 102, 103 or within an angular range of 75 to 88 degrees with respect to the axis extending between the ends 102, 103.

[0173] In the embodiment shown in FIGS. 1A to 1D, the roll holder shaft 104 is mounted substantially in the middle between the opposing ends 102, 103 and projects substantially perpendicular to the axis extending between the ends 102, 103. In an embodiment of the robot system, the robot arms 108, 109 are configured as elongated beams with the connecting robot pieces 124, 125 mounted at the ends of the beams. The connecting robot pieces 124, 125 are configured to be able to transmit the operating power from any power supply line of the robot. As described above, the operating power is, in a preferred embodiment, compressed air in a pneumatic system. In other embodiments, the operating power may be, for example, electric power or hydraulic power. In an embodiment, the coupling between the robots 112, 113 and the robot tool 100 is in the form of a robot tool changer having connecting tool pieces 122, 123 of the robot tool 100 that are configured to be engageable with the connecting master pieces 124, 125 mounted on each of the robot arms 108, 109.

[0174] In an embodiment, the robot is configured to reduce or cut off the operating power, such as pneumatic power or hydraulic power, used to control the connecting robot pieces 124, 125 that hold the robot tool at a specific distance from the handover position before the handover phase, that is, when the robot tool is still held or retained only by the robot that hands over the robot tool to another robot. The distance from the handover position when the operating power for controlling the connecting robot pieces 124, 125 is reduced or turned off is typically within a distance interval of 20 to 200 mm from the handover position, for example, within a distance interval of 20 to 200 mm from the position of each part of the robot tool when the robot tool is first held by both robots. In a particular embodiment, the robot control system 170 of the robot system configured to control the operation of the robots 112, 113 with respect to the coil 116 may be further configured to also control the reduction or cut-off of the operating power at a specific distance from the handover position at this time. By cutting off the operating power of the robot arm holding the robot tool at a certain distance from the handover position, a faster handover and a faster process for packaging the coil are brought about.

[0175] In an exemplary embodiment where the operating power for controlling the connecting robot pieces 124, 125 is completely switched off before the handover, the robot tool is held and locked by the connecting robot pieces 124, 125 simply by mechanical force, for example, simply by mechanical spring tension.

[0176] By providing a robotic system in which the connecting robotic pieces 124, 125 of the robot for handing over the tool are controlled by reducing or shutting off the operating power before the handover, a flying handover of the robotic tool can be enabled, i.e., here the robotic arms of the respective robots move throughout the entire handover, or the time at the handover position where both of the two robotic arms are stationary, i.e., not moving, can be significantly reduced, thereby resulting in a shorter (faster) handover, a shorter (faster) packaging cycle, and improved productivity. As shown in FIG. 1C, the robotic arms 108, 109 each include packaging material clamps 146, 147 configured to hold a strip of packaging material, which are preferably mounted near the distal ends of the robotic arms 108, 109.

[0177] An embodiment of the robotic system 110 further includes a robotic jig 114 having first 148 and second 149 intersecting legs. The first leg 148 of the robotic jig 114 is configured to have first 150 and second 151 robotic base mounts disposed apart on the first leg 148. The second leg 149 of the robotic jig 114 is configured to have a first coil roller mount 152 disposed at the end of the second leg 149.

[0178] An embodiment of the robotic system further includes the first coil roller 120 configured to impart rotational movement to the coil 116 disposed on the first coil roller 120. In an embodiment configured to have two coil stations, as shown in FIG. 1E, the robotic jig 114 further includes, at its second leg 149, a second coil roller mount 153 disposed at the other end of the second leg 149. Such an embodiment further includes the second coil roller 121 configured to impart rotational movement to a coil (not shown) disposed on the second coil roller 121.

[0179] The robotic jig 114 in the illustrated embodiment, therefore, is configured to have two robot base mounts 150, 151 spaced apart on a first leg of the intersecting geometry, and first and second coil roller mounts 152, 153 spaced apart on a second leg of the intersecting geometry. The first 112 and second 113 industrial robots are mounted on respective robot base mounts 150, 151. The first 120 and second 121 coil rollers are disposed with respect to respective coil roller mounts 152, 153. Such coil rollers 120, 121 are known per se and typically comprise a cradle of two rollers operable to impart rotational movement about the axis of rotation of the coil to the coil disposed within the cradle. In an embodiment, when disposed within the cradle, the axis of rotation of the coil is typically perpendicular to the axis of gravity. The annular article schematically showing the sheet metal coil 116 having the hollow cylindrical center core 118 is disposed on the first coil roller 120. Each of the industrial robots 112, 113 has robot arms 108, 109 configured to be connectable to the robot tool 100 at each end.

[0180] Sheet metal coils appear in different sizes. Large coils may have a length of 2300 mm, normal sizes range from 1200 to 1500 mm in length, and can be as small as 800 mm in length. The hollow center core often has an inner diameter of 508 or 610 mm and a diameter as small as about 420 mm. The outer diameter of the coil can vary, for example, from 600 mm to 2.5 meters.

[0181] In the embodiment shown in FIG. 1E, the robotic jig 114 is configured to have an intersecting geometry as an entirety of a substantially vertical leg having one or more bars, i.e., bars constituting the leg, and thus one or more bars intersect substantially at right angles. Other intersection angles can be configured with the robots, their ranges, and their adapted configurations of operation. In the illustrated embodiment, seen in FIG. 1E, each leg comprises two parallel bars.

[0182] In an embodiment, the two industrial robots 112, 113 of the robotic system and the robot of the disclosed technology tilt the longitudinal axis of the roll 106 or the roll holder shaft 104, and then maintain the longitudinal axis of the roll and / or the roll holder shaft 104 at a specific angle with respect to the rotational direction along the envelope surface, whereby the longitudinal axis of the roll 106 and / or the roll holder shaft 104 is inclined and maintained at an angle with respect to the rotational direction of the curved envelope surface area where the packaging material, such as a stretch film, is transferred from the roll holder shaft to the envelope surface and applied to the coil. It may be further configured.

[0183] The cradle for transporting the coil may include means configured to rotate the coil around its axis of rotation at a specific rotational speed, such as at least one drive roller. The angle of the longitudinal axis of the roll 106 and / or the roll holder shaft 104 with respect to the rotational direction is then further selected, adapted, and / or optimized with respect to the rotational speed of the coil, for example, adapted to the estimated speed of the outer radius of the coil and / or the speed of the envelope surface to which the packaging material is applied to the coil. In an embodiment, the at least one drive roller may rotate the coil around its axis of rotation at a constant rotational speed throughout a specific packaging path, including, for example, a handover phase along the envelope surface, although the rotational speed varies between at least some of the individual packaging paths.

[0184] An embodiment of the robot system 110 further includes a packaging material clamping station 156 disposed substantially intermediate between the robots 112, 113, and the packaging material clamping station 156 is provided with one or more packaging material clamps 157, 158 configured to hold a strip of packaging material. The packaging material clamping station 156 is preferably disposed at the intersection of the first and second legs 148, 149 of the robot jig 114 that is substantially intermediate between the robot base mounts 150, 151, and the packaging material clamping station 156 is provided with one or more packaging material clamps 157, 158 configured to hold a strip of packaging material.

[0185] In an embodiment, the robot system 110 further includes a roll magazine 160 for storing a plurality of rolls 106 of packaging material that are available for one or more of the robots. The roll magazine 160 is configured to have one or more roll locations 164 and associated packaging material clamps 162, 166 for each roll of packaging material, and the packaging material clamps 162, 166 are configured to hold a strip of packaging material.

[0186] An embodiment of the robot system 110 further includes a measurement system configured to measure the position and dimensions of the coil 116 positioned on the coil rollers 120, 121 to be packaged with the packaging material. In an embodiment, the measurement system includes one or more laser measurement tools 140 mounted on, for example, one or both of the robot arms 108, 109 (see FIG. 1C). When such a laser measurement tool is mounted on a robot arm, it is preferably positioned to have an optical line that is not obstructed by the roll of packaging material attached to the robot tool. When measuring the position and dimensions, the robot system is configured to find the center of the coil, trace the contour, and calculate the position and dimensions.

[0187] In an embodiment, the robot system 110 further includes a robot control system 170 configured to control the operations of the robots 112, 113 with respect to the coil 116 positioned on the coil rollers 120, 121 within the robot system for being packaged with a packaging material. The robot control system includes an input / output interface configured to be communicably connectable to the industrial robots 112, 113, to the one or more coil rollers 120, 121, and / or to a human / machine interface (not shown) in the form of a GUI that generates, for example, a dashboard.

[0188] Embodiment of a method for coil packaging In an overview of operations during the packaging sequence, a first robot 112, with a first robot arm 108 connected to a first side of a robot tool 100, transports the robot tool 100 loaded with a roll of packaging material 106 and inserts the robot tool into the cylindrical central core 118 to a position where a second robot having a second robot arm 109 is connected to a second side of the robot tool 100. The robot tool 100 is handed over to the second robot 112, which then transports the robot tool 100 from the central core 118 along and along the envelope surface of the cylindrical coil 116 while the packaging material is being unwound or wound up from the packaging material roll 106. The robot tool 100 is then handed over from the second robot 113 back to the first robot 112 and the cycle is repeated. During the packaging cycle, the coil roller 120 rolls at a tempo coordinated with the operation of the robot to achieve overwrapping of the coil 116, i.e., a portion of the strip of packaging material is overlapped with the previous strip of packaging material at least on the curved envelope surface of the coil 116. To securely cover the entire surface of the coil 116, for example, to securely cover at least the entire envelope surface of the coil 116, an overlap of adjacent strips of packaging material from successive packaging cycles, for example a predetermined overlap, is achieved. Thus, the packaging overlaps at least the cylindrical surface or the envelope surface of the coil during each successive pass around the coil 116, thereby ensuring its sealing integrity.

[0189] In various embodiments, at least one drive roller of the cradle, or the coil roller, may be configured to rotate the coil such that the rotational speed of the coil varies over the packaging pass / cycle and / or varies throughout the process of packaging the coil.

[0190] The technical effects achieved by the embodiment of tilting the longitudinal axis of the roll holder shaft at an angle with respect to the direction of rotation of the coil include that when transferring the film from the roller tool to the envelope surface of the coil, better controlled, more uniform and sufficient tension is applied to the film, thereby reducing the risk of wrinkles forming in the stretch film applied to the envelope surface. When transferring the film from the roller tool to the envelope surface of the coil, better controlled, more uniform and sufficient tension is applied to the stretch film, which enables the use of a smaller overlap between consecutive strips of the stretch film applied to the envelope surface during the continuous packaging cycle, thereby enabling more efficient packaging of the envelope surface and thereby reducing the excessive use of the stretch film. By better controlled, more uniform and sufficient tension applied to the film, the risk of wrinkles forming in the film applied to the envelope surface is reduced, so that faster operation of the robot arm holding the robot tool is also possible, and thus faster handover and shorter (faster) packaging cycles for improved productivity can be achieved.

[0191] In an embodiment, the direction of travel of the roll 106 and / or the robot tool 104 along the envelope surface is substantially parallel to the axis of rotation of the coil and the roll axis, or the roll holder shaft 104 of the robot tool is held at a specific angle with respect to the direction of rotation of the coil by each robot. In this embodiment, each robot holding the robot tool maintains the longitudinal axis of the roll holder shaft 104 at substantially the same angle with respect to the direction of rotation of the coil throughout the entire handover phase along the envelope surface.

[0192] In certain embodiments, the angle of the longitudinal axis of roll 106 and / or roll holder shaft 104 relative to the direction of rotation of the coil is adapted to and / or determined according to the rotational speed of the coil and may, for example, be adapted to a substantially constant rotational speed used during a particular wrapping pass. In certain embodiments, the selected tilt angle of the longitudinal axis of roll holder shaft 104 relative to the direction of rotation of the coil is within an angular range of 2 to 30 degrees, where the tilt angle is adapted to and determined according to the rotational speed of the coil and / or the direction of travel of the robotic tool relative to the direction of the rotational axis of the coil.

[0193] In an embodiment, the longitudinal axis of the roll or roll holder shaft 104 is after the handover phase at the hollow cylindrical center core of the coil, before the robotic tool reaches the envelope surface and before the sequence of robotic operations for transferring the film to the envelope surface of the coil begins, tilted by the robotic arm of the industrial robot holding the robotic tool, together with the spread roll, to a desired tilt angle relative to the direction of rotation of the coil. The longitudinal axis of the roll holder shaft can then be tilted while moving the robotic tool along the end surface of the coil relative to the direction of rotation of the surface area on the envelope surface where the film is to be applied.

[0194] In an embodiment, the robotic system of the disclosed technology is configured to adjust both the vertical and lateral positions of the robotic tool after and before reaching the envelope surface for the purpose of maintaining uniform tensioning of the film by the film while transferring the film from the robotic tool to the curved envelope surface.

[0195] Figure 2 shows a coil 200 of sheet metal 216 having a first end face 201 and a curved envelope surface 205. A pair of drive rollers 220, 221 impart rotational movement about the axis of rotation 203 of the coil to the coil 200 disposed within a cradle (not shown). A robot tool 304 holding a roll 306 of packaging material travels along the first end face 201, the second end face 202 (hidden), and the curved envelope surface 205 of the coil 200 such that overlapping strips of packaging material are applied to the surface of the coil 200.

[0196] Figure 3 shows a coil 316 of sheet metal and overlapping strips 310, 311 while applying the packaging material on roll 306 to the curved envelope surface 302 of the coil 316 during a continuous packaging pass of the packaging material rotating about its axis of rotation 303. 312 indicates the overlap between two consecutive packaging passes. The roll 306 of packaging material rotates about the roll holder shaft 309 of the robot tool 304 to unwind the packaging material in a controlled manner.

[0197] As shown in Figure 3, the roll of packaging material is moved along a curved envelope surface that is essentially parallel to the axis of rotation 303 of the coil while the coil rotates at a specific angular velocity such that the direction of applying the packaging material to the cylindrical surface of the coil 307 along the curved envelope surface is in a direction of angle β with respect to an axis 308 along the curved envelope surface that is parallel to the axis of rotation 303 of the coil.

[0198] In different embodiments of the disclosed technology, the roll of packaging material is moved along a curved envelope surface that is essentially parallel to the axis of rotation 303 of the coil while the coil rotates at a specific angular velocity such that the direction of applying the packaging material to the cylindrical surface of the coil 307 along the curved envelope surface by the respective robot and the robot arm holding the roll is in a direction β within an angular range of 0.1 to 5 degrees with respect to an axis 308 along the curved envelope surface that is parallel to the axis of rotation 303 of the coil.

[0199] In a method of packaging a coil, successive strips of overlap of packaging material applied on the curved envelope surface of the coil during successive laps overlap, such that a portion of the packaging material of a subsequent strip partially overlaps a previous strip, thereby providing a specific amount of overlap.

[0200] An embodiment of a method of coil packaging in a packaging station comprising a robotic system as described above includes the following selections: - Placing a sheet metal coil on a coil roller associated with a robotic system for coil packaging. Typically, the sheet metal coil is transported from the manufacturing line to the packaging station by an overhead crane or other crane or forklift. - Measuring the position of the coil relative to the industrial robot. Once the coil is placed within the packaging station and the packaging operation is initiated, the position of the coil is measured by a measurement system. In an embodiment, this is performed by one or both robots scanning the contour of the coil with a laser measurement tool 140. - Measuring the dimensions of the coil. In conjunction with the position measurement or as a separate phase, the dimensions of the coil are measured. Similarly, in an embodiment, the dimension measurement is performed by one or both robots scanning the contour of the coil with a laser measurement tool 140. - Attaching a first turn of packaging material unwound from a roll of packaging material attached to a robotic tool. To fix the first turn of the packaging material, the end strip of the packaging material is fixed to one of the packaging material clamps 157, 158 on the packaging material clamping station 156. With the end strip held by the clamp, the first robot 112 that holds the robot tool loaded with the roll of packaging material moves the robot tool along the envelope surface of the coil, along the first side of the coil, and into the hollow cylindrical center core of the coil while the packaging material is being unwound or fed out from the roll 106. Inside the center core, the second robot 113 having the robot arm thereof is connected to the robot tool in the first handover phase. The first robot releases the robot tool, moves back from the hollow center core, upward, and in front of the envelope surface of the coil to prepare for the second handover phase. Meanwhile, the second robot 113 currently holding the robot tool with the roll of packaging material moves from the hollow center core, along the second side of the coil, and along the envelope surface of the coil. The first robot 112 engages and connects to the robot tool 100 again in the second handover phase and moves together with the second robot until the second robot releases the robot tool 100. In this first fixing sequence, the second turn of the packaging material overlaps the first turn to lock the packaging material. The clamped end strip is then released from the packaging material clamp. The handover phase can last about 1 / 2 to 5 seconds, for example, during the coordinated movement in which the robot tool is displaced by about 5 to 30 centimeters, preferably around 15 cm. - The stage of packaging the coil in the sequence of robot operations involving the handover of the robot tool with the roll of packaging material from the first industrial robot 112 to the second industrial robot 113; where the first handover phase occurs within the hollow cylindrical center core of the coil and the second handover phase occurs along the envelope surface of the coil. As described in the previous section, robots 112 and 113 continue the packaging operation. The coil roller maintains the rolling of the coil such that each turn of one packaging material partially overlaps the previous turn of the other. - The step of finishing the packaging by clamping the strip of packaging material and cutting the strip of packaging material. When the coil is completely packaged, the strip of packaging material is clamped at the clamping station 156 and the strip is cut. For the purpose of cutting the packaging material, the strip of packaging material is wound around the shaft 159 at the clamping station 156 to determine the location of the packaging material in the robot space, and then the strip is cut. Before cutting the strip of packaging material, the strip is also held by one of the clamps 146, 147 of the robot arms 108, 109 such that the remaining packaging material on the roll 106 on the robot tool is prepared for a new packaging procedure. The released end strip of the packaging material wound around the coil is preferably configured to adhere to the packaging by its self - adhesive properties. The packaging material is typically a stretch film of plastic material.

[0201] After the packaging operation at the packaging station, a crane or the like is used to lift the packaged coil and move it to a post - processing station where complementary packaging operations are performed manually or semi - automatically.

[0202] In an embodiment, the method of the disclosed technology comprises - The step of wrapping the curved envelope surface, or cylindrical surface, of the coil by holding the longitudinal axis of the roll holder shaft tilted with respect to the rotational direction of the coil on the curved envelope surface area where the film is applied to the coil by each of the first and second industrial robots further comprises.

[0203] At this time, the roll holder shaft is tilted and held by the respective first and second industrial robots while moving the robot tool along the curved envelope surface in order to apply the film to the curved envelope surface, i.e., before, during, and after the second handover phase, thereby reducing the risk of wrinkles forming in the film applied to the envelope surface of the coil.

[0204] In an embodiment, the longitudinal axis of the roll holder shaft may be tilted by the second industrial robot at this time before the sequence of robot operations for wrapping the curved envelope surface of the coil begins while moving the robot tool along the first end face of the coil.

[0205] In an embodiment, the longitudinal axis of the roll holder shaft is tilted at an angle within an angular range of 2 to 30 degrees with respect to the direction of rotation of the coil on the curved envelope surface area, or the cylindrical surface area, on which the film is applied to / against the coil.

[0206] In an embodiment, the longitudinal axis of the roll holder shaft of the robot tool holding the roll is straightened / adjusted by the first industrial robot so that it faces upward and is oriented substantially parallel to the gravity axis when it enters from the second end face of the coil into the hollow cylindrical central core.

[0207] In an embodiment, the circumferential direction of the longitudinal axis of the roll holder shaft of the robot tool holding the roll is adjusted while moving the robot tool along the first end face of the coil before the edge reaches between the first end face and the curved envelope surface of the coil.

[0208] In different embodiments, the method of packaging a coil is - placing a sheet metal coil on a coil roller associated with a robot system for coil packaging; - measuring the position of the coil relative to the industrial robot; - measuring the dimensions of the coil; - Attaching a first turn of the packaging material unwound from a roll of the packaging material attached to the robotic tool; and - Finishing the packaging by clamping the strip of the packaging material and cutting the strip of the packaging material further comprises a selection of.

[0209] In an embodiment, the method of the disclosed technology is - Wrapping the curved envelope surface or the cylindrical surface of the coil by holding the longitudinal axis of the roll holder shaft tilted with respect to the rotational direction of the coil on the curved envelope surface where the film is applied to the coil by each of the first and second industrial robots comprises.

[0210] In an embodiment, the roll holder shaft is then tilted and held by each of the first and second industrial robots while moving the robotic tool along the curved envelope surface to apply the film to the curved envelope surface, i.e., before, during, and after the second handover phase, thereby reducing the risk of wrinkles forming in the film applied to the envelope surface of the coil.

[0211] In an embodiment, the longitudinal axis of the roll holder shaft is then tilted by the second industrial robot before the sequence of robotic operations for wrapping the curved envelope surface of the coil begins, while moving the robotic tool along the first end face of the coil.

[0212] In an embodiment, the longitudinal axis of the roll holder shaft is straightened / aligned by the first industrial robot such that it faces upward and is oriented substantially parallel to the gravity axis when it enters from the second end face of the coil into the hollow cylindrical central core.

[0213] In an embodiment, the longitudinal axis of the roll holder shaft is inclined at an angle within an angular range of 2 to 30 degrees with respect to the rotational direction of the coil on the curved envelope surface area or the cylindrical surface area on which the film is applied to the coil.

[0214] In an embodiment, the coil is rotated about its axis of rotation by rotating at least one drive roller of the cradle.

[0215] In an embodiment, the first handover phase is executed by the first industrial robot handing over the robot tool to the second industrial tool in a first horizontal plane substantially perpendicular to the gravity axis substantially parallel to the axis of rotation of the coil; the second handover phase is executed by the second industrial robot handing over the robot tool to the first industrial tool in a second horizontal plane vertically translated and different from the first horizontal plane.

[0216] In an embodiment, the robot system comprises two industrial robots, each robot having a robot tool with two ends, each end provided with a connecting tool piece configured to interface with a robot arm, and a connecting robot piece configured to interface with the robot tool, and a roll holder shaft projecting substantially perpendicular to an axis extending between the two ends.

[0217] In an embodiment, each of the two industrial robots is configured to incline the longitudinal axis of the roll holder shaft of the robot tool with respect to the rotational direction of the coil on the curved envelope surface area of the coil on which the film is applied.

[0218] In an embodiment, the two industrial robots are each configured to hold the longitudinal axis of the roll holder shaft of the robot tool at a substantially constant inclination angle with respect to the rotational direction of the envelope surface area of the coil on which the film is applied.

[0219] In an embodiment, each of the two industrial robots is configured to hold the longitudinal axis of the roll holder shaft at a substantially constant angle with respect to the rotational direction before, during, and after the handover of the robot tool between the two industrial robots along the envelope surface.

[0220] In an embodiment, both the first and second industrial robots are configured to receive commands from a control system that moves the robot arms of the respective robots in the same horizontal plane while the first handover phase is occurring within the hollow cylindrical central core of the coil.

[0221] In an embodiment, both the first and second industrial robots are configured to receive commands from a control system that causes the robot tool to be held by the robot arm of the respective robot such that the roller holder shaft of the robot tool is oriented substantially parallel to the axis of rotation of the coil and substantially perpendicular to the gravity axis along the travel path of the two robot arms inside the hollow cylindrical central core of the coil.

[0222] In an embodiment, the second plane of the second handover phase is at a different height position from the first plane of the first handover phase along an axis perpendicular to the axis of rotation of the coil.

[0223] In an embodiment, the height position along the gravity axis perpendicular to the axis of rotation of the coil is adjusted by the respective robots along the respective coil end surfaces, thereby reducing the risk of wrinkles occurring in the stretch film applied on the envelope surface of the coil.

[0224] In an embodiment, the disclosed technology is - two industrial robots, each robot being provided with a robot arm having a connecting robot piece configured to interface with a robot tool; - A robot tool having two ends, each end being provided with a connecting tool piece configured to interface with the robot arm, and a roll holder shaft configured to hold a roll of packaging material, the roll holder shaft being mounted substantially in the middle between the ends at one end and protruding substantially perpendicular to the shaft extending between the ends Relates to a robot system for coil packaging, comprising the above.

[0225] In an embodiment, the robot arm is configured as an elongated beam with the connecting robot piece mounted at the ends of the beam.

[0226] In an embodiment, the connecting robot piece is configured to transmit operating power from any of the power supply lines of the robot.

[0227] In an embodiment, the coupling between the robot and the robot tool is in the form of a robot tool changer having a connecting tool piece of the robot tool configured to be engageable with a connecting master piece mounted on each robot arm.

[0228] In an embodiment, the robot arm preferably comprises a packaging material clamp configured to hold a strip of packaging material, mounted near the distal end of the robot arm.

[0229] In an embodiment, the robot system is - A robot jig including first and second intersecting legs; - The first leg of the robot jig is spaced apart on the first leg; configured to have first and second robot base mounts; - The second leg of the robot jig is configured to have a first coil roller stand disposed at the end of the second leg further includes.

[0230] In an embodiment, the robot system further includes at least one coil roller configured to impart a rotational movement to the coil disposed on the first coil roller.

[0231] In an embodiment, the robot system further includes a packaging material clamping station disposed substantially in the middle between the robots, and the packaging material clamping station is provided with a packaging material clamp configured to hold a strip of the packaging material.

[0232] In an embodiment, the robot system further includes a roll magazine for storing a plurality of rolls of packaging material available to one or more of the robots, the roll magazine being configured to have a roll location for each roll of packaging material and an associated packaging material clamp, and the packaging material clamp being configured to hold a strip of the packaging material.

[0233] In an embodiment, the robot system further includes a measurement system configured to measure the position and dimensions of the coil positioned on the coil roller to be packaged with the packaging material.

[0234] In an embodiment, the measurement system has one or more laser measurement tools mounted on, for example, one or both of the robot arms.

[0235] In an embodiment, the robot system further includes a robot control system configured to control the operation of the robot with respect to the coil positioned on the coil roller to be packaged with the packaging material.

[0236] In an embodiment, the robot control system comprises an input / output interface configured to be communicably connectable to an industrial robot, to one or more coil rollers, and / or to a human / machine interface in the form of a GUI that generates a dashboard, for example.

Claims

Claim 1 A cradle for transporting a coil, a control system, means for transmitting a rotational movement to the coil, and two industrial robots, each industrial robot being provided with at least one robotic arm having a connecting robotic piece configured to interface with a robotic tool having two ends each configured to interface with the connecting robotic piece, and a robot system comprising a roll holder shaft projecting substantially perpendicular to an axis extending between the two ends and transporting a roll of packaging material, a method for packaging the coil in the robot system, the method comprising: A step of packaging the coil with the packaging material fed from the roll in successive packaging turns or wraps, each comprising a sequence of robot operations including two handovers of the robotic tool between the two robots in a packaging turn or wrap, wherein a first handover phase occurs within the hollow cylindrical central core of the coil and a second handover phase occurs along the cylindrical surface, or the curved envelope surface, of the coil, the method comprising: Adjusting, by the control system, the angular velocity, or rotational speed, of the coil about its longitudinal axis during the process of packaging the coil through the means for transmitting a rotational movement to the coil, thereby varying the amount of overlap between successive packaging turns or wraps of the packaging material, such that there is provided a greater overlap between successive turns or wraps of the packaging material on the cylindrical surface of at least one first cylindrical sector segment of the coil than the overlap of the cylindrical surface of at least one other second cylindrical sector segment of the coil. Method Claim 2 The method according to claim 1, wherein the control system adjusts the angular velocity, or rotational speed, of the coil such that at least one lower angular velocity, or rotational speed, of the coil provided by the means for transmitting rotational movement to the coil during at least a portion of the time for wrapping the at least one first cylindrical sector segment is less than 70% of a higher rotational speed provided to the coil during the wrapping of the at least one other second cylindrical sector segment of the coil, thereby providing reinforcement of the at least one first cylindrical sector segment.

3. The method according to any one of claims 1 and 2, wherein the control system adjusts the angular velocity, or rotational speed, of the coil such that the coil does not rotate during at least a portion of the time for wrapping the at least one first cylindrical sector segment, through the means for transmitting rotational movement to the coil.

4. The method according to any one of claims 1 to 3, wherein the angular velocity, or rotational speed, of the coil is adjusted by the control system such that the coil rotates at at least one lower angular velocity, or rotational speed, during at least 5 consecutive wrapping turns or windings.

5. The method according to any of the preceding claims, wherein the at least one lower rotational speed provided to the coil by the means for transmitting rotational movement to the coil during the wrapping of the at least one first cylindrical sector segment of the coil results in an overlap between consecutive wrapping turns or windings along the cylindrical surface, or curved envelope surface, of the at least one first cylindrical sector segment of the coil that exceeds 50% of the width of the roll of packaging material, thereby providing reinforcement of the at least one first cylindrical sector segment.

6. The method according to any of the preceding claims, wherein the at least one lower rotational speed provided by the means for transmitting rotational movement to the coil during the packaging of the at least one first cylindrical sector segment of the coil results in an overlap between successive packaging turns or wraps along the cylindrical surface, or the curved envelope surface, of the at least one first cylindrical sector segment of the coil that exceeds 70% of the width of the roll of packaging material, thereby providing reinforcement of the at least one first cylindrical sector segment. **Claim 7** The method according to any of the preceding claims, wherein the at least one lower rotational speed provided by the means for transmitting rotational movement to the coil during the packaging of the at least one first cylindrical sector segment of the coil results in an overlap between successive packaging turns or wraps along the cylindrical surface, or the curved envelope surface, of the at least one first cylindrical sector segment of the coil that exceeds 90% of the width of the roll of packaging material, thereby providing reinforcement of the at least one first cylindrical sector segment. **Claim 8** The method according to any of the preceding claims, wherein the at least one higher rotational speed provided by the means for transmitting rotational movement to the coil during the packaging of the at least one other second cylindrical sector segment of the coil results in an overlap between successive packaging turns or wraps along the cylindrical surface, or the curved envelope surface, of the at least one other second cylindrical sector segment of the coil that is less than 45% of the width of the roll of packaging material. **Claim 9** The method according to any of the preceding claims, wherein the at least one higher rotational speed provided by the means for transmitting rotational movement to the coil during the packaging of the at least one other second cylindrical sector segment of the coil results in an overlap between successive packaging turns or wraps along the cylindrical surface, or the curved envelope surface, of the at least one other second cylindrical sector segment of the coil that is less than 35% of the width of the roll of packaging material. **Claim 10** The method according to any of the preceding claims, wherein the at least one higher rotational speed provided by the means for transmitting rotational movement to the coil during the wrapping of the at least one other second cylindrical sector segment of the coil results in an overlap between successive wrapping turns or windings along the cylindrical surface, or curved envelope surface, of the at least one other second cylindrical sector segment of the coil that is less than 20% of the width of the roll of packaging material. **Claim 11** The method according to any of the preceding claims, wherein the width of the roll of packaging material is in the range of 200 to 300 mm, and the width of the overlap produced along the cylindrical surface, or curved envelope surface, of the at least one first cylindrical sector segment of the coil exceeds 150 mm. **Claim 12** The method according to any of the preceding claims, wherein the process for wrapping the entire coil includes between 15 and 50 wrapping turns or windings. **Claim 13** The method according to any of the preceding claims, further comprising the step of adapting the positioning of the robot arm of each robot by the control system such that the longitudinal axis of the roll holder shaft of the robot tool holding the roll is oriented in an inclined direction with respect to the direction of rotation of the coil, wherein the roll holder shaft is oriented in an inclined direction in at least a portion of the movement of the robot tool along the cylindrical surface, or curved envelope surface, of the coil. **Claim 14** The method according to claim 13, further comprising the step of adaptively controlling, by the control system, the direction of the roll holder shaft with respect to the direction of rotation of the coil such that the inclination of the shaft is adapted to the angular velocity, or rotational speed, applied to the coil, in that the shaft is inclined at a greater angle during use of at least one higher angular velocity of the coil than during use of at least one lower angular velocity by each robot arm. **Claim 15** The method according to any of the preceding claims, further comprising positioning a roll holder shaft position in a three-dimensional space along a first circumferential edge that defines a starting position for wrapping the cylindrical surface or the curved envelope surface of the coil so as to be adapted to the currently applied angular velocity of the coil by the control system.

16. The longitudinal axis of the roll holder shaft of the robot tool is positioned at an angle within an angular range of 2 to 30 degrees with respect to a rotational direction along the cylindrical surface of the coil to which the packaging material is applied by each of the robot arms holding the robot tool. The method according to any of the preceding claims.

17. The advancing direction of the robot tool and each of the robot arms holding the robot tool along the curved envelope surface is in a direction essentially parallel to the axis of rotation of the coil, and the longitudinal axis of the roll holder shaft of the robot tool is positioned at an angle within an angular range of 3 to 30 degrees with respect to the rotational direction of a sub-region of the curved envelope surface to which the packaging material is applied. The method according to any of the preceding claims.

18. The method according to any of the preceding claims, further comprising controlling the operation of the robot arm by the control system such that the advancing direction of the robot tool and each of the robot arms holding the robot tool along the cylindrical surface or the curved envelope surface is in a direction along the curved envelope surface essentially parallel to the axis of rotation of the coil.

19. The method according to any of claims 1 to 17, further comprising controlling the operation of the robot arm by the control system such that the advancing direction of the robot tool and each of the robot arms holding the robot tool along the cylindrical surface or the curved envelope surface is in a linear direction within an angular range of 0.1 to 15 degrees with respect to an axis along the curved envelope surface parallel to the axis of rotation of the coil.

20. A cradle for transporting the coil, a control system, means for transmitting a rotational movement to the coil, and two industrial robots, each of the industrial robots being provided with at least one robot arm having a connecting robot piece configured to interface with a robot tool having two ends each configured to interface with the connecting robot piece, and a roll holder shaft protruding substantially perpendicular to an axis extending between the two ends and transporting a roll of packaging material, The control system is configured to control the operation of the robots with respect to the coil in order to package the coil with the packaging material in a continuous packaging turn or winding, each including a sequence of robot operations including two handovers of the robot tool between the two robots per packaging turn in which a first handover phase occurs within the hollow cylindrical central core of the coil and a second handover phase occurs along the curved envelope surface of the coil. The control system further configures to control the means for transmitting a rotational movement to the coil during the process of packaging the coil to adjust and vary the angular velocity, or rotational speed, of the coil about its longitudinal axis, thereby varying the amount of overlap between successive packaging turns or windings of the packaging material, so that there is provided an overlap between successive turns or windings of the packaging material that is greater than the overlap of the cylindrical surface of at least one other second cylindrical sector segment of the coil on the cylindrical surface of at least one first cylindrical sector segment of the coil. Robot system.

21. The control system adjusts and varies the angular velocity, or rotational speed, of the coil such that at least one lower angular velocity, or rotational speed, of the coil provided by the means for transmitting rotational movement to the coil during at least a portion of the time for wrapping the at least one first cylindrical sector segment is less than 70% of a higher rotational speed provided to the coil during wrapping of at least one other second cylindrical sector segment of the coil, thereby providing reinforcement of the at least one first cylindrical sector segment, the robot system according to claim 20. **Claim 22** The control system is configured to adjust and vary the angular velocity, or rotational speed, of the coil such that the coil does not rotate during at least a portion of the time for wrapping the at least one first cylindrical sector segment through the means for transmitting rotational movement to the coil, the robot system according to any one of claims 20 and 21. **Claim 23** The control system is configured to adjust and vary the angular velocity, or rotational speed, of the coil during the wrapping process such that the coil rotates at at least one lower angular velocity, or rotational speed, during at least five consecutive wrapping turns or windings through the means for transmitting rotational movement to the coil, the robot system according to any one of claims 20 to 22. **Claim 24** The control system is configured to adjust and vary the angular velocity, or rotational speed, of the coil during the packaging process such that, through the means for transmitting rotational movement to the coil, a lower rotational speed provided by the means for transmitting rotational movement to the coil within the packaging of the at least one first cylindrical sector segment of the coil results in an overlap between successive packaging turns or wraps along the cylindrical surface, or curved envelope surface, of the at least one first cylindrical sector segment of the coil that exceeds 50% of the width of the roll of packaging material, thereby providing reinforcement of the at least one first cylindrical sector segment. The robot system according to any one of claims 20 to 23.

25. The control system is configured to adjust and vary the angular velocity, or rotational speed, of the coil during the packaging process such that, through the means for transmitting rotational movement to the coil, a higher rotational speed provided by the means for transmitting rotational movement to the coil within the packaging of the at least one other second cylindrical sector segment of the coil results in an overlap between successive packaging turns or wraps along the cylindrical surface, or curved envelope surface, of the at least one other second cylindrical sector segment of the coil that is less than 35% of the width of the roll of packaging material. The robot system according to any one of claims 20 to 23.

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