3D Robot Coil Wrapping Paths to Prevent Film Creases
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Solution Overview
Problem
Existing coil wrapping technologies for sheet metal coils are inefficient and prone to forming creases in the wrapping film, leading to reduced productivity and compromised sealed integrity.
Innovation Solution
A robot system comprising two industrial robots with robot arms, a cradle, and a robot control system that adjusts the position and direction of a roll of wrapping material in three-dimensional space, allowing for inclined angular positioning and controlled travel paths to minimize crease formation during successive wrapping turns.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If conventional linear robots are used for coil wrapping, then the wrapping process can be automated, but the productivity remains low and creases form in the wrapping film
Solution Approach 1:
The robot system dynamically adjusts the travel path and positioning for each successive wrapping turn, varying the path in three-dimensional space to account for coil rotation and maintain optimal wrapping conditions. This dynamic adaptation prevents crease formation while enabling faster automated wrapping operations.
Solution Approach 2:
The system changes the positioning parameters and travel path coordinates for each wrapping turn, adjusting the robot's movement in three-dimensional space based on the coil's rotational position and dimensions. This parameter variation ensures consistent film application without creases while maintaining high wrapping speed.
2Device complexity
If the robot follows a fixed travel path for each wrapping turn, then the control is simplified, but creases form in the wrapping film due to coil rotation
Solution Approach 1:
The robot control system incorporates feedback mechanisms that account for the coil's rotational movement and dimensions, automatically adjusting the travel path for each successive wrapping turn. This feedback-based adaptation ensures precise film application without creases while maintaining manageable system complexity through automated calculations.
3Device complexity
If the robot positions the wrapping material directly without three-dimensional adjustment, then the positioning is simpler, but the overlap between successive turns cannot be controlled
Solution Approach 1:
The system transitions from two-dimensional planar positioning to three-dimensional spatial positioning, adjusting the robot's travel path in multiple dimensions to account for coil rotation and achieve precise overlap control. This dimensional expansion enables accurate overlap width control while maintaining reasonable positioning mechanism complexity through coordinated motion control.
Data Source
Figure 1A~1B
Figure 1C~1D
Figure 1E
AI summary
A robot system and a method for packaging coils of sheet metal. The method and robot system for coil packaging, having two industrial robots, each robot being provided with a robot arm provides for a solution where the direction of travel along the envelope surface of the coil is inclined relative the rotational axis of the coil, positioning of the roll of wrapping material in three-dimensional along the circumferential edge may be adjusted for each pass and/or where the positioning of the longitudinal axis of the roll or wrapping material is in an inclined angular direction relative the direction of rotation.