Robotic Wrapper Positioning for Parallelepiped Articles
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Solution Overview
Problem
Existing methods for wrapping parallelepiped-shaped articles often result in irregularly wrapped products due to incorrect positioning of wrapper material, leading to undesirable appearances and potential damage during transportation and storage.
Innovation Solution
A wrapping apparatus and method that utilizes gripper units to securely grasp and position the wrapper material along the edges of a parallelepiped article, folding it over the article's faces and securing it with fasteners, ensuring uniform coverage and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If manual or semi-automatic wrapping methods are used with rollers and blowers, then the wrapping process can be automated to some extent, but the wrapper material positioning becomes incorrect leading to irregular wrapping
Solution Approach 1:
The patent replaces the traditional mechanical roller and blower system with a robotic manipulator that directly grasps and positions the wrapper material. This substitution of the mechanical positioning system with a controlled robotic system enables both automation and precise positioning, resolving the contradiction between automation extent and positioning accuracy.
Solution Approach 2:
The robotic manipulator performs multiple functions including grasping the wrapper material, positioning it correctly, and coordinating with the wrapping apparatus. This self-contained robotic system eliminates the need for separate positioning mechanisms, achieving both automation and precision through a unified intelligent system.
2Productivity
If the wrapper material is released too early during the folding process, then the gripping units can reset for the next cycle, but the wrapper material becomes mispositioned resulting in irregular appearance
Solution Approach 1:
The robotic manipulator maintains its grasp on the wrapper material throughout the entire folding and securing process, ensuring correct positioning is maintained until the wrapper is firmly attached. This preliminary maintaining of the grasping state prevents mispositioning while the wrapping is being secured, resolving the contradiction between cycle speed and position uniformity.
Solution Approach 2:
The system uses feedback control where the robotic manipulator maintains grasping until the wrapping apparatus confirms the wrapper material is properly secured. This feedback mechanism ensures that the manipulator releases the material only at the appropriate moment, preventing mispositioning while maintaining efficient cycle timing.
Data Source
AI summary
A method for wrapping at least a portion of an article (22) including folding the wrapper material (60) to cover at least one first peripheral face (24, 30) such that each one of at least two first wrapper sections extends beyond a respective first lateral edge (32) of the at least one first peripheral face (24, 30) and such that each one of at least one second wrapper section extends beyond an upper edge (38, 40) of a respective one of at least one second peripheral face (30, 24), folding and securing each first section against one of the at least one second peripheral face (30, 24), and folding and securing each second section against the respective second peripheral face (30, 24). The wrapper material (60) remaining at least partially grabbed until at least one of the at least one second section is secured.