Patent Description:
Coils of sheet metal need to be properly wrapped in order to protect the sheet metal during transport and storage. <CIT> describes sheet coil wrapping using two robot arms and a wrapping tool. During a wrapping sequence, the first robot arm inserts the wrapping tool into the central hole of the sheet coil and hands it over to the second robot arm, which transports the wrapping tool along the outside of the sheet coil and hands it back to the first robot arm.

Especially the edges of the sheet metal coils need to be properly protected, so that the sheet metal will not be damaged along the edges. <CIT> describes a method for sheet coil packaging, where inner edge protection is used to protect the inner edge of the sheet coil.

<CIT> discloses an apparatus for packaging steel coil. In the known device, a steel coil packaging apparatus comprises a coil transfer unit supporting a steel coil and transferring the steel coil in a first direction crossing the axial direction of the coil. A first packaging unit performs a first packaging process of attaching a first packaging material to the inner peripheral edge of the coil, a second packaging unit performing a second packaging process of attaching a second packaging material to the outer peripheral edge of the coil, a third packaging unit performing a third packaging process of wrapping a third packaging material on the inner circumferential surface, the outer circumferential surface, and both end surfaces of the coil, and a coil rotating unit rotating the coil so that the second packaging process and the third packaging process proceed simultaneously.

Since the sheet metal may be damaged along both the inner edges and the outer edges of the sheet coil, it would be advantageous to arrange also outer edge protection during the sheet coil wrapping process.

There is thus a need for improved systems and methods for sheet coil packaging.

The present disclosure relates to a sheet coil packaging system. The system comprises an inner edge protection mounting tool, arranged to be moved by the first and second industrial robots for arranging edge protection material on the inner edges of the sheet coil, around the central hole, before the wrapping of the sheet coil, a sheet coil rotating arrangement, arranged to rotate a sheet coil to enable it to be wrapped; first and second industrial robots, having first and second robot arms, arranged to wrap the sheet coil using a wrapping tool, using sequences of the first robot arm inserting the wrapping tool into a central hole of the sheet coil and handing over the wrapping tool to the second robot arm, and the second robot arm transporting the wrapping tool along the outside of the sheet coil and handing it back to the first robot arm, as the sheet coil is rotated by the sheet coil rotating arrangement; and two outer edge protection mounting devices, arranged at opposite ends of the sheet coil to feed out edge protection material along an outer edge or rim of the sheet coil as the sheet coil is rotated by the sheet coil rotating arrangement. The first and second industrial robots are arranged to wrap the sheet coil in synchronization with the feeding out of the edge protection material, thereby fixing the edge protection material to the outer edges of the sheet coil by the wrapping as the sheet coil is rotated by the sheet coil rotating arrangement. The first and second robot arms are arranged to be used for moving the inner edge protection mounting tool when creating the ring of edge protection material and arranging it on the inner edges of the sheet coil.

The present disclosure further relates to a method for sheet coil packaging. The method comprises: rotating a sheet coil using a sheet coil rotating arrangement, to enable the sheet coil to be wrapped; wrapping the sheet coil using first and second industrial robots, having first and second robot arms, and a wrapping tool using sequences of the first robot arm inserting the wrapping tool into a central hole of the sheet coil and handing over the wrapping tool to the second robot arm, and the second robot arm transporting the wrapping tool along the outside of the sheet coil and handing it back to the first robot arm, as the sheet coil is rotated by the sheet coil rotating arrangement; and feeding out edge protection material along the outer edge or rim of the sheet coil as the sheet coil is rotated, by using the two outer edge protection mounting devices arranged at opposite ends of the sheet coil. The wrapping of the sheet coil by the first and second industrial robots takes place in synchronization with the feeding out of the edge protection material, thereby fixing the edge protection material to the outer edges of the sheet coil by the wrapping as the sheet coil is rotated by the sheet coil rotating arrangement. The method comprises using a first and a second robot arm for moving the inner edge protection mounting tool when creating the ring of edge protection material and arranging it on the inner edges of the sheet coil, where the sheet coil wrapping arrangement comprises first and second industrial robots provided with first and second robot arms.

This enables the application of outer edge protection during a sheet coil wrapping process using two robot arms and a wrapping tool, so that the edge protection material becomes fixed to the sheet coil by the wrapping as the sheet coil is rotated by the sheet coil rotating arrangement.

In embodiments, the inner edge protection mounting tool comprises an edge protection material collecting arrangement, arranged to create a ring of edge protection material to be arranged on an inner edge of the sheet coil. This is convenient way of creating a ring of edge protection material to be arranged on an inner edge of the sheet coil.

In embodiments, the edge protection material collecting arrangement is arranged to collect the edge protection material directly from one of the two outer edge protection mounting devices. There is then no need for separate storage of edge protection material, and the edge protection material can be cut into the desired length by the outer edge protection mounting device.

In embodiments, the edge protection material collecting arrangement comprises means for keeping the edge protection material attached to the inner edge protection mounting tool until the edge protection material is positioned in the central hole, around an inner edge of the sheet coil.

In embodiments, the edge protection material collecting arrangement comprises means for pushing out the ring of edge protection material towards the inner edge of the sheet coil. However, the ring of edge protection material may also expand of its own motion once it has been released from the means for keeping the edge protection material attached to the inner edge protection mounting tool.

In embodiments, the edge protection material collecting arrangement comprises at least three suction cups.

In embodiments, at least some of the suction cups are arranged to be pushed out from the edge protection material collecting arrangement in order to push out the ring of edge protection material towards the inner edge of the sheet coil.

In embodiments, the system further comprises a further sheet coil rotating arrangement and two further outer edge protection mounting devices, in order to enable the robot arms to wrap sheet coils in two different positions. This enables a more efficient system, where the same two industrial robots may wrap sheet coils on sheet coil stations on either side of the industrial robots.

In embodiments, the sheet coil is a sheet metal coil.

In embodiments, the edge protection material comprises plastic and/or cardboard.

The present disclosure also relates to a sheet coil packaging system. The system comprises: an inner edge protection mounting tool, comprising an edge protection material collecting arrangement, arranged to create a ring of edge protection material and arranging it on an inner edge of a sheet coil, around a central hole of the sheet coil, before the wrapping of the sheet coil; a sheet coil rotating arrangement, arranged to rotate the sheet coil to enable it to be wrapped; and two outer edge protection mounting devices, arranged at opposite ends of the sheet coil to feed out edge protection material along an outer edge of the sheet coil as the sheet coil is rotated by the sheet coil rotating arrangement during wrapping of the sheet coil. The edge protection material collecting arrangement is arranged to collect the edge protection material directly from one of the two outer edge protection mounting devices.

The present disclosure further relates to a method for sheet coil packaging. The method comprises: creating a ring of edge protection material to be arranged on an inner edge of a sheet coil, using an edge protection material collecting arrangement comprised in an inner edge protection mounting tool, by collecting the edge protection material directly from one of two outer edge protection mounting devices arranged at opposite ends of the sheet coil; arranging the ring of edge protection material on the inner edges of a sheet coil, around a central hole of the sheet coil, using the inner edge protection mounting tool, before wrapping of the sheet coil; and feeding out edge protection material along an outer edge of the sheet coil as the sheet coil is rotated by a sheet coil rotating arrangement during wrapping of the sheet coil, using the two outer edge protection mounting devices.

more complete understanding of embodiments of the invention will be afforded to those skilled in the art, as well as a realization of additional advantages thereof, by a consideration of the following detailed description of one or more embodiments. Reference will be made to the appended sheets of drawings that will first be described briefly.

The present disclosure relates to systems and methods for sheet coil packaging. Embodiments of the disclosed solution are presented in more detail in connection with the figures.

<FIG> shows a sheet coil packaging system <NUM>. The system <NUM> illustrated in <FIG> comprises two industrial robots <NUM>, <NUM> and two pairs of outer edge protection mounting devices <NUM>, <NUM>; <NUM>, <NUM>, each pair arranged together with a sheet coil rotating arrangement <NUM> arranged to rotate a sheet coil <NUM> to enable it to be wrapped. The two industrial robots <NUM>, <NUM> are arranged to wrap a sheet coil <NUM> as the sheet coil <NUM> is rotated by the sheet coil rotating arrangement <NUM>. In the system <NUM> illustrated in <FIG>, the same two industrial robots <NUM>, <NUM> may thus wrap sheet coils <NUM> on sheet coil stations on either side of the industrial robots <NUM>, <NUM> in synchronization with the feeding out of edge protection material <NUM> from the currently active pair of outer edge protection mounting devices <NUM>, <NUM>, so that the edge protection material <NUM> becomes fixed to the sheet coil <NUM> by the wrapping as the sheet coil <NUM> is rotated by the sheet coil rotating arrangement <NUM>. However, the system <NUM> may comprise only one sheet coil station, and thus only one pair of outer edge protection mounting devices <NUM>, <NUM> and one sheet coil rotating arrangement <NUM>.

<FIG> shows a pair of outer edge protection mounting devices <NUM>, <NUM> in a sheet coil packaging system <NUM>. The two outer edge protection mounting devices <NUM>, <NUM> are arranged at opposite ends of a sheet coil <NUM> to feed out edge protection material <NUM> along the outer edges of the sheet coil <NUM> as the sheet coil <NUM> is rotated by the sheet coil rotating arrangement <NUM>. The edge protection material <NUM> is preferably arranged in an edge protection material coil <NUM> that may e.g. be mounted on a rotating table, which may be driven by a motor. The edge protection material coils <NUM> can thereby be made quite large, which means that many sheet coils <NUM> can be wrapped before an edge protection material coil <NUM> needs to be replaced.

The edge protection material <NUM> is preferably folded before it is fed out of the outer edge protection mounting device <NUM>, <NUM>. The edge protection material <NUM> is preferably stored unfolded, wrapped on an edge protection material coil <NUM>, but as it is folded in the outer edge protection mounting device <NUM>, <NUM>, it becomes more rigid. The edge protection material <NUM> preferably comprises plastic and/or cardboard, and it may have evenly spaced slits such that a series of tongues are formed when it is folded, as shown in <FIG>.

The outer edge protection mounting devices <NUM>, <NUM> are preferably moved down towards the outer edges of the sheet coil <NUM> to apply the folded edge protection material <NUM> along the outer edges of the sheet coil <NUM> as the sheet coil <NUM> is rotated by the sheet coil rotating arrangement <NUM>. The sheet coil <NUM> is preferably wrapped, as explained below in connection with <FIG>, as the sheet coil <NUM> is rotated and the folded edge protection material <NUM> is fed out.

If also inner edge protection around the central hole <NUM> of the sheet coil <NUM> is used, this is applied before the outer edge protection, as illustrated in <FIG>. The application of inner edge protection is explained below, in connection with <FIG>.

<FIG> shows two industrial robots <NUM>, <NUM> in a sheet coil packaging system <NUM>. Each of the industrial robots <NUM>, <NUM> has a robot arm <NUM>, <NUM> arranged to wrap the sheet coil <NUM> using a wrapping tool <NUM>. The first robot arm <NUM> inserts the wrapping tool <NUM> into a central hole <NUM> of the sheet coil <NUM> and hands over the wrapping tool <NUM> to the second robot arm <NUM>. The second robot arm <NUM> then transports the wrapping tool <NUM> along the outside of the sheet coil <NUM> and hands it back to the first robot arm <NUM>. This sequence then continues as the sheet coil <NUM> is rotated by the sheet coil rotating arrangement <NUM>, as described in <CIT>. In the system <NUM>, the two industrial robots <NUM>, <NUM> are however arranged to wrap the sheet coil <NUM> in synchronization with the feeding out of edge protection material <NUM>, so that the edge protection material <NUM> becomes fixed to the sheet coil <NUM> by the wrapping as the sheet coil <NUM> is rotated by the sheet coil rotating arrangement <NUM>. There is preferably an integrated cutting arrangement in each outer edge protection mounting device <NUM>, <NUM>, <NUM>, <NUM>, so that the edge protection material <NUM> can be cut to the desired length before the wrapping is finished. The length is preferably calculated based on the determined diameter of the central hole <NUM> in the sheet coil <NUM>.

As shown in <FIG>, the robot arms <NUM>, <NUM> may each comprise a wrapping material clamp <NUM>, <NUM> configured to hold a strip of wrapping material, preferably mounted close to the distal end of the robot arm <NUM>, <NUM>. When a sheet coil <NUM> has been fully wrapped, a strip of the wrapping material may be clamped in the clamping station <NUM> and the strip cut. For the purpose of cutting the wrapping material, a strip of the wrapping material may be turned around a shaft <NUM> at the clamping station <NUM>, in order to keep track of where the wrapping material is in the robot space, and thereafter the strip may be cut. Before cutting the strip of wrapping material, the strip may also be held by the clamp <NUM>, <NUM> of one of the robot arms <NUM>, <NUM>, so that the remaining wrapping material on a roll <NUM> on the wrapping tool <NUM> is ready for a new wrapping procedure. A loose-end strip of the wrapping material turned around the coil may e.g. be arranged to tack to the wrapping by self-adhesive properties. The wrapping material may e.g. be stretch film in a plastic material.

After the wrapping operation in the wrapping station, a crane or similar may be used to lift out the wrapped sheet coil to an after-processing station, where supplementing packing operations may be carried out manually or semi-automatically.

The system <NUM> may comprise a robot jig <NUM> having a first <NUM> and possibly a second <NUM> intersecting leg. The first leg <NUM> of the robot jig <NUM> is configured with first <NUM> and a second <NUM> robot base mounts placed apart on said first leg <NUM>. The second leg <NUM> of the robot jig <NUM> may be configured with a first coil roller abutment <NUM> placed at an end of the second leg <NUM>. The sheet coil rotating arrangement <NUM> may e.g. be positioned in relation to the robot jig <NUM> with the aid of positioning beams with abutment, so that the sheet coil rotating arrangement <NUM> will not be in physical or mechanical contact with the robot jig <NUM> during operation, in order to avoid dynamical forces being conveyed to the robot jig <NUM>.

In embodiments configured with two sheet coil stations, as shown in <FIG>, the robot jig <NUM> may comprise two sheet coil rotating arrangements <NUM>, and thus a second coil roller abutment <NUM> placed at the other end of the second leg <NUM>.

The robot jig <NUM> shown in <FIG> is thus configured with two robot base mounts <NUM>, <NUM> placed apart on a first leg of the cross geometry, as well as a first and a second coil roller abutment <NUM>, <NUM> placed apart on a second leg of the cross geometry. First <NUM> and second <NUM> industrial robots are mounted on the respective robot base mounts <NUM>, <NUM>. First and second sheet coil rotating arrangements <NUM> are placed in the respective coil roller abutments <NUM>, <NUM>. Such sheet coil rotating arrangements <NUM> are per se known and typically comprise a cradle of two rollers that are actuatable to give a sheet coil <NUM> placed in the cradle a rotating movement.

In the embodiment shown in <FIG>, the robot jig <NUM> is configured with a general cross geometry of substantially perpendicular legs with one or more bars, i.e. the bars making up the legs and thus the one or more bars intersecting at substantially right angles. Other intersecting angles may be configured with adapted configurations of the robots, their range and their movements. In the embodiment shown in <FIG>, each leg comprises two parallel bars. Other embodiments include only a first leg, as described above.

Sheet coils <NUM> appear in different sizes. A large coil may have a length of <NUM>, normal sizes are in the range of <NUM> to <NUM> length and down to a minimum that may be <NUM> length. The central hole <NUM> often has an inner diameter of <NUM> or <NUM>, and there are diameters as small as <NUM>. The outer diameter of a coil may vary from for example <NUM> to <NUM>,<NUM> meters.

The system <NUM> may further comprise a wrapping material clamping station <NUM> placed within reach of at least one robot arm <NUM>, <NUM>, for example placed substantially midway between the industrial robots <NUM>, <NUM>. The wrapping material clamping station <NUM> may be provided with one or more wrapping material clamps <NUM>, <NUM> configured to hold a strip of wrapping material. The wrapping material clamping station <NUM> may e.g. be placed substantially at the intersection of the first and second legs <NUM>, <NUM> of the robot jig <NUM>, for example substantially midway between the robot base mounts <NUM>, <NUM>. The wrapping material clamping station <NUM> may be provided with one or more wrapping material clamps <NUM>, <NUM> configured to hold a strip of wrapping material.

The system <NUM> may further comprise a roll magazine <NUM> for storing a plurality of rolls <NUM> of wrapping material available to one or more of the industrial robots <NUM>, <NUM>. The roll magazine <NUM> may e.g. be configured with one or more roll places <NUM>, and an associated wrapping material clamp <NUM>, <NUM> for each roll of wrapping material. The wrapping material clamps <NUM>, <NUM> may each be configured to hold a strip of wrapping material. The roll magazine <NUM> may in use be positioned and placed within reach of at least one of the robots, for example at the side of the robot setup or in front of one of the robots e.g. at the side of the coil roller.

The system <NUM> may further comprise a measuring arrangement configured to measure the position and dimensions of a sheet coil <NUM> positioned on a sheet coil rotating arrangement <NUM> for being packaged with wrapping material. In embodiments, the measuring system comprises one or more laser measuring tools, for example mounted on one of or both robot arms <NUM>, <NUM>. With such a laser measuring tool mounted on the robot arm, it is preferable that it is positioned such that is has an optical line that is unobstructed by a roll of wrapping material attached to the wrapping tool <NUM>. When measuring the position and dimensions, the system <NUM> is configured to find the center of the coil, follow the contours and calculate the position and the dimensions.

The system <NUM> may further comprise a robot control system <NUM> configured to control the movement of the industrial robots <NUM>, <NUM> in relation to a sheet coil <NUM> positioned on a sheet coil rotating arrangement <NUM> in the system <NUM>. The robot control system <NUM> may comprise input/output interfaces configured to be communicably couplable to the industrial robots <NUM>, <NUM>, to one or more sheet coil rotating arrangements <NUM>, and/or to a human/machine interface (not shown) for example in the form of a GUI generating a dashboard. The robot control system <NUM> may be used for determining the dimensions of a sheet coil <NUM> before applying edge protection.

<FIG> shows a wrapping tool <NUM> provided with a roll holder shaft <NUM> for holding a roll <NUM> of wrapping material and being configured for handover between robot arms <NUM>, <NUM>, and <FIG> shows the wrapping tool <NUM> of <FIG> with a roll <NUM> of wrapping material placed on the roll holder shaft <NUM>.

The wrapping tool <NUM> preferably comprises two opposing ends <NUM>, <NUM>, each end being provided with a coupling tool piece <NUM>, <NUM> configured to interface with a robot arm <NUM>, <NUM>. The wrapping tool <NUM> preferably further comprises a roll holder shaft <NUM> configured to hold a roll <NUM> of packaging material, the holder shaft <NUM> at one end being rotatably mounted substantially midway between said, preferably opposing, ends <NUM>, <NUM> and projecting substantially perpendicular to an axis extending between said, preferably opposing, ends <NUM>, <NUM>. The wrapping tool <NUM> may be provided with a housing <NUM> comprising one or more cover plates 107A, 107B.

In embodiments, the robot arms <NUM>, <NUM> are each provided with a coupling robot piece <NUM>, <NUM>, for example a gripper or a master piece of a tool changer, configured to be able to grip or mate with a respective coupling tool piece <NUM>, <NUM> of the wrapping tool <NUM>. As shown in <FIG>, a robot arm <NUM> may be coupled to the wrapping tool <NUM> via a coupling robot piece <NUM> that is mated with the robot tool piece <NUM> to the left in <FIG> at one end <NUM>. At the other end <NUM> of the wrapping tool <NUM>, to the right in <FIG>, a second coupling tool piece <NUM> is available for coupling to another robot arm <NUM> not shown in <FIG>.

The coupling tool pieces <NUM>, <NUM> of the wrapping tool <NUM> are configured to be able to convey actuating power from a power supply line of a robot, such as an industrial robot. The actuating power may in different embodiments for example be in the form of pneumatic power, hydraulic power or electric power. The coupling may typically be configured to be couplable by a bayonet coupling and/or locked in position by means of actuation power controlled by the respective robots.

The coupling configured for interfacing between the industrial robots and the wrapping tool <NUM> may be configured in the form of a robot tool changer, with the coupling tool piece <NUM>, <NUM> configured to be able to mate with a coupling master piece <NUM>, <NUM> of said tool changer mounted on a respective robot arm <NUM>, <NUM>. Such couplings may be configured with a presence sensor adapted to detect or indicate that the wrapping tool <NUM> is attached to the robot arm <NUM>, <NUM>. The presence sensor may e.g. be integrated in the tool changer functionality of the coupling and be based on pneumatic or electric signals that are readable by the robot control system, or arranged at the side of the coupling, for example in the form of an electric presence detector coupled to the robot control system.

The roll holder shaft <NUM> may comprise a roll fixture <NUM>, <NUM> configured to releasably fix a roll of wrapping material to the roll holder shaft <NUM>. For example, a portion <NUM>, <NUM> of the roll holder shaft <NUM> may be configured to be radially expandable to enable a roll fixture to releasably fix a roll of wrapping material to the roll holder shaft <NUM>. This may e.g. be implemented as one or more inflatable bladders <NUM>, <NUM> that are controllably inflatable by means of pneumatic power, i.e. pressurized air, conveyed from the respective robots via the coupling interfaces. Alternatively, the roll fixture <NUM>, <NUM> may be actuatable for example by electric or hydraulic power. An embodiment comprises first and a second radially expandable portions <NUM>, <NUM> in the form of inflatable bladders on the shaft <NUM>, such that the first expandable portion is configured to fix a roll of wrapping material having a first lesser wideness, and such that the combined first and second expandable portions are configured to fix a roll of wrapping material having a larger wideness.

The wrapping tool <NUM> may further comprise at least one motor configured to be able to drive, prevent and/or brake rotation of the roll holder shaft <NUM>. This may enable driving of the roll holder shaft <NUM> in first rotational direction, e.g. forwards, for example to roll out wrapping material from the roll in synchronization with the movement of the robots, or in a second rotational direction, e.g. backwards, for example to roll up or in wrapping material onto the roll in order gather superfluous wrapping material or increase the tension of the wrapping material. This further enables prevention of rotation of the roll, for example in order to keep a rolled out strip of wrapping material at a certain length or to keep a current tension of the wrapping material. Further, this enables braking of the rotation of the roll, for example in order to obtain, vary or keep a certain tension in the roll.

<FIG> show an inner edge protection mounting tool <NUM>, provided with a coupling piece <NUM> configured to interface with a robot arm <NUM>, <NUM>. The coupling piece <NUM> is preferably similar to the coupling tool pieces <NUM>, <NUM> of the wrapping tool <NUM>, since it preferably interfaces with the same robot arms <NUM>, <NUM>. The inner edge protection mounting tool <NUM> is preferably picked up by a robot arm <NUM>, <NUM> of an industrial robot <NUM>, <NUM> before the wrapping process for the sheet coil <NUM> is started.

The inner edge protection mounting tool <NUM> comprises an edge protection material collecting arrangement <NUM>, which in the embodiment shown in <FIG> comprises two circular mounting plates <NUM>, <NUM> that are rotatable in relation to the coupling piece <NUM>. This enables the creation of a ring of edge protection material <NUM> by rotating the edge protection material collecting arrangement <NUM> when collecting the edge protection material <NUM>. The edge protection material <NUM> may e.g. be the same edge protection material <NUM> that is used for protection of the outer edges of the sheet coil <NUM>. The edge protection material collecting arrangement <NUM> preferably comprises means for keeping the edge protection material <NUM> attached to the inner edge protection mounting tool <NUM> until the edge protection material <NUM> is positioned in the central hole <NUM>, around an inner edge of the sheet coil <NUM>. The edge protection material collecting arrangement <NUM> may e.g. comprise one or more claws <NUM>, and a number of suction cups <NUM>. In the embodiment shown in <FIG> there are two claws <NUM> and six suction cups <NUM>, but it is possible to use any number of claws <NUM> and any number of suction cups <NUM>, and e.g. only three suction cups <NUM> instead of six.

When a new sheet coil <NUM> arrives at the sheet coil rotating arrangement <NUM>, it is preferred to position edge protection material <NUM> on both sides of the central hole <NUM> of the sheet coil <NUM> before the wrapping process is begun. This is done using the robot arms <NUM>, <NUM> of the industrial robots <NUM>, <NUM>. Each robot arm <NUM>, <NUM> picks up the inner edge protection mounting tool <NUM>, interfacing with the coupling piece <NUM>, as shown in <FIG>. As explained above, the robot arms <NUM>, <NUM> may each be provided with a coupling robot piece <NUM>, <NUM>, for example a gripper or a master piece of a tool changer. This coupling robot piece <NUM>, <NUM> is preferably configured to be able to grip or mate with the coupling piece <NUM>, in the same way as with the coupling tool pieces <NUM>, <NUM> of the wrapping tool <NUM>.

The coupling piece <NUM> may be configured to be able to convey actuating power from a power supply line of the industrial robot <NUM>, <NUM>. The actuating power may e.g. be in the form of pneumatic power, hydraulic power or electric power. The coupling may typically be configured to be couplable by a bayonet coupling and/or locked in position by means of actuation power controlled by the respective robots. The coupling configured for interfacing between the industrial robots <NUM>, <NUM> and the inner edge protection mounting tool <NUM> may be configured in the form of a tool changer, with the coupling piece <NUM> configured to be able to mate with a coupling master piece <NUM>, <NUM> of said tool changer mounted on a respective robot arm <NUM>, <NUM>. Such couplings may be configured with a presence sensor adapted to detect or indicate that the inner edge protection mounting tool <NUM> is attached to the robot arm <NUM>, <NUM>. The presence sensor may e.g. be integrated in the tool changer functionality of the coupling and be based on pneumatic or electric signals that are readable by the robot control system <NUM>, or arranged at the side of the coupling, for example in the form of an electric presence detector coupled to the robot control system <NUM>.

The robot arm <NUM>, <NUM> then moves the inner edge protection mounting tool <NUM> to a position where edge protection material <NUM> can be collected. If the edge protection material <NUM> is the same edge protection material <NUM> that is used for protection of the outer edges of the sheet coil, the edge protection material <NUM> may be collected directly from one of the edge protection mounting devices <NUM>, <NUM>, <NUM>, <NUM>. In that case, the edge protection mounting device <NUM>, <NUM>, <NUM>, <NUM> feeds out edge protection material <NUM> of the desired length, and this is picked up by the edge protection material collecting arrangement <NUM>, e.g. using suction cups <NUM>, during rotation of the edge protection material collecting arrangement <NUM> so that a ring of edge protection material <NUM> is created around the edge protection material collecting arrangement <NUM>. The edge protection material <NUM> may however of course instead be collected from another storage of edge protection material <NUM>. There is preferably a small overlap of edge protection material <NUM> in the ring, and the edges of the edge protection material <NUM> may be held in place using the claws <NUM>. <FIG> illustrates open claws <NUM>, during collection of edge protection material <NUM>, and <FIG> illustrates closed claws <NUM>, when the ring of edge protection material <NUM> has been created and the inner edge protection mounting tool <NUM> is moved away from the storage of the edge protection material <NUM>.

The inner edge protection mounting tool <NUM> is moved, using the industrial robot <NUM>, <NUM>, into the central hole <NUM> of the sheet coil <NUM>, while the ring of edge protection material <NUM> is kept attached to the inner edge protection mounting tool <NUM>, e.g. using the claws <NUM> and the suction cups <NUM>. The ring of edge protection material <NUM> may then be pushed out from the inner edge protection mounting tool <NUM>, using means for pushing out the ring of edge protection material <NUM>, e.g. at least some of the suction cups <NUM>, as shown in <FIG>. However, the ring of edge protection material <NUM> may also simply be released from the means for keeping the edge protection material attached to the inner edge protection mounting tool <NUM>, and expand of its own motion.

If the edges of the edge protection material <NUM> have been held in place using claws <NUM>, the claws <NUM> are preferably opened before the edge protection material <NUM> is released from the inner edge protection mounting tool <NUM>. When the edge protection material <NUM> is released, the ring of edge protection material <NUM> expands slightly, so that it fits the inner edge of the sheet coil, around the central hole <NUM>. The industrial robot <NUM>, <NUM> then moves the inner edge protection mounting tool <NUM> out of the central hole <NUM>, and hands it over to the other industrial robot <NUM>, <NUM>, or places it in a storage position.

The ring of edge protection material <NUM> stays in the central hole <NUM> due to the material properties of the edge protection material <NUM> - when the edge protection material <NUM> is folded, it tries to straighten out. This is normally enough to keep the ring of edge protection material <NUM> in position during the wrapping of the sheet coil <NUM>, so that the ring of edge protection material <NUM> becomes fixed to the sheet coil <NUM> by the wrapping as the sheet coil <NUM> is rotated by the sheet coil rotating arrangement <NUM>. It is preferred not to use any type of adhesives to keep the ring of edge protection material <NUM> in position.

The sheet coil packaging system <NUM> comprises: a sheet coil rotating arrangement <NUM>, arranged to rotate a sheet coil <NUM> to enable it to be wrapped; first <NUM> and second <NUM> industrial robots, having first <NUM> and second <NUM> robot arms, arranged to wrap the sheet coil <NUM> using a wrapping tool <NUM>, using sequences of the first robot arm <NUM> inserting the wrapping tool <NUM> into a central hole <NUM> of the sheet coil <NUM> and handing over the wrapping tool <NUM> to the second robot arm <NUM>, and the second robot arm <NUM> transporting the wrapping tool <NUM> along the outside of the sheet coil <NUM> and handing it back to the first robot arm <NUM>, as the sheet coil <NUM> is rotated by the sheet coil rotating arrangement <NUM>; and two outer edge protection mounting devices <NUM>, <NUM>, arranged at opposite ends of the sheet coil <NUM> to feed out edge protection material <NUM> along an outer edge of the sheet coil <NUM> as the sheet coil <NUM> is rotated by the sheet coil rotating arrangement <NUM>. The first <NUM> and second <NUM> industrial robots are preferably arranged to wrap the sheet coil <NUM> in synchronization with the feeding out of the edge protection material <NUM>, thereby fixing the edge protection material <NUM> to the outer edges of the sheet coil <NUM> by the wrapping as the sheet coil <NUM> is rotated by the sheet coil rotating arrangement <NUM>.

However, the system <NUM> works also with other types of arrangements for wrapping the sheet coil <NUM> - it may not be necessary to use industrial robots <NUM>, <NUM>.

The sheet coil packaging system <NUM> further comprise: an inner edge protection mounting tool <NUM>, comprising an edge protection material collecting arrangement <NUM>, arranged to create a ring of edge protection material <NUM> and arranging it on an inner edge of a sheet coil <NUM>, around a central hole <NUM> of the sheet coil <NUM>, before the wrapping of the sheet coil <NUM>; a sheet coil rotating arrangement <NUM>, arranged to rotate the sheet coil <NUM> to enable it to be wrapped; and two outer edge protection mounting devices <NUM>, <NUM>, arranged at opposite ends of the sheet coil <NUM> to feed out edge protection material <NUM> along an outer edge of the sheet coil <NUM> as the sheet coil <NUM> is rotated by the sheet coil rotating arrangement <NUM> during wrapping of the sheet coil <NUM>. The edge protection material collecting arrangement <NUM> is preferably arranged to collect the edge protection material <NUM> directly from one of the two outer edge protection mounting devices <NUM>, <NUM>.

<FIG> schematically illustrates a method <NUM> for sheet coil packaging. The method <NUM> comprise:.

The wrapping <NUM> of the sheet coil <NUM> by the first <NUM> and second <NUM> industrial robots preferably takes place in synchronization with the feeding out <NUM> of the edge protection material <NUM>, thereby fixing the edge protection material <NUM> to the outer edges of the sheet coil <NUM> by the wrapping as the sheet coil <NUM> is rotated by the sheet coil rotating arrangement <NUM>.

Such a method enables the application of outer edge protection during a sheet coil wrapping process using two robot arms and a wrapping tool, so that the edge protection material becomes fixed to the sheet coil by the wrapping as the sheet coil is rotated by the sheet coil rotating arrangement.

The method <NUM> may further comprise one or more of:.

In embodiments, the sheet coil <NUM> is a sheet metal coil.

However, the method <NUM> works also with other types of arrangements for wrapping the sheet coil <NUM> - it may not be necessary to use industrial robots <NUM>, <NUM>.

The method <NUM> for sheet coil packaging may therefore alternatively comprise:.

The foregoing disclosure is not intended to limit the present invention to the precise forms or particular fields of use disclosed. It is contemplated that various alternate embodiments and/or modifications to the present invention, whether explicitly described or implied herein, are possible in light of the disclosure. Accordingly, the scope of the invention is defined only by the claims.

Claim 1:
Sheet coil packaging system (<NUM>) comprising:
a sheet coil wrapping arrangement, arranged for wrapping a sheet coil (<NUM>),
an inner edge protection mounting tool (<NUM>), comprising an edge protection material collecting arrangement (<NUM>), arranged to create a ring of edge protection material (<NUM>) and arranging it on an inner edge of the sheet coil (<NUM>), around a central hole (<NUM>) of the sheet coil (<NUM>), before the sheet coil wrapping arrangement (<NUM>, <NUM>) starts wrapping the sheet coil (<NUM>),
a sheet coil rotating arrangement (<NUM>), arranged to rotate the sheet coil (<NUM>) while it is wrapped by the sheet coil wrapping arrangement (<NUM>, <NUM>); and
two outer edge protection mounting devices (<NUM>, <NUM>), arranged at opposite ends of the sheet coil (<NUM>) to feed out edge protection material (<NUM>) along an outer edge of the sheet coil (<NUM>) as the sheet coil (<NUM>) is rotated by the sheet coil rotating arrangement (<NUM>) while it is wrapped by the sheet coil wrapping arrangement (<NUM>, <NUM>), characterized in that the sheet coil wrapping arrangement (<NUM>, <NUM>) comprises first (<NUM>) and second (<NUM>) industrial robots, having first (<NUM>) and second (<NUM>) robot arms, arranged to wrap the sheet coil (<NUM>) using a wrapping tool (<NUM>) adapted for use with the system, using sequences of the first robot arm (<NUM>) inserting the wrapping tool (<NUM>) into a central hole (<NUM>) of the sheet coil (<NUM>) and handing over the wrapping tool (<NUM>) to the second robot arm (<NUM>), and the second robot arm (<NUM>) transporting the wrapping tool (<NUM>) along the outside of the sheet coil (<NUM>) and handing it back to the first robot arm (<NUM>), as the sheet coil (<NUM>) is rotated by the sheet coil rotating arrangement (<NUM>);
wherein the first and second robot arms (<NUM>, <NUM>) are arranged to be used for moving the inner edge protection mounting tool (<NUM>) when creating the ring of edge protection material (<NUM>) and arranging it on the inner edges of the sheet coil (<NUM>).