Robot binding apparatus for coil packaging
A robot binding apparatus for coil packaging includes: a grip unit that grips a band used for packaging a coil; a grip robot that supports the grip unit, rotates the grip unit seizing the band at the periphery of the coil to make the band wound on the coil, and moves the band to a fastening position; a head unit that provides the band to the grip unit and fastens the band at the band fastening position; and a head robot that supports the head unit and moves the head unit to the band fastening position.
1. A robot binding apparatus for coil packaging, comprising:
a grip unit that grips a band used for packaging a coil;
a grip robot that supports the grip unit, rotates the grip unit seizing the band at the periphery of the coil to insert the band through the inner circumferential surface of the coil and to make the band wound on the coil, and moves the band to a fastening position;
a head unit that provides the band to the grip unit and fastens the band at the band fastening position; and
a head robot that supports the head unit and moves the head unit to the band fastening position.
2. The apparatus of claim 1 , further comprising:
a robot transfer unit that supports at least one of the head robot and the grip robot and moves the position of the supported robot.
3. The apparatus of claim 2 , wherein the robot transfer unit comprises:
a first robot transfer unit that supports the head unit and transfers the head robot; and
a second robot transfer unit that supports the grip unit and transfers the grip robot.
4. The apparatus of claim 2 , wherein the robot transfer unit linearly transfers the supported robot.
5. The apparatus of claim 2 , wherein the robot transfer unit comprises one of a linear actuator comprised of a power motor and a rack/pinion, a linear actuator comprised of a linear motion (LM) motor and an LM guide, and a linear actuator comprised of a power motor, a transfer rail, and a ball screw.
6. The apparatus of claim 1 , wherein the head unit and the grip robot are joint type robots having the degree of freedom of six axes.
7. The apparatus of claim 1 , further comprising:
a band supplier that supplies the band to the head unit.
8. The apparatus of claim 7 , wherein the band supplier comprises:
a band storage unit that holds the band wound thereon; and
a band auxiliary withdrawal unit disposed at a path of the band supplied from the band storage unit to the head unit, and reducing tension of the band by withdrawing the band from the band storage unit.
9. The apparatus of claim 1 , wherein a plurality of head units are provided according to the types of the bands.
10. The apparatus of claim 1 , wherein the head unit comprises:
a bracket fastened to the head robot such that the bracket is rotatable; and
a band transfer unit allowing the band to pass thereinto by being supported by the bracket, discharging a front end of the band, and transferring the band wound on the coil thereinto so that the bands can overlap each other.
11. The apparatus of claim 10 , wherein the band transfer unit rewinds the band wound on the coil.
12. The apparatus of claim 10 , wherein the head unit further comprises a band cutting unit that cuts off a portion next to a fastened portion of the bands.
13. The apparatus of claim 1 , wherein the grip unit comprises:
an elastic part fastened to the grip robot such that the elastic part is rotatable, and extending or contracting the overall length; and
a grip part supported by the elastic part and gripping the band by pressing the band in a widthwise direction.
14. The apparatus of claim 1 , further comprising:
a coil support supporting the coil such that a central axis of the coil is horizontal to the ground.
15. The apparatus of claim 1 , further comprising:
a coil support supporting the coil such that the central axis of the coil is perpendicular to the ground.