Wrapping robot with enhanced safety and reliability

Abstract

The present invention provides a wrapping robot with enhanced safety and reliability, the wrapping robot being able to prevent a safety accident that occurs when a worker or another object hits against a handle protruding outward from a robot body while the robot revolving around a product to perform wrapping by biasing the handle toward the product to be wrapped; and being able to improve reliability of wrapping by stopping operation of the wrapping robot when a wrap is loosened or cut during wrapping, using a sensor that senses loosening or cutting of a wrap.

Claims

1. A wrapping robot with enhanced safety and reliability that performs wrapping while revolving around a product to be wrapped, the wrapping robot comprising: a robot body having a battery and a driving motor in a box-shaped inside and having moving wheels on its bottom to be movable; a controller including operation buttons and switches for inputting operation conditions and operating the wrapping robot and a display showing work conditions and states, the controller disposed on a top of the robot body to control operation of the wrapping robot; a handle protruding forward from the robot body to be used to move the wrapping robot to a specific place; a guide wheel protruding from under the handle toward a position where a product to be wrapped is placed and guiding movement of the wrapping robot, which performs wrapping while revolving around the product, by rotating in contact with a surface of the product; and a mast installed at a center portion of a rear of the robot body, the mast having a spool that has a wrap wound in a roll shape thereon, the spool installed behind the mast to unwind and supply the wound wrap, the spool capable of moving up and down on the mast, wherein a wrap conveying-tension sensing unit that senses tension while conveying the wrap that is unwound and supplied is further installed behind the mast, wherein the wrap conveying-tension sensing unit includes: a guide roller guiding the wrap wound on the spool when the wrap is unwound and conveyed; a pulling roller pulling the wrap that is conveyed through the guide roller while being rotated by power from the driving motor; a moving roller installed between the guide roller and the pulling roller and maintaining tension of the wrap that is conveyed while rotating with the pulling roller; and a frame having a ⊏-shaped cross-section and having the guide roller, the pulling roller, and the moving roller between a top plate and a bottom plate thereof, wherein first and second gears are disposed on central shafts of the pulling roller and the moving roller, respectively, and are in mesh with each other, whereby the pulling roller and the moving roller are rotated together by power from the driving motor, and wherein slots are formed at portions of the top plate and the bottom plate in which the central shaft of the moving roller is inserted so that the moving roller moves close to or away from the pulling roller while the central shaft of the moving roller moves in the slots.

2. The wrapping robot with enhanced safety and reliability of claim 1, wherein the handle is biased toward the position where the product to be wrapped is placed by ⅓ to ¼ of a length of a side of the robot body on which the handle is installed, from a center of the side.

3. The wrapping robot with enhanced safety and reliability of claim 1, wherein the mast is inclined at an angle of 3 to 13° forward from the robot body.

4. The wrapping robot with enhanced safety and reliability of claim 1, wherein the wrap conveying-tension sensing unit further includes: a sensor bracket formed in a plate shape having a predetermined length and width, and installed on a side of an upper portion of the pulling roller; a fixed shaft installed through the plate-shaped sensor bracket with an end fixed to the top plate of the frame, the fixed shaft enabling the sensor bracket to rotate within a predetermined range about the shaft; a sensor roller installed on a bottom of an end of the sensor bracket which is far from the pulling roller, the sensor roller guiding the wrap supplied through the pulling roller to be conveyed toward the product; a spring installed to connect an end of the sensor bracket opposite to the end of the sensor bracket at which the sensor roller is installed and the top plate of the frame to each other, the spring stretching and contracting, depending on tension of the wrap that is conveyed through the sensor roller, such that the sensor bracket rotates about the fixed shaft; and a sensor installed under the top plate of the frame and sensing a position of the sensor bracket to make it possible to determine the tension of the wrap that is conveyed.

5. The wrapping robot with enhanced safety and reliability of claim 4, wherein when the sensor bracket is positioned in a range in which the sensor bracket can be sensed by the sensor, it is determined as an abnormal state in which the wrap is loosened or cut, and the wrapping robot is controlled to stop operating.

6. The wrapping robot with enhanced safety and reliability of claim 5, wherein when the wrap is loosened or cut, light or alarm is generated so that a worker can visually or aurally recognize the abnormal state.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a perspective view showing a wrapping robot according to the present invention;

(2) FIG. 2 is a plan view showing the wrapping robot that is wrapping a product while revolving around the product;

(3) FIG. 3 is a view showing rollers and a frame including a wrap conveying-tension sensing unit;

(4) FIG. 4 is a view showing the arrangement state of the rollers and the frame including the wrap conveying-tension sensing unit;

(5) FIG. 5 is a view illustrating the arrangement and assembly relationships of the wrap conveying-tension sensing unit, a moving roller, and a pulling roller;

(6) FIG. 6 is a view showing an abnormal state in which tension of a wrap is loosened; and

(7) FIG. 7 is a view showing the state in which wrapping is normally performed.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

(8) The wrapping robot according to the present invention is characterized in that a handle thereof is biased toward a product to be wrapped to be able to prevent a safety accident that occurs when a worker or another product hits against the handle during wrapping, in that the wrapping robot can be prevented from turning over due to tension that pulls a wrap by disposing a mast at an angle, and in that reliability of wrapping is increased by preventing the situation in which wrapping is performed without a wrap smoothly supplied by stopping the operation of the wrapping robot when the wrap is loosened or cut, using a sensor that senses whether the wrap is loosened or cut during wrapping.

(9) A wrapping machine is a machine that is fixed and is configured to wrap a product by unwinding a wound wrap while rotating the product, which is carried to a predetermined position inside the wrapping machine, or is configured to wrap a product, which is fixed without rotating, while revolving around the product and unwinding a wound wrap. However, the wrapping robot according to the present invention is an apparatus that is equipped with a wrap, that is moved to products having various sizes and shapes and placed at certain places to be wrapped, and that automatically wraps the product by unwinding the wound wrap while revolving around the products by itself in accordance with a work instruction when work conditions are input thereto.

(10) A wrapping robot 10 according to the present invention, which is configured to wrap a product 20 to be wrapped while revolving around the product 20, fundamentally includes a robot body 11, a controller 12 for controlling operation the wrapping robot, a handle 13 for moving the wrapping robot, a guide wheel 14 for guiding movement of the wrapping robot in contact with the product to be wrapped, and a mast 15 equipped with a spool having a wrap wound thereon (see FIGS. 1 and 2).

(11) The robot body 11 has components for operating the robot such as a battery and a driving motor in a box-shaped inside and has moving wheels on the bottom to be movable. The controller 12, which is provided to control operation of the wrapping robot, includes operation buttons 121 and switches for inputting operation conditions and operating the wrapping robot and a display 122 showing work conditions and states, disposed on the top of the robot body 11.

(12) The handle 13 protrudes forward from the robot body 11 to be used to move the wrapping robot to a specific place. In general, handles are installed at the center of a side of a robot body. However, one of the technical characteristics of the wrapping robot 10 of the present invention is that the handle 13 is not installed at the center of a side of the robot body 11, but biased toward the position where a product 20 to be wrapped is placed by ⅓ to ¼ of the length of the side from the center of the side on which the handle 13 is installed in the box shape of the robot body 11 such that the post on which the handle 13 is installed at the upper end is installed to be folded toward the robot body 11.

(13) Since the handle 13 is installed so that it pretty much protrudes forward from the robot body 11, an accident when a worker or another object around the product 20 hits against the protruding handle when the wrapping robot 10 performs wrapping while revolving around the product frequently occurs at sites. However, since the handle 13 is installed so that it is biased toward a product to be wrapped and is installed so that it is foldable toward the robot body 11 in the wrapping robot 10 according to the present invention, the handle does not protrude from the robot body 11 during wrapping, whereby it is possible to prevent a safety accident due to hitting against the protruding handle.

(14) Since the outer surface of the guide wheel 14 should come in contact with not the ground, but a product to be wrapped, the wheel is horizontally installed. Further, when the wrapping robot 10 is operated for wrapping, the wheel guides movement of the wrapping robot 10 while rotating with the outer surface of the wheel being in contact with the surface of the product to be wrapped 20. Accordingly, the guide wheel 14 protrudes at the lower portion of a post on which the handle 13 is installed toward the position where a product to be wrapped is placed. Since the guide wheel 14 is provided, the wrapping robot 10 can automatically wrap a product to be wrapped while revolving around the product as long as work conditions are input even if there is no worker (see FIG. 2).

(15) The mast 15 is a column installed at the center of the rear of the robot body 11. A spool 151 having a wrap wound in a roll shape thereon is installed behind the column, and an elevator for moving up and down the spool 151 and a wrap conveying-tension sensing unit 16 is installed on the column. The wrap wound on the spool 151 is supplied while being unwound and the spool 151 supplies the wrap while moving up and down on the column. Accordingly, even if the height of a product is much larger than the width of the wrap, the product can be wrapped without difficulty.

(16) In general, almost all masts are vertically installed columns, a spool having a wrap wound thereon is installed behind the masts, and the wrap is pulled and wound rearward during wrapping. In this case, tension that pulls the wrap is applied and the vertically installed masts are pulled rearward. In particular, when a spool is moved up and the acting point of tension that pulls the wrap is moved higher at the mast, a safety accident that the wrapping robot is easily turned over or is separated out of the route while the front is lifted occurs. However, since the mast 15 is inclined at 3 to 13° forward from the robot body 11, that is, in the opposite direction of the pulling direction of the wrap in the wrapping robot of the present invention, it is possible to prevent the possibility of the safety accident described above (see FIG. 1).

(17) It is preferable that the wrap conveying-tension sensing unit 16 that senses tension while conveying the wrap that is supplied when the wrap wound on the spool 151 is unwound and supplied is further installed behind the mast 15. The wrap conveying-tension sensing unit 16 fundamentally includes a guide roller 161 that guides a wrap that is conveyed, a pulling roller 162 that pulls a wrap, a moving roller 163 that can move to maintain tension of a wrap, and a frame 160 for installing the rollers (see FIGS. 5 to 7).

(18) The guide roller 161 guides a wrap to the moving roller 163 when the wrap wound on the spool 151 is unwound and conveyed. The pulling roller 162 pulls the wrap conveyed through the guide roller 161 and the moving roller 163 while being rotated by the power generated by the driving motor 164 installed on the top plate 160a of the frame. The moving roller 163 is installed between the guide roller 161 and the pulling roller 162 and enables a conveyed wrap to maintain tension while rotating with the pulling roller 162. First and second gears 162a and 163a are disposed at the upper ends of the central shafts of the pulling roller 162 and the moving roller 163 and are in mesh with each other, so the pulling roller 162 and the moving roller 163 are rotated together by the power from the driving motor 164. The first and second gears 162a and 163a have different numbers of teeth so that the RPM of the pulling roller 162 is larger by about 1.5 times the RPM of the moving roller 163. Accordingly, when a wrap is pulled, the pulling roller 162 is rotated faster than the moving roller 163, whereby the wrap is effectively pulled (see FIGS. 6 and 7).

(19) The frame 160 has an entirely ⊏-shaped cross-section by coupling horizontal top plate 160a and bottom plate 160b to the upper and the lower end of a vertical side plate. The guide roller 161, the pulling roller 162, and the moving roller 163 are disposed between the top plate 160a and the bottom plate 160b. The spool 151 having a wrap wound thereon is installed at a side of the guide roller 161 on the bottom plate 160b (see FIG. 4).

(20) It is preferable that, in the top plate 160a and the bottom plate 160b of the frame, slots 1601 having a predetermined length are formed at the portions in which the central shaft of the moving roller 161 is inserted so that the moving roller 163 can move close to or away from the pulling roller 162 while the central shaft of the moving roller 161 moves in the slots 1601. Since the moving roller 163 can move as described above, when a part of the worker's body or another object is stuck between the moving roller 163 and the pulling roller 162 while the wrapping robot 10 performs wrapping, the moving roller 163 is controlled to move away from the pulling roller 162 and wrapping robot 10 is controlled to stop operating, whereby it is possible to prevent industrial accidents due to safety accidents. Further, a worker can easily prepare for wrapping by putting a wrap between the rollers before wrapping.

(21) One of the technical characteristics of the present invention is that since the wrap conveying-tension sensing unit 16 is installed, when a wrap is loosened or cut, tension of the wrap that is being conveyed is sensed and the operation of the wrapping robot 10 is stopped, thereby preventing the wrapping robot 10 from keep operating without wrapping being normally performed. To this end, the wrap conveying-tension sensing unit 16 further includes a sensor bracket 165, a fixed shaft 166, a sensor roller 168, a spring 169, and a sensor 167 (see FIGS. 5 to 7).

(22) The sensor bracket 165 is formed in a plate shape having a predetermined length and width, is installed on the side of the upper portion of the pulling roller 162, and can be rotated within a predetermined range about the fixed shaft 166. The fixed shaft 166 is installed through the plate-shaped sensor bracket 165 with an end fixed to the top plate 160a of the frame, and enables the sensor bracket 165 to rotate within a predetermined range about the shaft.

(23) The sensor roller 168 is installed on the bottom of the end, which is far from the pulling roller 162, of the sensor bracket 165 and finally guides the wrap supplied through the pulling roller 162 toward a product. The upper end of the central shaft of the sensor roller 168 is installed and fixed to the sensor bracket 165.

(24) The spring 169 is installed to connect the end opposite to the end of the sensor bracket 165 at which the sensor roller 168 is installed and the top plate 160a of the frame to each other. The spring 169 stretches and contracts depending on tension of the wrap that is conveyed to a product to be wrapped through the sensor roller 168, and accordingly, the sensor bracket 165 rotates about the fixed shaft 166.

(25) The sensor 167 is a tension sensor that is installed under the top plate 160a of the frame and senses the position of the sensor bracket 165 to make it possible to determine the tension of a wrap that is conveyed. When a wrap is loosened or cut, the spring 169 decreases in length while contracting and pulls the sensor bracket 165, so the sensor bracket 165 is moved into the range in which it can be sensed by the sensor 167 (see FIG. 6). When tension of a wrap is normal, the spring 169 increases in length while stretching (normal length), so the sensor bracket 165 is moved to a range in which it is not sensed by the sensor 167 (see FIG. 7).

(26) When the sensor bracket 165 is positioned in the range in which it can be sensed by the sensor 167, it is determined as an abnormal state in which a wrap is loosened or cut, and the wrapping robot 10 is controlled to stop operating. In an abnormal state due to loosening of tension or cutting of a wrap as described above, it is preferable to generate light or alarm for a predetermined time so that a worker can visually or aurally recognize the situation. When an abnormal state is sensed, the wrapping robot 10 may be controlled to immediately stop operating. However, when a wrap is temporarily loosened, it may be possible to recover the tension of the wrap to the normal state by keep winding the wrap for several seconds. Accordingly, even though an abnormal state is sensed, the wrapping robot 10 may be controlled to stop operating after keep operating for several seconds.

(27) When the sensor bracket 165 is not positioned in the range in which it can be sensed by the sensor 167, it is determined that the tension of a wrap is in a normal state.

(28) According to the wrapping robot of the present invention, a handle protruding forward from the robot body is not disposed at the center of the robot body, but biased toward a product to be wrapped. Accordingly, it is possible to prevent various types of safety accidents such as that a person or another object around a product gets hurt or is damaged by hitting against the protruding handle when the wrapping robot wraps the product while revolving around the product or that the wrapping robot is turned over or separated from the route. Therefore, it is possible to remarkably improve work safety.

(29) Further, when a spool having a wrap wound thereon is moved up to a higher position on a mast having a column shape, the acting point of tension pulling a wrap for wrapping is positioned higher on the mast. Accordingly, there is a high possibility of the wrapping robot being easily turned over or separating out of the route with the front lifted. However, according to the wrapping robot of the present invention, since the mast equipped with the spool having a wrap wound thereon is not vertically installed, but inclined in the opposite direction of the pulling direction of a wrap, tension pulling the wrap acts in the opposite direction to the inclination direction. Accordingly, the possibility of the robot being turned over or separating from the route decreases, whereby it is possible to considerably improve work safety.

(30) Further, since a tension sensor is mounted to sense that a wrap is loosened or cut, the wrapping robot stops operating when a wrap is loosened or cut during wrapping. Accordingly, an abnormal state in which the wrapping robot keeps operating while revolving around a product without wrapping performed well due to loosening of a wrap or without a wrap supplied due to cutting of the wrap does not occur. Therefore, it is possible to improve reliability of wrapping.

(31) The above description is provided as an example of the present invention and the embodiments described herein are provided to describe the present invention rather than limiting the spirit of the present invention, so the present invention may be changed and modified in various ways by those skilled in the art without departing from the scope of the present invention. Therefore, the protective range of the present invention should be construed by those described in claims and technical configuration in the equivalent range should also be construed as being included in the scope of the present invention.