Multiple robot system

Abstract

The present invention relates generally to film wrapping or packaging systems, and more particularly to a new and improved robotic film wrapping or packaging system which is not only substantially entirely automatic in its operation except for its initialization or START procedure, but in addition, a single programmable logic controller (PLC) can control the cyclic operations of one or more film wrapping or packaging robots.

1 . A robot system for wrapping or packaging at least one palletized load, disposed at at least one film wrapping or packaging station, within wrapping or packaging film, comprising:
 at least one robot, having a reel of wrapping or packaging film mounted thereon, wherein said at least one robot is respectively disposed adjacent to the at least one palletized load, disposed at the at least one film wrapping or packaging station, so as to respectively wrap or package the at least one palletized load within wrapping or packaging film; and   an adhesive member applicator assembly, mounted upon said at least one robot, for applying at least one adhesive member to the at least one palletized load such that a leading end portion of said wrapping or packaging film can be adhered to the at least one palletized load whereby the at least one palletized load can be automatically wrapped or packaged, within the wrapping or packaging film, during a wrapping or packaging operation without requiring the services of an operator.   
     
     
         2 . The system as set forth in  claim 1 , further comprising:
 a programmable logic controller (PLC) operatively connected to said at least one robot, and in communication with said at least one robot, so as to control said at least one robot in order to cause said at least one robot to perform a film wrapping or packaging operation upon the at least one palletized load.   
     
     
         3 . The system as set forth in  claim 2 , wherein:
 said programmable logic controller (PLC) automatically controls said at least one robot such that said at least one robot commences a film wrapping or packaging operation at a predetermined HOME position, and upon conclusion of said film wrapping or packaging operation, said programmable logic controller (PLC) causes said at least one robot to automatically return to said HOME position.   
     
     
         4 . The system as set forth in  claim 1 , wherein:
 said at least one robot comprises a multiple number of robots respectively disposed adjacent to a multiple number of palletized loads disposed at a multiple number of packaging or wrapping stations;   wherein each one of said multiple number of robots has an adhesive member applicator assembly disposed thereon for respectively applying a leading end portion of a wrapping or packaging film onto a respective one of the multiple number of palletized loads.   
     
     
         5 . The system as set forth in  claim 4 , further comprising:
 a single programmable logic controller (PLC) operatively connected to all of said multiple number of robots, and in communication with all of said multiple number of robots, so as to control all of said multiple number of robots in order to cause said multiple number of robots to perform film wrapping or packaging operations upon their respective palletized loads.   
     
     
         6 . The system as set forth in  claim 5 , wherein:
 said single programmable logic controller (PLC) controls each one of said multiple number of robots automatically such that each one of said multiple number of robots commences a film wrapping or packaging operation at a predetermined HOME position, and upon conclusion of said film wrapping or packaging operation, said programmable logic controller (PLC) causes each one of said multiple number of robots to automatically return to said HOME position.   
     
     
         7 . The system as set forth in  claim 1 , wherein:
 said at least one robot has a forward steering wheel assembly disposed thereon so as to permit said at least one robot to maintain a substantially circular locus path around the at least one palletized load during a film wrapping or packaging operation.   
     
     
         8 . The system as set forth in  claim 4 , wherein:
 each one of said multiple number of robots has a forward steering wheel assembly disposed thereon so as to permit each one of said multiple number of robots to maintain its substantially circular locus path around each one of the multiple number of palletized loads during a film wrapping or packaging operation.   
     
     
         9 . The system as set forth in  claim 7 , wherein:
 said substantially circular locus is defined around ther at least one film wrapping or packaging station and comprises a member, selected from the group comprising a magnetic strip and a particularized paint, which can be sensed by said at least one robots as said at least one robot traverses said substantially circular locus.   
     
     
         10 . The system as set forth in  claim 8 , wherein:
 said substantially circular locus is defined around each one of the multiple number of film wrapping or packaging stations and comprises a member, selected from the group comprising a magnetic strip and a particularized paint, which can be sensed by each one of said multiple number of robots as each one of said multiple number of robots traverses said substantially circular locus.   
     
     
         11 . The system as set forth in  claim 1 , wherein:
 said adhesive member may be selected from the group comprising an adhesive dot, an adhesive patch, an adhesive strip, an adhesive tape, and an adhesive label.   
     
     
         12 . The system as set forth in  claim 1 , wherein:
 said adhesive member applicator assembly comprises a supply roll of tape having a plurality of adhesive members disposed upon said tape, an applicator roller around which said tape is disposed such that said tape, having said plurality of adhesive members disposed thereon, can be disposed in contact with the palletized load, and a take-up reel for taking up portions of said tape from which said plurality of adhesive members have been removed and applied to the palletized load.   
     
     
         13 . The system as set forth in  claim 12 , further comprising:
 an actuator for moving said applicator roller into contact with the palletized load such that at least one of said plurality of adhesive members, from said supply roll of tape, can be applied to the palletized load in order to permit said leading end of said wrapping or packaging film to be adhered to the palletized load when a film wrapping or packaging operation is to be commenced.   
     
     
         14 . The system as set forth in  claim 13 , further comprising:
 a cutting implement for severing the packaging or wrapping film upon the completion of a palletized load packaging or wrapping operation whereby a trailing end portion of the packaging or wrapping film will be formed so as to self-adhere to the packaged or wrapped palletized load while a leading end portion of the packaging or wrapping film is also formed in preparation for the commencement of a new packaging or wrapping operation; and   a clamping member fixedly connected to said cutting implement for clamping the leading end portion of the packaging or wrapping film in preparation for the commencement of a new packaging or wrapping operation.   
     
     
         15 . The system as set forth in  claim 14 , further comprising:
 a first actuator operatively connected to said clamping member and said cutting implement for angularly moving said clamping member and said cutting implement to a first position at which said clamping member and said cutting implement can move across the boundary of the packaging or wrapping film leading from the palletized load to said robot, and a second position at which said clamping member and said cutting implement can engage the packaging or wrapping film leading from the palletized load to said robot such that said cutting implement can sever the packaging or wrapping film and thereby form the trailing and leading end portions of the packaging or wrapping film while said clamping member can clamp the leading end portion of the packaging or wrapping film in preparation for the commencement of a new packaging or wrapping operation.   
     
     
         16 . The system as set forth in  claim 15 , further comprising:
 a second actuator operatively connected to said clamping member and said cutting implement for moving said cutting implement and said clamping member toward and away from the packaging or wrapping film such that when said cutting implement and said clamping member are moved toward the packaging or wrapping film, said cutting implement severs the packaging or wrapping film thereby forming the trailing and leading end portions of the packaging or wrapping film and said clamping member clamps the leading end portion of the packaging or wrapping film, while when said cutting implement and said clamping member are moved away from the packaging or wrapping film, the leading end portion of the packaging or wrapping film is able to be released.   
     
     
         17 . The system as set forth in  claim 16 , further comprising:
 an application pad, across which the leading end portion of the packaging or wrapping film is disposed; and   a third actuator for moving said application pad into engagement with the palletized load such that the leading end portion of the packaging or wrapping film can be applied to the adhesive tape affixed to the palletized load.   
     
     
         18 . The system as set forth in  claim 15 , further comprising:
 a roller wheel rotatably mounted upon said clamping member for permitting said clamping member to be rotatably moved between said second and first positions so as not to snag the leading end portion of the packaging or wrapping film when the leading end portion of the packaging or wrapping film is to be released from its clamped state after the leading end portion of the packaging or wrapping film has been applied to the palletized load.   
     
     
         19 . The system as set forth in  claim 4 , further comprising:
 a metal plate disposed upon a floor region adjacent to each one of the multiple number of film wrapping or packaging stations; and   a proximity sensor disposed upon each one of said multiple number of robots so as to detect said metal plate and thereby ensure that each one of said multiple number of robots returns to its HOME position at the completion of a packaging or wrapping operation.   
     
     
         20 . The system as set forth in  claim 1 , further comprising:
 a proximity counter disposed upon said at least one robot for determining the amount of wrapping or packaging film applied to the at least one palletized load.