MX2014002957A - Multiple robot system. - Google Patents

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.

Description

SYSTEM OF MULTIPLE ROBOTS CROSS REFERENCE WITH RELATED PATENT APPLICATIONS This patent application relates to, is based on, and effectively, a conversion of the utility / non-provisional patent application of the United States provisional patent application serial number 61 / 573,140, which was filed on the September 12, 201 1, the benefits of the filing date of which are claimed herein, and the United States provisional patent application serial number 61 / 687,575 that was filed on April 27, 2012, the benefits of the filing date of which are also claimed in this document.

FIELD OF THE INVENTION The present invention relates in general to wrapping or film packaging systems, and more particularly to a new and better robotic wrapping or film wrapping system that is not only fully automatic in its operation, except for its procedure of initialization or START, but also, with a single programmable logic controller (PLC, for its acronym in English) can control the cyclic operations of multiple wrapping robots or packaging with film.

BACKGROUND OF THE INVENTION Different systems of wrapping or packaging with film by course they know each other very well. For example, as disclosed in United States Patent 7,707,802 issued to Forrest on May 4, 2010, several different types of conventional wrapping or film packaging systems are disclosed. More particularly, in Figure 1 of the patent, a well-known wrapping or film wrapping system is disclosed wherein a palletized load is placed on a rotating platform, and as the palletized load is rotated by means of the pallet , the load is wrapped inside the packaging material with film. In Figure 2 of the patent, a palletized load is arranged in a film packing station, and a rotating arm, which transports a cart with a roll of packaging film mounted thereon, rotates around the palletized load which this mode wraps the same inside the packaging material with film. In Figure 3 of the patent, a palletized load is disposed in the same way in a packaging station with film, defined internally within a vertical frame, and a cart, which transports a roll of packaging film, is rotated around a ring element, which thus wraps the film for packaging around the palletized load. Still further, as can be seen from Figure 1 of the drawings of the present patent application, a conventional robot 100 of wrapping or packaging with film is disclosed. It is seen that the robot 100 comprises a motorized unit or a vehicle 102 having a suitable driving motor, which is not shown, functionally connected to a pair of wheels 04, 104, whether the inner wheel 104 is the driving wheel of such so that the robot 100 can effectively circumnavigate around a palletized load arranged in a film packing station. The robot 100 is also seen to comprise a vertical mast 106 on which a support arm 08 is pivotally mounted. A suitable actuator 1 10 is functionally connected to the first proximal end of the support arm 108, while the second end opposite or distant from the arm Support 108 has a housing for the film roll 1 12 mounted thereon. A roll of packaging film 1 14 is mounted rotatably on an axis, not visible, mounted on the housing of the film roll 1 12. As can thus easily be appreciated, when the activator 1 10 retracts effectively, the first end of the support arm 08 is forced to move downwards thereby raising the second opposite end of the support arm 108 so as to raise accordingly or lift the housing of the film roll 12 and the packaging film roll 1 14. Conversely, when the actuator 1 10 extends, the first end of the support arm 108 will rise to cause the housing of the film roll 12 and the packaging film roll 14 to be lowered. The different levels of elevation of the housing of the film roll 1 12 and the packaging film 1 14 can be controlled accordingly in order to achieve the desired wrapping or packaging of the palletized load according to the predetermined wrapping or packaging patterns.

Although a conventional film wrapping or packaging robot of this type works satisfactorily, such robots can be improved in order to improve the efficiency of general wrapping or packaging operations. For example, with the conventional robot, an operator must initially fix the front end of the wrapping film or package to the palletized load before starting the operation of the robot to begin the wrapping or film wrapping operation. Furthermore, since only one robot can wrap a palletized load at a particular location or wrapping station, and although it is possible to set up multiple wrapping stations in which multiple robots are arranged respectively in order to individually perform their wrapping operations or packaging with film, each robot requires an operator to fix the front end of each wrapping film or packaging to its respective palletized load, or alternatively, the same operator needs to serve effectively to the multiple robots in a serial way. According to the first mode of operation, the labor / additional operators of course are required to service the multiplicity of robots, while according to the second mode of operation, a greater amount of time is required for that the same operator will serially service the multiple robots. Still further, it often happens that when a robot completes its entire wrapping or wrapping operation, comprising, for example, a predetermined number of film layers wrapped around the lower part of the palletized load and a predetermined number of layers of wrapping. film wrapped around the top of the palletized load, the robot can conclude its entire packing operation or wrapping with film in a circumferential location, relative to the palletized load, which is different from the circumferential location in which the robot always begins the wrapping or wrapping operation with film. Therefore, time, or additional operator control or intervention, is therefore required in an effective manner to relocate the robot to its next position of START or REST of load.

There is therefore a need in the art for a new and improved robotic system comprising the use of multiple wrap and film wrapping robots, in which the system is substantially fully automatic, except to start the actual START of the robots; all the multiple robots can be controlled by an individual or central controller, and the robots will automatically return to their START or REST positions in which the packaging or film wrapping operation normally begins.

BRIEF DESCRIPTION OF THE INVENTION The above objectives and others are achieved in accordance with the teachings and principles of the present invention by providing a new and improved system of multiple robots comprising a multiplicity of packaging robots or film wrapping in which the multiplicity of robots are adapted to circumnavigate their respective palletized loads in order to pack or wrap them inside the packaging or wrapping film, and in which, in addition, the multiplicity of robots are connected individually wirelessly with a single programmable logic controller (PLC) . In this way, when the operator initiates a START command, such as, for example, pressing a START button on the control panel of the programmable logic controller (PLC), the multiplicity of robots will be activated simultaneously in order to execute your wrapping or film packaging operations. Each robot is individually programmed in order to wrap or pack its palletized load in particular according to a predetermined packing or film wrapping pattern. A packing or wrapping pattern of this type may include, for example, a predetermined number of film layers to wrap around the bottom of the palletized load, a predetermined number of film layers to wrap around the top of the palletized load, the speed at which each robot works for wrapping or packaging the palletized load, the inclusion of any overlapping or overlapping section of the packaging or wrapping film, and the like. In addition, as a result of the two-way communication effectively established between the multiple robots and the programmable logic controller (PLC), at the conclusion of a packaging operation or wrapping with a particular film, the individual robot will know its position in relation to the palletized cargo and in relation to its position of REST or original START where the robot will automatically navigate back to its START or REST position in order to be in fact ready to start a new wrapping or film wrapping operation. Still further, each of the robots is provided with a new mechanism or system for automatically cutting the packaging or wrapping film at the conclusion of a wrapping or wrapping cycle, to retain the leading end of the wrapping film or wrapping after the cutting mechanism in preparation for a new wrapping or wrapping cycle, and for attaching the leading end of the wrapping film to the palletized load without requiring an operator to perform this function.

BRIEF DESCRIPTION OF THE DRAWINGS Various other features and related advantages of the present invention will be more fully appreciated from the following detailed description when considered in connection with the accompanying drawings in which similar reference characters designate similar or corresponding parts in all the various views, and in where: Figure 1 is a perspective view of a first conventional robot of the state of the art that is currently used in relation to packaging or wrapping of palletized loads within a packaging or wrapping film; Figure 2 is a perspective view of a second conventional robot of the state of the art that is similar to the conventional robot of the state of the art that is illustrated in Figure 1 and that has to be modified in accordance with the principles and teachings of the present invention in order to provide the packaging industry with film or robot wrap with a new and improved robot that is capable of achieving the objectives of the present invention; Figure 3 is a perspective view of the second conventional robot of the state of the art as shown in Figure 2 but from a different perspective orientation, in such a way that different component parts of the robot are visible; Figure 4 is a perspective view of a first embodiment of a new and improved robot, similar to the second conventional robot of the state of the art illustrated in Figures 2 and 3, but which has been modified to include new features structures that allow the new and improved robot to operate completely automatically once the operator has initiated a START control signal; Figure 5 is a perspective view of the new and improved robot as illustrated in Figure 4, but from a different perspective orientation in such a way that the new structural characteristics thereof can be seen better and, therefore, will be better appreciated; Figure 6 is a schematic drawing illustrating the arrangement of a multitude of robots, such as, for example, three robots, as more particularly disclosed in Figures 4 and 5, in which the multitude of robots can be controlled by means of a single controller, such as, for example, a programmable logic controller (PLC); Figure 7 is a perspective view of a second embodiment of a new and improved robotic packaging or film wrapping system as constructed in accordance with the principles and teachings of the present invention; Figure 8 is an enlarged view of the robotic packaging or film wrapping system as disclosed in Figure 7, which illustrates in greater detail the double guide wheel system and the dispensing mechanism of adhesive tape or adhesive strip as mounted on the support arm of the robot vehicle; Figure 9 is an enlarged view of the dispensing mechanism of adhesive strip or of adhesive tape, in particular, the mounting of the adhesive strip or of the adhesive tape on the dispensing gun which is shown in its blocking position on the support plate of the adhesive. the gun; Figure 10 is an enlarged view of the dispensing mechanism of adhesive strip or of adhesive tape, in particular, the mounting of the adhesive strip or of the adhesive tape on the dispensing gun shown, as shown in Figure 8, however the gun is now shown in its unlocking position on the gun support plate; Figure 1 1 is a perspective view of a proximity sensor used in conjunction with the robot in order to ensure that the robot vehicle, of the robotic packaging system or film wrapping, is able to return to its original resting position o START at the conclusion of a particular wrapping or film wrapping operation in preparation for the start of a new wrapping or wrapping operation with film; Figure 12 is a top perspective view of the proximity meter used in conjunction with one of the film feed rollers so that the staff knows how much film has been used; Figure 13 is a vertical perspective view of the film holding and cutting mechanism for cutting the packaging film or packing thereby forming an output end portion of the wrapping film that will self-adhere to the palletized load , and a front end portion of the packaging or wrapping film that will be retained in preparation for a new cycle of wrapping or packaging with film, wherein the film holding and cutting mechanism has been rotated from its horizontally oriented position to its vertical orientation; Figure 14 is a vertical perspective view of the film clamping and cutting mechanism as shown in Figure 13, Figure 14 showing more clearly the spatial relationship between the clamping and cutting mechanism of the film with respect to the two blocks of foam material when the clamping and cutting mechanism of the film is arranged in its vertical orientation; Figure 5 is a front perspective view of the film holding and cutting mechanism as shown in Figures 13 and 14, Figure 15 clearly illustrates the movement of the clamping and cutting mechanism of the film in its retention position in which it retains the leading end portion of the packaging or wrapping film in preparation for a new wrapping cycle or film wrapping after that the exit end portion of the previous wrapping cycle or film packaging has been cut; Figure 16 is a perspective view of the actuator assembly for the film cutting and clamping mechanism illustrated in Figures 13-15, in which the actuator assembly is disposed in its deactivated arrangement; Figure 17 is a perspective view of the actuator assembly, for the film clamping and cutting mechanism illustrated in Figures 13-15, in which the actuator assembly is disposed in its activated arrangement; Figure 18 is a perspective view illustrating the rear end of the robot vehicle of the robotic packaging or film wrapping system, illustrating the assembly of the packaging or wrapping film roll on the robot vehicle, as well as the securing mechanism and illustrated film cut within Figures 13-17 and the actuator assembly for moving the film holding and cutting mechanism bringing it closer and away from the palletized load; Figure 19 is a front elevational view showing the use of an auxiliary or additional defense cushion fixed to a large block of memory foam in order to ensure a sufficient amount of pressure interaction to be printed, effectively , in the front end portion of the wrapping film or package when it is being applied to a side wall portion of the palletized load; Figure 20 is a perspective view of a third embodiment of a new and improved robotic packaging or film wrapping system as constructed in accordance with the principles and teachings of the present invention; Figure 21 is a perspective view, similar to that of Figure 20 but from a different angular perspective, of the third embodiment of a new and improved robotic packaging or film wrapping system as constructed in accordance with the principles and teachings of the present invention; Figure 22 is a top plan view of the actuator assembly for moving the adhesive applicator to interact with the palletized load in order to transfer a point of adhesive material to the palletized load in preparation for attachment of a front end portion from the packaging or wrapping film to the palletised load, wherein the actuator assembly includes a pair of sliding activator plates; Figure 23 is a top plan view, similar to that of Figure 22, partially showing the actuator assembly in order to more clearly show the compression spring at the front end of the actuator assembly; Figure 24 is a perspective view of a lower support plate of the actuator assembly that is adapted to be fixedly connected to the pair of sliding actuator plates disclosed within Figure 22; Figure 25 is a top plan view of a sliding rail, and a sliding mechanism slidably disposed within the sliding rail, wherein the sliding guide is adapted to be fixedly secured to the supporting plate lower of Figure 24; Figure 26 is a perspective view of the support applicator plate that is adapted to be fixedly secured with the sliding mechanism disclosed within Figure 25; Figure 27 is an enlarged view of the support applicator plate disclosed within Figure 26, which discloses the spring connection between the support applicator plate of Figure 26 and the lower support plate of Figure 24; Figure 28 is a top perspective view of the support applicator plate, as disclosed within Figure 27, having the dot tape adhesive supply roll, the applicator roller, the tension roller, and the take-up reel mounted rotatably thereon; Figure 29 is a top plan view of the third embodiment of the new and improved robotic packaging or film wrapping system showing the entire applicator assembly of Figures 20-29 as they are mounted on the main support arm of the vehicle of robot; Y Figure 30 is a perspective view similar to that of Figure 29 but showing the entire applicator assembly as it is connected to the robot vehicle.

DETAILED DESCRIPTION OF THE ILLUSTRATED MODALITIES Referring now to the drawings, and more particularly to Figures 2 and 3 thereof, a second type of robot of PREVIOUS TECHNIQUE conventional packaging or wrapping film is disclosed and is generally indicated by the reference character 200. As will be more fully disclosed and appreciated in the future, this second robot of conventional PREVIOUS TECHNIQUE for wrapping or packaging with film 200 will be modified in various ways in order to effectively achieve the new and improved robot for wrapping or packaging with film of the present invention, and for purposes of continuity throughout this disclosure, the component parts of the various robots corresponding to parts that make up the first robot of PREVIOUS PREVIOUS TECHNIQUE for wrapping or packaging with film as illustrated in Figure 1 will be provided with corresponding reference characters, except that they will be within the 200 series. More particularly, as best seen in Figures 2 and 3, and as was the case with the first robot of conventional PREVIOUS TECHNIQUE for wrapping or packaging with film 100 illustrated in Figure 1, the second conventional PREVIOUS TECHNIQUE robot for wrapping or packaging with film 200 is seen to comprise a motorized unit or vehicle 202 having a suitable drive motor, not shown, operatively connected to the interior of the pair of rear wheels 204, 204 in such a way that the robot 200 can circumnavigate effectively around a palletized load arranged in a packaging station of the package. The robot 200 is also seen to comprise a vertical mast 206 on which a support arm 208 is pivotally mounted. A suitable actuator 210 is operatively connected to a first proximal end of the support arm 208, while the second opposite or distant end of the support arm 208 has a housing for the film roll 212 mounted thereon. A vertical axis 213 is fixedly mounted on the housing of the film roll 212 to rotatably mount, support, and accommodate a roll of packaging film, not shown, therein. As it can therefore be easily appreciated, and from a Similar to the feature of the first conventional PREVIOUS TECHNIQUE robot 100 illustrated within Figure 1, when the actuator 210 is effectively retracted, as can be seen in Figure 3, the first proximal end of the support arm 208 is forced to move downwardly in this manner, correspondingly, the second opposite end remote from the support arm 208 descends in order to lower the housing of the film roll 212 and the roll of packaging film disposed on the axis 213.

Conversely, when the actuator 210 is extended, the first proximal end of the support arm 208 will be raised so as to cause the housing of the film roll 212 and the packaging film roll arranged on the axis 213 to be likewise elevated. The different levels of elevation of the housing of the film roll 212 and the packaging film arranged on the axis 213 can be controlled, accordingly, in order to achieve the desired wrapping or packaging of the palletized load according to the predetermined wrapping patterns. or packing. It is further seen that the second conventional robot of the state of the art 200 is also provided with a tracer mechanism, which may be, for example, a wheel 216 which is operatively mounted on the distal end of a support arm 218, while that the proximal end of the support arm 218 is operatively connected to a forward steering wheel assembly 219. This tracer mechanism or wheel 216 is adapted to be arranged in contact with the palletized load when the robot 200 circumnavigates around the palletized load. during the wrapping or wrapping operation of the film in order to maintain the robot 200 at a predetermined distance from the palletized load in order to pack or wrap the palletized load in the wrapping film or packaging in a uniform and consistent manner. The support arm 218 can be supported by a spring or have a fluid shock absorber, not shown, operatively associated with it so that when the robot 200, through means of the probe or of the wheel 216, makes contact with the palletized load, the spring or the shock absorber will effectively adapt to any contact load or force impressed on the palletized load in such a way that no damage to the palletized load occurs.

Referring now to Figures 4 and 5, the pertinent portions of a first embodiment of a new and improved robot, which is indicated, in a general manner, by the reference character 300 and which is effectively a robot similar to the robot 200 as it is illustrated in Figures 2 and 3 but modified according to the principles and teachings of the present invention, it is disclosed. For reasons of brevity, a description of the structural components of the first embodiment of the new and improved robot 300, which are similar to the corresponding structural components of the robot 200, will not be performed but corresponding reference characters have been assigned within the 300 series , with the subsequent disclosure concentrating on, or being directed towards, the new and improved features of the robot 300. More particularly, for example, as best seen in Figure 4, the film roll housing or frame 312 is mounted in a manner fixed on the distal end of the support arm 308 by means of a mounting bracket 320, and, in addition, an actuator 322, which may be, for example, a suitable piston-cylinder assembly, is fixedly mounted on the housing of film roll or frame 312. The piston-cylinder actuator or cylinder 322 is provided with an extensible / contractile piston rod 324, and an applicator plate 326, the purpose of which will be explained more fully hereinafter, is pivotally mounted on the free or external end of the piston rod 324 by means of a pivoting mounting assembly 328 in such a way that the applicator plate 326 is allowed to pivot when it comes into contact with a palletized load so as not to damage the palletized load as will be more fully explained hereafter.

Continuing further, and as can probably be better appreciated in Figure 5, a motorized tape dispenser assembly 330 is also mounted on the housing of the film roll or frame 312 by means of a support plate 332 which is in turn , fixedly mounted to a vertical member 334 of the housing of the film roll or frame 312. As best seen in Figure 4, a first actuating element 336 is disposed on the tape dispenser assembly 330 and is adapted to to be driven by means of a small motor 338 as best seen in Figure 4. The first drive element 336 is coupled for drive with a second drive element 340, such as, for example, by means of a pulley band or similar, not shown. In addition, the second drive element 340 is connected for driving to a pair of winches 342,344 by means of a belt of the pulley 346 or other similar driving mechanism. The second drive element 340 is adapted to have a tape roll, not shown, disposed thereon, wherein, for example, a plurality of adhesive spots, which are also not shown, are disposed on the tape roll. The knit adhesive tape will be transported around or between the pair of winches 342,344 so as to come into contact with the wrapping film or package which is mounted on the shaft 313 and which is transported towards the palletized load by means of one or more rollers. , one of which is disclosed at 348, mounted on the housing of the film roll or frame 312.

One or more of the rollers 348 may be either a drive roller, a tension roller, a stretching roller, or the like, provided, conventionally, in known packaging or film wrapping systems. Accordingly, when the wrapping or wrapping film of the film roll arranged on the shaft 313 comes into contact with the knitted adhesive tape which is dispensed from the dispensing assembly of the tape 330, the adhesive spots will be transferred from the adhesive knit tape to the front end portion of the wrapping film because the affinity of the adhesive defined between the adhesive spots and the film Wrapping or wrapping is greater than the affinity of the adhesive defined between the adhesive spots and the roll of paper in which the stitches are initially arranged and which defines the roll of knitted adhesive tape. When one of the adhesive spots is, in fact, secured to the front end portion of the wrapping film or package, the actuator 322 can then be actuated to act effectively as a plunger mechanism, which extends the piston rod 324 and the applicator plate 326 towards the palletised load, in such a way that the applicator plate 326 will cause the front end of the wrapping tape or packaging, having the adhesive point fixed thereon, to be adhesively attached to the palletised load so that A wrapping or wrapping operation with film can begin. Of course it is to be noted that as a result of this adhesive point application system, the operation of adhering the front end portion of the wrapping or packaging tape to the palletized load is completely automated without the need for any operator interaction. It is, moreover, to note that the adhesive element is not to be limited to an adhesive point, but may comprise an adhesive patch, an adhesive strip, an adhesive label, or the like.

Now referring to Figure 6, the schematic drawing illustrating another important feature of the robot system of the present invention in which a multitude of robots 300, as illustrated in Figures 4 and 5, are now arranged adjacent to a plurality of wrapping or packaging stations or areas 350 in which a plurality of palletised loads 352 are arranged to be wrapped or packaged. A programmable logic controller (PLC) 354 is also provides within the vicinity of the multitude of the robots 300, and schematically illustrated that the only programmable logic controller (PLC) 354 is effectively linked to each of the robots 300, by any suitable type of wireless communication links 356,358,360, such as, for example, bluetooth technology or any other equivalent thereof. It should be understood that although, for example, three robots 300 have been illustrated, the present invention system can of course be used effectively in conjunction with any number of robots 300, i.e., a single robot 300, three robots 300, less than three robots 300, and more than three robots 300. In this way, the only programmable logic controller (PLC) 354 can control a single or a multitude of automatically wrapping or wrapping robots with film. It is further seen that each of the robots 300 will traverse a circular location 362 around each palletized load 352, and that each robot 300 will initiate or start each cycle of wrapping or wrapping with film or the operation from an initial position of REST or START. which may, for illustrative purposes, be considered to be the six o'clock position of a clock face. In other words, upon completion of a wrapping cycle or film film packaging, in particular, or operation, each robot 300 will be returned to its START or REST position in preparation for the start or start of a new cycle. of wrapping or packing with film or operation. This is important for the overall efficiency of the wrapping or film wrapping operation as will now be explained.

As can be readily appreciated, the programmable logic controller (PLC) 354 is operatively connected with each robot 300 in order to start the start or start of a wrapping or film packing cycle or operation, as a result of, for example, an operator pressing a START button on a console or control panel, not shown, of the programmable logic controller (PLC) 354. The programmable logic controller (PLC) 354 also controls all movements of the robot 300 and the various moving components thereof, such as, for example, the lift of the support arm 308, the extensible / contractile movements of the piston rod 324 and the applicator plate 326, and the like, in order to achieve the desired wrapping or film packing patterns. Such patterns may include, for example, a predetermined number of film layers wrapped around the bottom of the palletized load, a predetermined number of layers of film wrapped around the upper end of the palletized load, a predetermined number of overlap or over wrapping of film layers, the degree of superposition or envelope of said layers of film, the speed of the robots when they pass through the circular location 362, the speed at which the support arm 308 rises or falls, so that, in turn, they determine, for example, the number of film layers that wrap around the palletized load during the transition between the lower end of the palletized load and the upper end of the palletized load, or the like. Of course, the individual robots 300 may also have their own operating programs incorporated within their units and these computers or controllers may equally interact with the primary controller or programmable logic controller (PLC) 354.

An interesting additional operational control that can also be implemented by means of the only programmable logic controller (PLC) 354, is, as mentioned above, that the programmable logic controller (PLC) 354 can effectively guarantee that, at the end of a wrapping cycle or packing with film or operation, each robot 300 is returned to its position of START or REST. One might wonder that if the robots 300 were programmed to wrap the palletized load 352 with a predetermined number of turns or full layers of film at the top and bottom of the palletized load 352, then at the conclusion of the upper and lower layers of film wrapping, and therefore at the conclusion of the entire wrapping cycle or film wrapping or operation , robots 300 will be inherently or by definition, returned in their START or REST positions. However, this is not necessarily true. Assuming, for example, that a certain robot 300 has been programmed to wrap its palletized load 352 with five turns or full layers of films at the lower end of the palletized load 352 and five turns or full layers of film at the upper end of the Palletized load 352. Further, depending on, for example, the vertical height of the palletized load, raising the arm support 308 will require more time to reach the upper end of the palletized load when a particular palletized load is higher than another Palletized load. During the transition between the termination of, for example, all the turns or layers of film that surround the lower end of the palletized load 352 and the beginning of the turns or layers of film surrounding the upper end of the palletized load 352, the robot 300 continues to travel its circular location 362. For example, for example, for loads of four feet in height and six feet in height, respectively, more time will be required for the support arm 308 to reach the top of the load six feet in height so that it reaches the top of the four-foot-high load, and during these transition times, the robot 300 continues to travel its circular location 362. Accordingly, the robot 300 is arranged in a different circumferential position along the circular location 362 depending on the height of the palletized load.

Therefore, although each film wraps or wraps around Thus, while each round or layer of film around the lower end of the palletized load 352 started and ended, for example, in the position of START or SLEEP or six o'clock position, when the support arm 308 raises the housing of the film roll or frame 312 to its suitably elevated position in preparation for the start of the wrapping or film wrapping at the upper end of the palletized load of four feet of height, the robot 300 may, in reality, not be returned to its position of START or REST or position six o'clock, but may be, in fact, arranged in, for example, a position diametrically opposite to that of START or REST or Six o'clock position, which is, the twelve o'clock position. For a palletized load of six feet in height, the robot 300 can be arranged in, for example, the three o'clock position. A photoelectric eye or other sensor, which is not shown, but is conventionally provided to these mobile robots, will send a signal to the control logic of the conventional robot that the support arm and the housing of the film roll or the robot frame conventionally have reached their highest positions, at which time the wrapping or film wrapping of the upper end portion of the palletized load can be initiated. Accordingly, the wrapping or film wrapping cycle or operation, in fact, will then start and such wrap cycle or film wrapping or operation will also end or end at the twelve o'clock position. In this way, the robot will not be placed back into the START or REST position in preparation for the start of a new wrapping or packing cycle or operation. According to the present invention, however, the programmable logic controller (PLC) 354 can control the robots 300 in such a way that, regardless of where a particular cycle of packaging or film wrapping ends or the operation, the robots 300 are moved. , immediately, back to their START or REST positions. This can be done easily, for example, by means of the programmable logic controller (PLC) 354 by tracking the linear or angular displacement of each robot 300 from the assumption of START or REST.

Still further, it should also be appreciated that the single programmable logic controller (PLC) 354 can, of course, simultaneously control the multiple robots 300 or can individually control any one of the multiple robots 300. For example, if one of the palletized loads 352 has not been effectively delivered to its designated packing station or film wrapping 350, or if, the load 352, in particular, for some reason has not been placed in the correct position within the wrapping or film wrapping station 350 , such as, for example, in the center of the wrapping or film wrapping station, the programmable logic controller (PLC) 354 will not send the appropriate START signal so that that robot 300, in particular, is operatively associated with that palletized load. 352 and with that particular wrapping or film wrapping station 350, however, the appropriate control signals, in fact, will be sent to the others robots 300 in relation to which palletized loads are detected as present and correctly located within the particular wrapping and packaging station with film 350. It is noted, finally, that the actual drive mechanism for each of the robots 300 it may comprise a forward steering wheel assembly, not shown, which may also be under the control of the programmable logic controller (PLC) 354 and is similar to the forward steering wheel assembly 9 of the robot 200 illustrated in FIG. Figure 2, or alternatively, the circular locations 362, which the robots 300 traverse, may comprise a magnetic stripe, or particularized paint, which the sensors within the robot 300 can effectively see or track.

Referring now to Figures 7-18, a second embodiment of a new and improved robotic packaging or film wrapping system, and the various operative components thereof, as constructed in accordance with the principles and teachings of the present invention, is disclosed and is usually indicated by the reference character 400. It is to be noted that the operating components of the second embodiment of the new and improved robotic packaging system or wrapping with film 400, corresponding to the operating components of the first embodiment of the robotic packaging system or film wrapping 300 As illustrated in Figures 4-6, they will be designated by the corresponding reference numbers, except that they will be within the 400 and 500 series. Still further, for the purposes of brevity, a description of the structural components of the second embodiment of the robotic packaging system or wrapping with film 400, which are similar to the corresponding structural components of the first embodiment of the robotic packaging system or film wrapping 300, or which are similar to those of the robotic packaging or wrapping system with 200 state-of-the-art film will not be made, the subsequent disclosure concentrates on , or is directed to, the new and improved features of the second embodiment of the robotic packaging system or wrapping with film 400. More particularly, as can best be seen in figures 7 and 8, one of the new and improved structural features or operating components characteristic of the second embodiment of the robotic wrapping system or film wrapping 400, compared to the first embodiment of the robotic wrapping system or film wrapping 300, or compared to the robotic wrapping system or film wrapping 200 of the state of the art, is that instead of the use of a single tracer mechanism or guide wheel 216, the motorized unit or robot vehicle 402 of the second embodiment of the robotic packaging system or film wrapping 400 is provided with a pair of probing mechanisms or guide wheels 416,417.

The arrangement of the dual guide wheel system 416,417 has been found to provide better stability for the packaging system or wrapping 400 with respect to the palletized load to be wrapped or packaged, in particular when the robot 402 is navigating around the corners of the palletized load. As best seen in Figure 8, the double guide wheels 416,417 are effectively connected by means of a link bar 419 at the center of which is a rotation shaft 421. A pair of vertically dependent axles 422,424 are fixedly mounted within the opposite ends of the tie bar 419, and each of the double guide wheels 416,417 is rotatably mounted on a respective lower end portion of one of the axes 422,424 by means of rotating bearing assemblies 423, 425. Further, a vertical shaft 427 projects upwardly through the remote or free end portion of the main support arm 418 of the robot 402, and a connecting rod 429 has one end thereof pivotally connected to the lower end portion of the shaft 427 below the support the arm 418 while the opposite end of the connecting rod 429 is pivotally connected to the lower end portion of the rotation shaft 421 .

In this way, the double guide wheels 416,417 are free, effectively, to move in angular modes in order to maintain their interaction with the sides of the palletized load when the robot 402 moves around the palletized load. Accordingly, when the robot 402 is displaced at the corner of the palletized load, the main wheel 416, as seen in the direction of movement of the robot 402 around the palletized load, is first uncoupled from the side of the palletized load that has recently been released. has been wrapped, but due to the pivoting mounting of the double guide wheels 416,417 on the robot 402 via the axis of rotation 421, the shaft 427, and the connecting rod 429, as described, as well as the constant or continuous interaction of the double guide wheels 416,417 with the palletized load by the support arm 418 will effectively cause the link bar 419 to pivot about the axis of rotation 421 thus causing or allowing the wheel front 416 engages the next side of the palletized load while the trawl wheel 417 is still engaged with the previously wrapped side of the palletized load. Therefore, this assembly system of the double guide wheels allows the wrapping or packaging with film proceeds in a smooth and adjusted manner with respect to the palletized load unlike, for example, the use of a single wheel system of guidance that can cause the robot to "bounce" or momentarily disengage from the palletized load when the robot travels around the corner areas of the palletized load.

With continued reference to Figure 8, and with further reference made to Figures 9 and 10, it is to be appreciated that, in accordance with the principles and teachings of the second embodiment of the robotic wrapping or film packaging system 400, the system Application of adhesive spots of the first embodiment of the robotic wrapping system or packaging with film 300 has effectively been eliminated, and instead, a system of applying adhesive tape or adhesive strip or assembly by means of which an adhesive tape has been incorporated or adhesive strip is to be applied to a side wall portion of the palletized load in order, in turn, to adhere a front end portion of the wrapping film or package 414 to the adhesive tape and to the palletized load with the In order to start a wrapping or film packaging operation with respect to the palletized load. More particularly, as can initially be better appreciated in Figure 8, a first support plate 431, having a mounting block 433 and a spacer collar 435, which are formed integrally therefrom, are effectively mounted on the support arm 418 so that they are movable therewith, the collar 435 is movably mounted angularly or pivotably on the vertical axis 427. It is further noted that an additional pair of collars 437 is also provided in combination with the spacer collar 435 and the assembly block 433 by means of which the first support plate 431 is not only arranged at a predetermined angle with respect to the support arm of the robot 418, but in addition, the first support plate 431 is disposed at a predetermined height with respect to the support arm of the robot 418. An actuator 439 is mounted on a side portion of the first support plate 431 and operatively connected to a second linearly sliding actuator plate 441 which is operatively connected to the first support plate 431 by means of a pair of springs 443 The actuation of the actuator 439 will cause the second actuation plate 441 to move linearly against the spring of the spring of the spring pair 443, whereas when the actuator 439 is deactivated, the pair of springs 443 will return the second actuation plate 441 to its original position. A third gun support plate 445 is pivotally mounted on the second drive plate 441 by means of a pivot mechanism, not shown, and a corner portion of the third gun support plate 445 is operatively connected to the second drive plate 441 by means of the support spring 447.

Now also referring to Figures 9 and 10, it is further appreciated that the application system of the adhesive tape or of the adhesive strip or assembly further comprises an application gun for the adhesive tape or the adhesive strip 449. The application gun 449 may comprise a standard application gun, such as, for example, a SCOTCH * ATG 700, and is seen to comprise a handle of the gun 451, a firing mechanism 453, and a housing of the adhesive tape or adhesive strip 455. The gun 449 is adapted to be mounted on the support plate of the gun 445, and in order to maintain the gun 449 in a particular position and in an angular disposition on the gun support plate 445 , a first vertical semicircular ring or barrier is provided on the support plate of the gun 445 as in 457, as can best be seen in Figure 9, in order to be coupled to the right end portion of the housing 455, while a second vertical semicircular ring or barrier is also provided on the support plate the gun 445 as in 459, as best seen in Figure 8, so as to be coupled to the left end portion of the housing 455. While the barriers 457 and 459 effectively serve to secure the position and angular arrangement of the the gun 449 in a particular position and orientation on the gun support plate 445, the gun 449 is in fact locked in place or locked down on the gun support plate 445 by means of a conventional locking mechanism of eccentric shaft 461 which is clearly shown in Figures 9 and 10.

As can be seen in Figures 9 and 10, the eccentric shaft locking mechanism 461 comprises a base member 463 fixedly secured to the gun support plate, a locking bar 465, and an operating handle 467 The base member 463 actually comprises a fork structure with pivot pins 469 and 471 extending therethrough. Further, the free portion of the distal end of the operating handle 467 is pivotally connected to the proximal end portion of the locking bar 465 as in 473, while the operating handle 467 is operatively connected to the pivot pin 471 by means of a connector element, which is not shown or is not capable of being seen, which connects the pivot pin 471 to another pivot pin 475. As can be readily appreciated from Figures 9 and 10, and in accordance with known operating techniques, characteristics of an eccentric shaft locking mechanism, when the operating handle 467 is pivotally moved to its raised position or upwardly as shown in Figure 10, the upward movement of the free portion of the right or the far end of the 467 operating handle will force that the locking bar 465 moves up, due to the pivotal interconnection between the operating handle 467 and the locking bar 465 as in 473, such that the locking bar 465 no longer holds the handle portion 451 of the application gun 449 whereby the application gun 449 is free to be removed from its locking position on the gun support plate 445. On the contrary, the downward movement of the free portion of the right or end Distant of the operating handle 467 will force the locking bar 465 to move downward, due to the pivotal interconnection between the operating handle 467 and the locking bar 465 as in 473, such that the locking bar 465 is forced to engage the handle portion 451 of the application gun 469 thereby securing the application gun 449 in its locked position on the gun support plate 445.

Continuing still further, and still referring to Figures 8 and 9, a trigger actuator 475, in the form of a vertical tubular member, is disposed adjacent to the trigger mechanism of the application gun 453 and is fixedly mounted on it. a plate 477. The actuator trigger 475 is operatively connected to the piston rod 479 of a solenoid driver 481, and accordingly, when the solenoid actuator 481 is activated and held in the ON position, the piston rod 479 it retracts and moves to the right as seen in Figures 9 and 10 thus causing the trigger mechanism 453 to remain in its firing position. Returning to Figure 8, it is further appreciated that a supply roll of an adhesive tape or an adhesive strip is disposed internally within the housing of the adhesive tape or the adhesive strip 455 and is disclosed in 483. The adhesive tape or adhesive strip actually comprises a paper tape or strip on which is arranged a double-sided adhesive tape or a strip in which one side of the double-sided adhesive tape or of the strip has a substantially greater affinity for or with respect to the palletized load than for or with respect to the supporting paper tape or the strip. Accordingly, when the side of the double-sided adhesive tape or strip, which has the greatest affinity for adhesive, is effectively forced to come into contact with the palletized load, it is effectively released. of the paper liner strip and adheres to the palletized load. In order to achieve the supply of the adhesive strip or tape of its supply roll 483, a braking roller 485 and an idle application roller 487 are mounted on suitable support supports, not shown, in a position adjacent to an outlet or exit port of the adhesive tape housing or the adhesive strip 455 by which the two rollers are arranged in peripheral contact with each other, such that the crazy application roller 487 is rotated as a result of its contact interaction with the palletized load 452 with the braking roller 485 which allows the idle application roller 487 to rotate. The adhesive tape or adhesive strip will exit the housing 455 and be routed around an outer peripheral portion of the brake roller 485 and be effectively inserted or screwed into the nip defined between the brake roller 485 and the insane application roller 487. The highly tacky side of the double-sided adhesive tape will be disposed in contact with the brake roller 485, while the paper support portion of the double-sided adhesive tape will be disposed in contact with the idle application roll 487.

The brake roller 485 is treated with a suitable substance in order to prevent the highly sticky side of the double-sided tape from sticking to it, and therefore, as the adhesive tape or strip moves around the outer peripheral surface of the idle application roller 487, the highly tacky side of the double-sided adhesive tape or strip will be effectively oriented away from the idle application roll 487 and be disposed towards the palletized load 452. As can also be seen from split of Figure 8, the housing of the gun 455 also includes a take-up reel 489 for the paper liner of the double-sided adhesive tape or strip, wherein the take-up reel 489 can be actuated when the detonator mechanism 453 is activated. Alternatively, the take-up reel 489 can be functionally connected to the crazy application roll 487 such that as the crazy application roll 487 rotates and deposits the adhesive tape or strip onto the palletized load 452, the reel Receiver 489 is rotated in order to receive the paper liner strip or tape. The brake roller 485 is also operatively connected to the detonator mechanism 453. Accordingly, when the solenoid 481 is deactivated, the detonator mechanism 453 is released and the brake roller 485 is braked or prevented from rotating, thereby , at the same time, effectively brakes the idle application roller 487 in such a way that the idle application roller 487 no longer rotates and no longer dispenses the adhesive tape or adhesive strip onto the palletized load 452. The robot vehicle 402 however it continues to move, which in turn causes the adhesive tape to be cut while the paper liner of the tape or double-sided adhesive strip remains intact. This operation will be explained in greater detail later in the specification.

With reference now made to FIGURE 11, another new and unique main feature of the robot vehicle 402 of the second embodiment of the robotic film wrapping and wrapping system of the present invention will now be described. It has previously been observed that with respect to the state of the art the robotic systems as disclosed within FIGS. 1-3, as well as with respect to the first embodiment of the robotic film wrapping and wrapping system of the present invention as disclosed in FIG. within FIGURES 4-6, it is important not only to know where the robot vehicle 402 will be located in relation to its original REST or START position, but more importantly, that the robot vehicle 402 it can be returned to its original REST or START position in preparation for the start of a new wrapping or film wrapping operation. Accordingly, the robot vehicle 402 has been provided with a proximity sensor 491, and the floor area of the wrapping station 450 has been provided with a metal plate 493 suitably attached to the particular floor area of the storage station. wrapping 450 that designates the position of REST or START of the robot vehicle 402. Accordingly, after completing a wrapping operation or packaging with a particular film, the programmable logic controller (PLC) 454, functionally connected to the robot vehicle 402 by means of the appropriate communication links 456, will cause the robot vehicle 402 to circumnavigate the palletised load, independently of where the robot vehicle 402 is with respect to the palletized load and with respect to the position of REST or START, until the Proximity sensor 491 detects the metal plate 493, which indicates the position of REST or START, at which time the programmable logic controller (PLC 454 will terminate the motor drive of the robot vehicle 402. To obtain better results using the proximity sensor 491 in relation to the metal plate 493 in order to detect the START or REST position, it has been determined that the sensor proximity 491 should be approximately one inch (1 .00") in diameter and should be attached to a side portion of the robot vehicle 402 such that the proximity sensor 491 is located approximately eight centimeters (8cm) above of the metal plate 493.

With reference now made to FIGURE 12, still another new and unique main feature of the robot vehicle 402 of the second embodiment of the robotic film wrapping and wrapping system of the present invention will now be described. In relation to all wrapping systems or film packaging, always It is important to know how much wrapping film or packaging is used in relation to the wrapping or packaging of a particular load. For example, such data may be desired for efficiency improvement purposes. In other words, the wrapping or packaging facilities may wish to vary their wrapping or packaging techniques in order to reduce the amount of film that is required to wrap or pack a particular load. Alternatively, such data can be used as a means to accurately track how much film is used for wrapping or packaging operations in particular, in relation to which the wrapping or packaging installation will only have to pay for the film used effectively.

Accordingly, according to the principles and teachings of the present invention, the upper end portion of one of the axes of the wrapping film or packing roll 495 is provided with a plurality of pins 497. In particular, four of such bolts or pivots 407 are fixedly mounted on the upper end portion of the shaft of the particular film roll 495 at equiangularly spaced locations, ie, spaced at 90 °. A proximity counter 499 is positioned adjacent the upper end portion 495 of the particular roller shaft, and accordingly, as the roller axis rotates, the plurality of pins 497 rotates past the proximity counter 499 .

The proximity meter 499 can therefore count the number of pins or pivots 497 that pass in this way, such data can be transmitted to the programmable logic controller (PLC) 454, and knowing the diameter of the particular roller, which could be a roller Crazy, an extension roll, or the like, a determination can be derived on how much wrapping film or packaging has been unwound from its supply roll and wrapped over the palletized load.

A last new, novel, and singular main structural feature of the second new and improved embodiment of the robotic packaging and wrapping system with film 400 of the present invention, will now be described with reference made to FIGS. 13-18. More particularly, FIGS. 13-18 are concerned with a new and improved mechanism of cutting and securing the film, and a functional assembly for properly moving the same, whereby at the end of a wrapping or film wrapping operation in particular, the wrapping film or packaging is cut in order to effectively create a portion of the trailing end of the wrapping film or package that effectively self-adheres to the palletized load, while simultaneously creating a portion of the front end of the wrapping film or package which is retained in order to be used to begin the next wrapping or film wrapping operation in relation to a new palletized load. In accordance with the principles and teachings of the present invention, it is seen from FIGS. 13-18 that a substantially C-shaped plate or mounting bracket 501 has a pair of foam elements with memory 503,505 mounted on the front face. of them, that is, the face that is placed towards the palletized load.

In addition, a holding plate 507 is provided, and a cutting implement 509 is fixedly mounted on the holding plate 507. The holding plate 507 is fixedly mounted on the distal end portion of a bar-oriented element horizontally 51 1 wherein the horizontally-oriented bar element 51 1 passes through the mounting plate 501 in order to be functionally connected with the appropriate actuator mechanisms mounted on the back or the rear side of the plate of assembly 501 as will become more apparent hereinafter. The bar element 51 1 can be moved both linearly in the horizontal direction along its axis, and rotatable through an angular opening of 90 ° about its longitudinal axis, thereby defining two operating positions different or separated with respect to its longitudinal axis.

It should be appreciated initially that the holding plate 507 and the cutting implement 509 are normally spaced apart from the wrapping film or package and are disposed on one side of the packaging or wrapping film while the palletized load 452 is placed on the opposite side of the packaging or wrapping film, that is, during a wrapping or film wrapping operation. The exception to this relative state of the different structural components with respect to each is when a wrapping or wrapping operation with film is completed while the wrapping film or wrapping is about to be cut by the cutting implement 509 with the In order to effectively create the rear end portion of the wrapping film which will self-adhere effectively to the palletized load, and the front end portion of the wrapping film which will be retained by the holding plate 507 in preparation for the start of a new wrapping or film wrapping operation. It should be noted that, as can best be seen from FIGURE 13, the cutting implement 509 includes a knife edge or similar cutting structure 513 to perform the cutting of the packaging or wrapping film. FIGURE 14 clearly illustrates how the bar member 51 1 passes through the mounting plate or support 501, and FIGS. 15 and 16 illustrate the various structural components for moving the horizontally oriented bar member 51 1 linearly as along its horizontally oriented axis as well as for rotating the bar element 51 1 about its axis oriented horizontally. As can be easily appreciated, since the holding plate 507 and the cutting implement 509 are fixedly mounted on the distal free end portion of the horizontally oriented bar member 51 1, then the linear and angular movements of the bar element 51 1 will cause the Cutting implement 509 undergoes similar movements.

As can be seen from FIGURES 15 and 16, a horizontal platform 515 is fixedly attached to a rear face 517 of the mounting plate or bracket 501, and a vertically oriented actuator 519 is mounted on the platform 515. actuator 519 comprises a cylinder 521 and a piston 523, and it is also seen that the bar member 51 1 is fixedly disposed within a collar 525 which is rotatably mounted on the mounting plate or support 501 by a suitable assembly of bearings 527. The piston rod 523 is fixedly connected with one. ear or circular disc 529, and the ear or the circular disc 529 in turn is fixedly connected with a connector block 531 which is fixedly connected to an outer peripheral or tangential portion of the collar 525 that is radially displaced from the shaft longitudinal of the bar element 511. Accordingly, when the piston 523 of the actuator 519 is moved from its retracted position illustrated within Figure 16 to its extended position illustrated within Figure 17, the collar 525 has effectively rotated approximately 90 ° in the direction of the arrows. clockwise, and consequently, the bar element 51 1, together with the holding plate 507 and the cutting implement 509, have also been rotated to said angular opening. Therefore, the holding plate 507 and the cutting implement 509 have been rotated, for example, from a position initially oriented horizontally to a vertically downward position, the importance of which will become clearer in the following.

By continuing further, and with reference still made to FIGS. 16 and 17, it is further seen that a horizontally oriented actuator 533 is also fixedly mounted on the rear face 517 of the mounting plate or bracket 501, and that the actuator horizontally oriented 533 comprises a cylinder 535 and a piston 537 that can not be seen very well within FIGURE 16 but can be seen in fact very clearly within FIGURE 17. The drive cylinder 535 has a vertical square-shaped bracket or collar 539 fixedly mounted thereon, and the bracket or collar 539 in turn is fixedly mounted on the oriented bar element horizontally 51 1. It is noted that contrary to the normal operation of a typical conventional actuator in which the piston is the relatively movable component of the piston-cylinder assembly, in this case, the actuator cylinder 535 is the movable component in view of the fact that the piston 537 is fixedly attached to the rear face 517 of the mounting plate or bracket 501. As a result of the longitudinal movement of the drive cylinder 535 in the rear direction away from the rear face 517 of the mounting plate or bracket 501, and the attachment of the drive cylinder 535 with the bar element 51 1 by means of the collar or support 539, the bar member 51 1, together with the holding plate 507 and the cutting implement 509, also move in the rear direction. Considered in reverse, however, the holding plate 507 and the cutting implement 509 are effectively moved to make the front face 541 of the mounting plate or support 501. More particularly, as can also be seen from FIGURES 14 and 15, as the clamping plate 507 and the cutting implement 509 move towards the front face 541 of the mounting plate or support 501, the implement cutting 509 encounters the wrapping film or wrapping 543 extending from the palletized load 452 and will cut the wrapping film or wrapping 543 thereby forming a portion of the trailing end of the wrapping film 543 that is self will adhere to the palletized load, while the holding plate 507 is press-fitted with the small memory foam block 503 in order to hold a portion of the front end of the packaging or wrapping film 543 in a fixed manner; now it is tensioned through the large block of viscoelastic foam 505 as seen in Figure 15.

With reference made lastly to FIGURE 18 in relation to the various structural components comprising the robotic packaging or wrapping system with film 400 of the second embodiment, it is seen that the vertical roll pin of the packaging film or wrapping 413 is fixedly secured to a housing of the film dispensing roller 412, and that the housing of the film dispensing roller 412 is provided with a frame that is pivotably fastened thereto. More particularly, it is seen that the frame comprises a vertically oriented rod or rod 545 that is pivotally mounted on the housing of the film dispensing roller 412 so as to pivot about the longitudinal axis of the vertically oriented rod or rod 545. , and three horizontally spaced, vertically spaced bars or rods 547,549,551 that are fixedly mounted to the lower, middle and upper portions of the vertically oriented rod or rod 545. A mounting bracket 553 extends outwardly from the floor or platform lower 555 of the housing of the film dispensing roller 412, and an actuator 557 is fixedly attached to the floor or platform 555 and the lower horizontal bar 547 of the frame.

Furthermore, it is seen that the mounting plate or bracket 501 is pivotally mounted on the portions of the free remote end of the horizontally oriented upper and middle bar or rod members 549,551 of the frame as in the upper and lower pinions 559, only the Top is visible. In this way, when the actuator 557 is actuated in order to extend or retract the piston thereof (not visible), the frame is able to move towards or away from the palletized load 452 which will instead move the support or the plate. C-shaped assembly 501, and the holding plate 507 and the cutting implement 509 mounted thereon, towards or away from the palletized load 452. When the support or the mounting plate 501 moves to engage with the palletized load 452, it is desired that the mounting plate or plate 501, having the large memory foam block 505 mounted thereon, be flush with the palletised load 452 so that the front end portion of the palletized the wrapping film or wrapping 543 can be suitably applied to the palletized load 452. In order to ensure this flush arrangement of the support or mounting plate 501, and in addition to ensure that the support or the mounting plate 501 does not move or pivot too far back beyond the flush position, a strong coil spring 561 is mounted around the lower pinion 559 with the opposite ends 563,565 of the coil spring 561 which is connected to the mounting or mounting plate 501 and with the rod or rod of the mid frame 549, respectively. If it is desirable, for spatial considerations, or to locate the mounting plate or mounting plate 501, with its various functional components thereon, at a particular rear end location with respect to the robot vehicle 402, the various elements of the oriented frame horizontally 547, 549, 551 may comprise telescopic structures.

Having substantially described all the structural components of the robotic packaging or film wrapping system 400 of the second embodiment, a brief description of some of the important operations thereof will now be described. The first operation to be described is the attachment of the front end portion of the wrapping film 543 with the palletized load 452 as the front end portion of the wrapping film 543 is disclosed within FIGURE 15 as that is effectively secured to the small memory foam block 503 by means of the holding plate 507 and with an adjacent portion of the packaging film or wrapper 543 extending through the large memory foam block 505 of a tense way. The wrapping or wrapping operation with film is started with the robot vehicle 402 arranged near of a portion of the corner of the palletized load 452 and the support arm 418 moves in the clockwise direction, with respect to the robot vehicle 402, in order to efficiently carry the double-guide wheels 416,417 to be coupled with the corner portion of the palletized load 452 in such a way that one of the guide wheels 416 is placed in engagement with one side of the palletized load 452 while the other guide wheel 417 is placed in engagement with another side of the palletized load. the palletized load 452. The robot vehicle 402 itself then begins to move clockwise around the palletized load 452 in such a manner that the robot vehicle 402 and the support arm 418 now move in the clockwise in relation to the double guide wheels 416,417.

Accordingly, as can best be appreciated from FIGURE 8 since the support arm 418 moves in the clockwise direction relative to the guide wheels 416, 417, the entire assembly of the adhesive tape or strip adhesive, which comprises the gun 449 and the crazy application roller 487 is also rotated in the clockwise direction so that the crazy application roller 487, which has the highly sticky adhesive side of the adhesive tape or strip placed on its outer peripheral surface will now approach the palletized load 452 and be approximately the same distance radially outward as the outer peripheral surfaces of the double guide wheels 416,417. At this point in time, the actuator 439 is driven in order to linearly move and extend the drive plate 441 so as to in effect move the idle application roller 487 to further engage with the palletized load 452, the solenoid 481 is activated in order to activate the detonator mechanism 453 that drives the take-up reel 489 and releases the brake roller 485, and the adhesive tape or adhesive strip is coupled with and applied to a side wall portion of the palletized load 452. Because of the Greater adhesive affinity defined between the tape adhesive adhesive or strip and the palletized load 452 that the adhesive affinity defined between the adhesive tape or adhesive strip and its paper backing, the adhesive tape or adhesive strip is transferred from the paper backing to the palletized load 452. It can therefore be It will be appreciated that as the robot vehicle 402 continues to move forward relative to the palletized load 452, the upper support plate of the spring-biased gun 445 will pivot further which causes a predetermined portion of the adhesive tape or adhesive strip is unwound from the idle application roll 487 and applied under pressure on the palletized load 452. After a predetermined amount of the adhesive tape or adhesive strip is applied to the palletized load 452, the solenoid 481 is deactivated, the detonator mechanism 453 is deactivated, and the subsequent dispensing of the adhesive tape or adhesive strip ends as a result of the brake roller 485 braking or detouring. the rotation of the idle application roller 487. The idle application roller 487 then simply moves away from the palletized load 452 because of the continued movement of the robot vehicle 402 with respect to the palletized load 452 whereby the adhesive tape or strip Actual adhesive effectively breaks or breaks, while the paper liner remains intact, because of the significant difference in tensile strength between the adhesive strip material or adhesive tape compared to that of the liner material. paper, and the spring 447 returns the spring-loaded gun support plate 445 to its original position.

Having now applied an adhesive tape or adhesive strip to the palletized load 452, the robot vehicle 402 continues to circumnavigate the palletized load 452 and when the rear end of the robot vehicle 402, on which the front end portion of the film of packaging or wrapping 543 as a result of being held on the small memory foam block by the holding plate 507, and extending through the large block of memory foam 505 which will serve as an application bearing for applying the front end portion of the packaging film or wrapping 543 on the palletized load 452, as can be seen from FIGS. 15 and 18, the actuator 557 is driven in order to move the frame 545 and the plate or mounting bracket in the shape of C 501 towards the palletized load 452 whereby the front end portion of the wrapping film 543 can now be brought into contact with the adhesive strip or adhesive tape that has been previously fixed to the palletized load. The continued movement of the robot vehicle 402 effectively "cleans" the front end portion of the wrapping film or wrapping 543 over the adhesive tape previously applied to the palletized load so that the robot vehicle 402 can continue the circumnavigation of the load palletized 452 which thus wraps the palletized load 452 with the wrapping film in a predetermined manner or according to a predetermined mode or pattern. In order to further ensure that the front end portion of the packaging film 543 is in fact sufficiently coupled and pressed onto the palletized load 452, in particular where, for example, a particular carton or box of the palletized load has a portion of the uneven or concave surface, an additional or auxiliary defense cushion 566, as illustrated within FIGURE 19, can be fixedly attached to the large memory foam block 505.

Of course it is to be appreciated that once the front end portion of the wrapping film 543 has been attached to the adhesive strip or adhesive tape placed on the palletized load 452, the actuator 519 is driven in order to pivot the plate. 507 and the cutting implement 509 from its vertically down position, in which the holding plate 507 has tightly retained the front end portion of the packaging or wrapping film 543 on the small memory foam block 503, to its horizontal positions in which the holding plate 507 and the cutting implement 509 are located on top of the upper edge portion of the wrapping film 543 in order to be completely free from and uncoupled from the wrapping film 543. The actuator 533 is also actuated in order to retract the holding plate 507 and the cutting implement 509 away from the wrapping film or wrapping 543, such as the actuator 557 to In order to also retract the frame assembly 545 away from the palletized load 452. It is finally noted, as best seen in FIG. 15, that the lower end portion of the holding plate 507 is provided with a wheel or a roller which rotates freely 567 in such a way that when the holding plate 507 and the cutting implement 509 are rotated pivotably from their vertically downward positions to their positions h horizontally, the wheel or the roller 567 effectively allows the holding plate 507 to move freely or wrap onto the packaging film or wrapper 543 without being hooked thereto.

Finally, when the wrapping or wrapping operation with film is completed, operations are implemented in reverse in relation to the holding plate 507 and the cutting implement 509 in order to cut the wrapping film or wrapping 543 and This mode will effectively form a portion of the trailing end of the wrapping film, which will self-adhere to the palletized load, and a portion of the leading end of the wrapping film 543 that will be retained on the small block of wrapping. memory foam 503 by means of the holding plate 507. More particularly, when the wrapping or wrapping operation with film is completed, the actuator 557 is operated in order to move the frame 545 and the mounting plate or support form of C 501 towards the film in which such components are, at this time, on the outside or to the rear of the packaging film or envelope. Actuator 519 is then operated in order to rotate the bar member 51 1 and thereby move the holding plate 507 and the cutting implement 509 to their horizontal positions above the upper edge portion of the packaging film or wrapping 543, and the actuator 533 is actuated in order to move the bar member 51 1 linearly forwardly in order to move effectively the holding plate 507 and the cutting implement 509 in the forward direction thereby the holding plate 507 and the cutting implement 509 now move over the upper edge portion, or across the boundary, of the packaging film or wrapping 543 and will be effectively placed on the inside of the packaging or wrapping film 543. The robot vehicle 402 stops at this time, and the actuator 519 is actuated in order to effectively rotate the holding plate 507 and the cutting implement 509 downward from their horizontal positions to their positions vertically down. Substantially simultaneously, the actuator 533 is also actuated in order to effectively retract the holding plate 507 and the cutting implement 509 from behind in such a way that as the cutting implement 509 encounters a portion of the body of the wrapping film or wrapping 543 taut, it will cut the same leaving the back edge portion of the packaging film or self wrap adhere to the palletized load 452 while the holding plate 507 will capture and retain the front end portion of the packaging or wrapping film 543 on the small memory foam block 503 as shown in Figure 15. The apparatus is then ready for a new packaging or wrapping operation.

With reference now made to FIGS. 20-30, pertinent portions of a third embodiment of a new and improved robot are disclosed, which is generally indicated by the reference character 600 and which is effectively a robot similar to the robot. 400 of the second modality as illustrated within the FIGURES 7-19 but modified in accordance with the principles and teachings of the present invention. For reasons of brevity, a discussion of the structural components of the third embodiment of the new and improved robot 600, which are similar to the corresponding structural components of the robot 400 of the second embodiment, will not be discussed in detail but the characters have been assigned to them corresponding references within the series 600 and 700. On the contrary, the subsequent disclosure will focus on, or be directed towards, the new and improved features of the third mode of the robot 600 which, as will become more apparent in the future, deals with the application of adhesive spots, or the like, to the palletised load so that a portion of the leading end of a packaging film or wrapping is capable of automatically applying to the palletized load, and the structure of the actuator to achieve the application of the points adhesives to the palletized load.

More particularly, with reference made first to FIGURES 20 and 21, the main difference that can be readily appreciated between, for example, the robotic system 600 of the third embodiment as disclosed within FIGURES 20 and 21, and the system robotic 400 of the second embodiment as disclosed within FIGURES 7 and 8, resides in the subsystem or subset of adhesive application as will be more apparent hereinafter. More specifically, it is initially noted, for example, that the main support arm 618 of the robot 602 has a substantially elongated configuration in the form of Z, that the vertically arranged axes 622,624 which support the double-guided wheels 616,617 are higher or longer than their counterparts 422,424, the vertically oriented bolt 627 rotatably mounted within the free or distant end portion of the main support arm 618 of the robot 602 is likewise taller or longer than its equivalent 427, and the subset or subsystem of adhesive application is fixedly mounted on the portion of the lower end of the vertically oriented bolt 627 but at a level of elevation that is just above the double guide wheels 616,617. This structural arrangement of the system components indicated in various ways allows the components to spatially accommodate optimally while also allowing the variously indicated components of the system to locate optimally with respect to the palletised load 652.

With reference now made further to FIGS. 22-30, the individual components, which comprise the adhesive application system, as well as their general functional intercooperation with respect to each other, will now be described. As can best be appreciated from FIGS. 20-23, an actuator assembly for moving the adhesive application roll to engage with the palletized load, as will be more fully described hereinafter, is seen to comprise a lower plate 654 on the which a suitable actuator 656 is fixedly mounted. A sliding housing 658 is also mounted on the lower plate 654 adjacent the actuator 656, and a pair of sliding plates 660,662, which are slidably disposed above the sliding housing 658, are functionally connected to a screw or rod actuator. of rotary pulse 664 which can be best seen in FIGURES 22 and 23. As the actuator 656 is driven to rotate the screw driver or rotary pulse rod 664 in a first direction, the sliding plates 660,662 will move forwardly of translational manner along the sliding housing 658 towards the palletized load. The sliding plates 660,662 effectively serve as actuators for limiting switches, which are not shown, in order to define effectively the limits of the displacement, i.e. the extension and contraction, or arrangement, of the application roller with respect to the Palletized load. When the sliding plates 660,662 move forward to the palletized load, the forward slide plate 660 will eventually actuate its associated limit switch in such a way that actuator 656 is deactivated whereby the application roller will be placed on and held in its forward position in order to engage with the palletized load. At a predetermined time controlled by a programmable logic controller (PLC), the actuator 656 will be driven again in order to rotate the screw driver or rotary pulse rod 664 in the opposite direction which will cause the sliding plates 660,662 to move in the opposite direction or back away from the palletised load in such a manner that the rear sliding plate 662 will operate its limit switch associated with what the actuator 656 will be deactivated.

As can further be seen from FIGS. 20 and 23, a pair of vertically spaced collars 668,670 are mounted on the vertically upright bolt 627 and fixedly fastened to the bolt 647 by means of, for example, a pair of bolts. adjustment, not shown, that securely fasten the outer peripheral portions of the bolt 647. Further, as best seen in Figure 23, a semicircular housing 672 is fixedly secured to the pair of collars 668,670 by any suitable means, such as such as, for example, welds as shown at 674, and a substantially L-shaped angle iron 676 has its vertically oriented leg 678 fixedly secured to the housing 672 by means of the fasteners 680, while the leg horizontally oriented 682 is fixedly fastened to the lower plate 654 of the actuator assembly by means of the fastening elements 684. In this way, the actuator assembly is rotatably mounted toria or pivoting on vertical pin 647.

By continuing further, and with reference now made to FIGURE 24, there is shown a lower support plate 686 which is provided with a plurality of holes or openings 688. As can be seen from FIGURES 22 and 23, each of the sliding plates 660,662 are also provided respectively with a plurality of holes or openings 690,692, and in this way, the lower support plate 686 is adapted to be fixedly fixed to the portions of the upper surface of the pair of sliding plates 660,662 by means of the appropriate fasteners, which are not shown. In Figure 25, a sliding rail 694 is disclosed which is also provided with several openings or holes 696 whereby the sliding rail 694 can be fixedly fixed on top of the lower support plate 686 by means of the fasteners appropriate, which are not shown either. A sliding mechanism, comprising a sliding member 698 and a sliding plate 700, is adapted to be slidably positioned within the sliding rail 694 as a result of the sliding member 698 being slidably positioned on the surface portion. upper of the sliding rail 694 and between the guide surfaces of the sliding rail or the edge portions 702 extending oppositely arranged along the longitudinally oriented sides of the sliding rail 694. The sliding plate 700 is adapted to be fixedly fastened to the underlying sliding member 698 by any suitable means, such as, for example, fasteners, not shown, that can be inserted through the holes or openings 704 formed within the sliding plate 700. As can best be seen in Figure 26, there is disclosed a support plate of the applicator 706 on which the various components of the application assembly of the adhesive points are adapted to support. More particularly, it is seen that the applicator support plate 706 has a substantially L-shaped configuration with the central portion of the long leg 705 of the applicator support plate 706 that houses the fasteners that pass through it. through it in order to engage the holes or openings 708 defined within the corner areas of the slide plate 700, such fasteners are shown at 710 in Figure 26.

The short leg 712 of the applicator support plate 706 is provided with an opening 714 which is adapted to receive a pin, not shown, of an adhesive dot supply roll 716 as best seen in Figure 28, of FIG. such that the adhesive dot supply roll 716 is rotatably mounted on the applicator support plate 706. In a similar manner, the central portion of the applicator support plate 706 is also provided with an opening 718, within in the vicinity of the fastening elements 710, for housing a bolt, not shown, of an adhesive dot paper liner or a strip receiving reel 720 which is also best seen in Figure 28 and which is also assembled from rotating manner on the applicator support plate 706. FIGURE 28 also discloses the fact that the adhesive points 722 are releasably mounted in a serially spaced array on a paper liner, strip, or the like. 24 in which, after a series of the adhesive points 722 is applied to the palletized load, in a manner similar to the application of the adhesive points of the first embodiment of the robotic packaging system or wrapping with film 300, the lining of paper, strip, or the like 724 is collected by the take-up reel 720. As can also be better appreciated from FIGURE 28, the support plate of the applicator 706 substantially L-shaped is also provided with a pair of ears or extensions, the first ear extending forward or the extension 726 having the application roller of the adhesive points 728 rotatably mounted therein, while a second transversely extending ear or extension 730 has an idler roller 732 mounted rotatably in it.

Having described substantially all the functional components of the Robotic packing system or wrapping with film 600 of the third mode, a brief description of the operation of the same will now be exposed. When a wrapping or wrapping operation or cycle is about to begin, the programmable logic controller (PLC) 754 will transmit a START signal to the robot vehicle 602, and the robot vehicle 602 will begin to begin its travel around the palletised load 652. The programmable logic controller (PLC) 754 will receive signals from the drive wheel assembly of the robot vehicle 602, and will therefore transmit a signal to the application driver 656 at a predetermined time such that the application driver 656 can be fired in order of moving in a linear manner the sliding assembly comprising the sliding plates 660,662, the lower support plate 686, the sliding rail 694, the sliding mechanism 698,700, and the applicator support plate 706, in the forward direction of such that the adhesive dot application roller 728 will move to engage the palletized load. As can best be seen in Figure 20, the predetermined time at which the application actuator 656 is triggered would optimally be approximately at the time when the robot vehicle 602 approached the marks of the second palletized load as observed at 734. In this way, sufficient surface area of the palletized load 652 is available on which a sufficient number of points of the applicator 722 can be applied to the palletised load 652 in preparation for the front end of the packaging film or wrapper 543 is printed on and adhered to adhesive spots 722 subject to palletized load 652. It is to be noted that when application driver 656 is triggered, it will move all the structural components noted above, i.e., the slip assembly comprising the sliding plates 660,662, the lower support plate 686, the sliding rail 694, the sliding mechanism 698,700 , the plate support of the applicator 706, and the adhesive dot applying roller 728 to the forward position in which the adhesive dot applying roller 728 will engage the palletized load.

However, because of the drive of the rotating screw previously indicated 664 within the sliding housing 658, the application roller 728 does not come into contact with the palletized load 652 with sufficient force to damage the palletized load 652. In addition, it will also be remembered that the sliding assembly comprising the sliding element and the sliding plate 698,700 are slidably disposed within the sliding rail 694, and the application roller 728 is fixedly connected or mounted on the sliding element and the plate 698,700 by means of the applicator support plate 706. Accordingly, when the application roller 728 encounters the palletized load 652, the sliding mechanism comprising the sliding member and the sliding plate 698,700, together with the roller application 728 mounted on the applicator support plate 706, will tend to move backwards or away of the palletized load 652. In order to avoid this effectively, and to keep the application roller 728 in engagement with the palletised load 652, it is observed, as can be best seen in FIGS. 24,26, and 27, that a plurality of holes or openings 736 are provided with a portion of the side edge of the lower support plate 686. As best seen in FIGS. 26 and 27, a screw or bolt 738 is placed inside one of the holes or openings 736, and one end of a coil spring 740 is connected to the bolt or screw 738. The support plate of the applicator 706 is provided with a dependent terminal 742, and a second opposite end of the coil spring 740 is connected to the terminal 742 In this way, the retrograde movement of the components indicated above, including the applicator plate 706 and the roller Application 728 is prevented or at least effectively controlled in such a manner that the coupling of the application roller 728 is maintained with the palletized load 652. The supply of the plurality of holes or openings 736 within the side edge portion of the the lower support plate 686 allows one to adjust the effective loading force of the spring of the coil spring 740.

By continuing further, and with reference made to FIGURE 28, it will be appreciated that as the application roller 728 comes into contact with the palletized load 652, the movement of the application roller 728 along the side wall of the Palletized load will cause the application roller to rotate. This rotation of the application roller 728 will cause the adhesive spots 722 to be applied to the palletized load 652, and at the same time cause the adhesive dot supply roll 716 to rotate. The adhesive dot supply roll 716 is functionally connected to the receiving roll or reel 720 by means of a suitable connecting strip 744 such that the receiving roll or reel 720 is rotated in unison with the supply roll of adhesive dots 716. With continued reference made to FIGURE 28, the purpose of the idler roller 732 is that when the application roller 728 is rolling along the side wall of the palletized load 652, a space may be found between the cartons or individual boxes on the palletised load 652. For example, with reference made to FIGURE 20, two cartons or boxes 746,748 are observed, and there is a small space 750 defined between the cartons or boxes 746,748. In order to effectively prevent the application roller 728 from entering the space 750, or being trapped in said space, the idler roller 732 is coupled with a side wall portion of, for example, the box or cardboard 748. in order to prevent the application roller 728 from entering space 750 to any great extent.

Obviously many variations and modifications of the present invention they are possible in light of the previous teachings. Therefore, it should be understood that within the scope of the appended claims, the present invention may be practiced otherwise than as specifically described herein.

Claims (20)

1. CLAIMS 1 . A robotic system for wrapping or packaging at least one palletized load, disposed in at least one wrapping station or packaging with film, inside the wrapping film or packaging, comprising: at least one robot, having a spool of wrapping film or packaging mounted thereon, characterized in that said at least one robot respectively is disposed adjacent to the at least one palletized load, disposed in the at least one wrapping or packaging station with film, in order to wrap or pack respectively the at least one palletized load inside the wrapping film or packaging; Y an adhesive element application assembly, mounted on said at least one robot, for applying at least one adhesive element to the at least one palletized load in such a manner that a portion of the leading end of said wrapping film or package can adhere to the at least one palletized load whereby the at least one palletized load can be wrapped or packed automatically, within the wrapping film or packaging, during a wrapping or packaging operation without requiring the services of an operator. 2. The system as set forth in claim 1, characterized in that it further comprises: a programmable logic controller (PLC) functionally connected to said at least one robot, and in communication with said at least one robot, in order to control said at least one robot in order to cause said at least one robot to execute one wrapping or wrapping operation with film on the at least one palletized load. 3. The system as set forth in claim 2, further characterized by: said programmable logic controller (PLC) automatically controls said at least one robot in such a manner that said at least one robot begins a wrapping or wrapping operation with film in a predetermined position of REST, and upon completion of said wrapping or wrapping operation with film , said programmable logic controller (PLC) causes said at least one robot to automatically return said REST position. 4. The system as set forth in claim 1, further characterized by: said at least one robot comprises a multiple number of robots respectively arranged adjacent to a multiple number of palletized loads arranged in a multiple number of packing or wrapping stations; wherein each of said multiple number of robots has an adhesive element application assembly disposed thereon to respectively apply a portion of the leading end of a wrapping film or package onto a respective one of the multiple number of palletized loads. 5. The system as set forth in claim 4, characterized in that it further comprises: a single programmable logic controller (PLC) functionally connected with all of said multiple number of robots, and in communication with all of said multiple number of robots, in order to control all of said multiple number of robots in order to cause said Multiple number of robots execute wrapping or film wrapping operations on their respective palletized loads. 6. The system as set forth in claim 5, characterized also because: said single programmable logic controller (PLC) controls each of said multiple number of robots automatically such that each of said multiple number of robots begins a wrapping or wrapping operation with film in a predetermined position of REST, and upon completion of said wrapping operation or packaging with film, said programmable logic controller (PLC) causes each of said multiple number of robots to automatically return to said REST position. 7. The system as set forth in claim 1, further characterized by: said at least one robot has a forward steering wheel assembly disposed therein so as to allow said at least one robot to maintain a substantially circular path of travel around the at least one palletized load during a wrapping or packing operation with a movie 8. The system as set forth in claim 4, further characterized by: each of said multiple number of robots has a forward steering wheel assembly disposed therein so as to allow each of said multiple number of robots to maintain their substantially circular path of travel around each of the multiple number of loads palletized during a wrapping or film wrapping operation. 9. The system as set forth in claim 7, further characterized by: said substantially circular path is defined around the at least one wrapping or film wrapping station and comprises one element, selected from the group comprising a magnetic strip and a particularized paint, which can be detected by said at least one robot when said at least one robot traverses said substantially circular path. 10. The system as set forth in claim 8, further characterized by: said substantially circular trajectory is defined around each of the multiple number of wrapping or film packing stations and comprises an element, selected from the group comprising a magnetic strip and a particularized paint, which can be detected by each of said multiple number of robots when each of said multiple number of robots traverses said substantially circular path. eleven . The system as set forth in claim 1, further characterized by: said adhesive element can be selected from the group comprising an adhesive point, an adhesive patch, an adhesive strip, an adhesive tape, and an adhesive label. 12. The system as set forth in claim 1, further characterized by: said adhesive element application assembly comprises a tape supply roll having a plurality of adhesive elements disposed on said tape, an application roll around which said tape is placed in such a way that said tape, having said plurality of elements adhesives disposed thereon, may be contacted with the parietalized filler, and a receiving reel for receiving portions of said tape from which said plurality of adhesive elements has been peeled off and applied to the parietalized filler. 13. The system as set forth in claim 12, characterized in that it further comprises: an activator for moving said application roller in contact with the palletized load in such a way that at least one of said plurality of adhesive elements, from said ribbon supply roll, can be applied to the palletized load in order to allow said front end of said wrapping film or package adheres to the palletized load when a wrap or film wrapping operation is about to begin. 14. The system as set forth in claim 13, characterized in that it further comprises: a cutting implement for cutting the wrapping film at the end of a wrapping or wrapping operation of a palletized load whereby a portion of the trailing end of the wrapping film will be formed in order to self-adhere to the palletized load wrapped or packaged while a portion of the front end of the packaging or wrapping film is also formed in preparation for the commencement of a new wrapping or wrapping operation; Y a fastening element fixedly connected to said cutting attachment for holding the front end portion of the packaging or wrapping film in preparation for the start of a new wrapping or wrapping operation. 15. The system as set forth in claim 14, characterized in that it further comprises: a first actuator operatively connected to said fastening element and said cutting implement for angularly moving said fastening element and said cutting implement to a first position wherein said fastening element and said cutting implement can move through the boundary of the packaging film or wrapping leading from the palletised load towards said robot, and a second position wherein said fastening element and said cutting implement can be coupled with the wrapping film or wrapping that leads from the palletised load to said robot so that said cutting implement can cut the wrapping film or wrapping and thus form the portions of the trailing and leading end of the packaging or wrapping film while that said fastening element can hold the front end portion of the packaging or wrapping film in preparation for the commencement of a new wrapping or wrapping operation. 16. The system as set forth in claim 15, characterized in that it further comprises: a second actuator operatively connected to said fastening element and said cutting implement for moving said cutting implement and said fastening element towards and away from the packaging or wrapping film in such a manner that when said cutting attachment and said element of clamping move towards the wrapping film or wrapping, said cutting implement cuts the wrapping film or wrapping thereby forming the portions of the trailing and leading end of the packaging or wrapping film and said securing element holds the portion of the front end of the packaging or wrapping film, while when said cutting implement and said securing element move away from the packaging or wrapping film, the front end portion of the packaging or wrapping film is able to come off . 17. The system as set forth in claim 16, characterized in that it further comprises: an application bearing, through which the front end portion of the packaging or wrapping film is placed; Y a third actuator for moving said application bearing to engage the palletized load in such a manner that the front end portion of the packaging film or wrapping can be applied to the adhesive tape attached to the palletized load. 18. The system as set forth in claim 15, characterized in that it further comprises: a roller wheel mounted rotatably on said clamping element to allow said clamping element to move rotationally between said second and first positions so as not to engage the front end portion of the packaging or wrapping film when the The front end portion of the packaging film or wrapper is about to be peeled off from its clamped state after the front end portion of the packaging or wrapping film has been applied to the palletized load. 19. The system as set forth in claim 4, characterized in that it further comprises: a metal plate disposed on an area of the floor adjacent to each of the multiple number of wrapping or film packing stations; Y a proximity sensor disposed on each of said multiple number of robots in order to detect said metal plate and thereby ensure that each of said multiple number of robots returns to its resting position upon completion of a wrapping or wrapping operation . 20. The system as set forth in claim 1, characterized in that it further comprises: a proximity meter disposed on said at least one robot to determine the amount of wrapping film or packaging applied to the at least one palletized load.