A series of mobile packaging devices for digitizing low-efficiency lines in the food industry and its method of operation

Abstract

The invention presents a mobile packaging device 9 for a packaging point 17, comprising actuators for operating the packaging point 17 together with a communication infrastructure and software, characterized in that it has a docking station 40 attached to a mobile trolley 5 for connection with a locating-docking station 1 and has a power backup system 3 attached to the mobile trolley 5, a battery power supply system 4 and a controller 6 with an operator interface 22 as well as a controller 7, in addition, on the mobile trolley 5, which has a movement mechanism for moving the device between the packaging points 17, there is an industrial robot with a mounted arm 8, to which handles 18a for grippers 18 of the packaging point 17 are coupled, and by which it engages with the locating-docking station 1. The invention also relates to a method for operating a mobile device.

Description

[0001] A series of mobile packaging devices for digitizing low-efficiency lines in the food industry and its method of operation

[0002] The subject of this invention is a series of mobile packaging devices for digitizing low-efficient lines, in particular in the food industry, and in particular for operating work stands that do not work in full shift load, and the method of operation of such a device. Moreover, the solution relates to aspects of implementing works as part of finished product packaging tasks and replacing manual work with an automated, robotic packaging process.

[0003] At present the digitization of each production line requires a dedicated robotic station that is statically mounted within the line. Low-performance lines in this terms are those that work about 4- 5 work shifts per week. Thus, if there are several such lines in a plant, digitizing them with current technologies, that is by fixedly mounting a stand at each of such lines, results in a utilisation of packaging robots at the level of about 30%.

[0004] This type of solution is known from document US2018079079A1, which relates to a mobile robot having a wheel-axle assembly and at least one robotic arm mounted on the chassis, a sensor system for detecting obstacles in the robot environment, and a navigation unit for determining a route along which the chassis can be moved while bypassing obstacles, and a robotic arm control unit, which is adapted to determine the permissible position of the robotic arm in relation to the detected obstacles and route.

[0005] Also known from US2014360832 is a device that comprises a robot arm, an electric power cable, a motor-driven cable reel, an end effector, and at least one sensor. The robot arm has a proximal end and a distal end and is configured to move in response to one or more electrical signals. The electric power cable runs through the robot arm from the proximal end to the distal end and has an electric plug at its end. A motor-driven cable reel dispenses and coils the electric power cable and thus controls its length. The end effector is disposed at the distal end of the robot arm and is configured to selectively grab and release the electrical plug. The sensor is disposed at the distal end of the robot arm and is configured to generate sensor data to control the robot arm in order to connect an electrical plug to an electrical outlet.

[0006] Also known from US5430643A is a seven degree-of-freedom robotic arm with a six degree-of- freedom end effector that is controlled by a processor to determine the position and orientation of the end effector in terms of joint rotation angles, wherein one of the kinematic functions minimizes the sum of selected mechanical parameters of at least a portion of the joints related to weight coefficients that may change during arm motion. Mechanical parameters can be speed errors, position errors or gravitational moments associated with individual connections.

[0007] The market of the state of the art food industry robots reports the following problems arising from the existing solutions: - lack of a solution for low-efficient lines on the market, - lack of mobile solutions on the market that could support several production lines in a plant, because currently the ends of the lines are equipped with packaging machines fixedly connected to the line. Another problem is also a demand for a product that will have the features of a packaging machine and will be versatile in application to various lines. Personnel problems are also known, i.e. packers are poorly paid, therefore it is difficult to find workers. The search for solutions to reduce labour costs is also problematic, as is the low productivity of human labour. The problems of the state of the art give rise to further challenges, such as the search for solutions that reduce production costs and increase the profitability of production. There are problems with human packaging of, for example, long sachets, which break down and can be damaged.

[0008] This raises the need to develop technologies and methodologies for locating and docking packaging devices in order to connect them to individual production stands. In addition, there is a need to implement technology for an optimal and safe method of moving the trolley between individual work points. In addition, it is necessary to implement the technology and methodology to maintain the power supply of the robotic arm during the movement of the device.

[0009] Therefore there is a need arising from the state of the art to provide a device that combines the features of a packaging machine and versatility in application to different lines. Currently, the ends of the line are equipped with packaging machines fixedly connected to the line. This is cost-effective for high-performance lines. However, if a given line operates in an irregular mode, for example a few days a week, and there are several such lines in the plant, there is no universal solution that could be applied to all these lines.

[0010] The object of this solution is therefore to provide a device that, among other advantages, will be more versatile and better suited to the current requirements. The object is also to provide a solution that, in line with market expectations, combines the features of a packaging machine and versatility in its application to different lines. It is an object of the present invention to provide a storage system of a simplified design and a very low failure rate and to provide a method for operating the line.

[0011] Another object is to increase the market competitiveness of its offer in the field of automation and robotization of industrial lines. By placing a confectioning robot on a mobile component, such a solution will bridge the gap between the high cost of equipping each low-volume line with a packaging device and human labour, such as packers.

[0012] It is also an object of the proposed solution to optimize the use of the resource, which is a packaging robot that can work on low-efficiency lines while being used up to 100% and achieving maximum efficiency.

[0013] It is a further object to provide a packaging system comprising a set of the mobile robotic device characterized by high energy and movement stability during operation, effective use of available space during operation and a less time-consuming process of moving and packaging. Another object according to the invention is enabling very fast replacement of components in case of any failure without the need for prolonged service work, which significantly simplifies the maintenance procedures and the said servicing of the system. The next object is to use special handles that allow the selected line to be assembled.

[0014] All these prior art problems and objects are solved by the present invention.

[0015] The essence of the invention relates to a mobile packaging device for a packaging point, including actuators for operating the packaging point together with a communication infrastructure with software, characterized in that it has a docking station attached to the mobile trolley for connection with a locating-docking station and has a power backup system attached to the mobile trolley, a battery power supply system and a controller with an operator interface as well as a controller, in addition, on the mobile trolley, which has a movement mechanism for moving the device between the packaging points, there is an industrial robot with an arm coupled, to which the handles of the packaging point are attached, by which it engages with the locating-docking station.

[0016] It is preferable that the mobile device sequentially handles any number of packaging points on the industrial line.

[0017] Preferably, the mobile device also has a changeable head with attachable grippers at each of the packaging points.

[0018] It is also preferable that the docking station has connectors for utilities and retaining elements in the locating-docking station on the side of the mobile device.

[0019] Also preferably, it comprises a coupled communication and data exchange module, a safety circuit controller, a programmable logic controller, protections and a connection bus.

[0020] Also preferably, the operator interface includes a control panel, preferably an HMI, and operation buttons.

[0021] It is also preferable that the docking base station, to which the mobile device is docked, includes any of the following coupled thereto: an electrical power connector, a compressed air connector, a cooling water connector, a hydraulic connector, a technical gas connector, a vacuum connector, a low-voltage signal connector.

[0022] It is also preferable for the locating-docking station, to which the mobile device is docked, to include any of the following: a system of pneumatic pins, retaining sleeves, guide pins, sliding sleeves, a position sensor, a confirmation sensor.

[0023] It is also advantageous if the mobile device has a power backup system including a voltage converter resulting from the connection of a rectifier and an inverter, a constant voltage charger, an energy storage, a network and charge status control system, static and service bypass systems.

[0024] It is preferable if the device operates in one of the operating modes: in a static bypass mode, in a backup mode, in a service mode.

[0025] It is also preferable if it is equipped with a charge control system and a system for verifying the status of the individual battery power cells and a power backup system.

[0026] It is also preferable to dock it via the locating-docking station in an operated packaging point including any of the following elements: a conveyor, a product warehouse, a cutting system, a removal system, a basket.

[0027] It is also preferable for the mobile trolley to have a drive system and a system for attaching the robot with an arm having a changeable head for grippers.

[0028] The essence of the invention is also a method, which is characterized in that it comprises the following steps: a) Starting a new task b) Estimating the trajectory of the transit to the point c) Driving to the work point d) Performing the docking e) Verifying the correct connection of the stand f) Replacing the work gripper g) Starting work with the end of the stand h) Operating the robotic arm, collecting material and depositing it in the predefined patterns i) During operation, waiting for the task to be interrupted and calling a new one j) Completing the current task and putting down the work gripper k) Undocking from the stand l) Returning to the initial step.

[0029] It is also preferable if in individual programmed steps of operation the following appropriate power modes are executed: static bypass mode, backup mode and service mode, as well as process control and control of energy storage cells is performed.

[0030] The invention thus relates to a mobile packaging device, for example a cooperative robot, embedded on a mobile platform, which can connect and adjust its position to the ends of many low-efficiency production lines using the locating-docking "stand- station" connector, which is consistent with the current trend of applications of such robots in the world. The safety of such robots cooperating with operators is increased. The solution is so versatile that it allows you to work in lines with different dimensional and weight requirements.

[0031] The solution also combines the features of a packaging machine and versatility in application to different lines. The solution ensures combining the functionality of mobile and robotic systems, and then using them on low-efficiency lines.

[0032] In order to achieve the intended result, it is necessary to combine all technical measures and enable their joint operation. As a result, a universal work stand is obtained, enabling operation of the packaging of several low-efficiency lines in the food industry.

[0033] The solution thus ensures, among other advantages, the versatility of the stand - the possibility of applying a mobile stand to many low-efficiency lines at one customer site. In accordance with alternative embodiments of the solution, the changeover of the robot head is provided according to the type of product being packaged. At the same time, the station can cooperate with several independent stands simultaneously, producing different goods of different sizes and forms. It also gives the possibility of close cooperation with operators working at the stands or ends of the line by the use of cooperative robots and allows the operators to cooperate and stay in the working zone of the machine as well as increases safety in the robot's working zone. The use of cooperative robots reduces the area required to build the machine on the work site. In addition, the very use of cooperative robots according to the invention on mobile platforms is an application complying with the latest trends among largest robotic companies. Owing to the described solution, the availability of digitizing the end of the line is provided for a greater number of low-performance lines. At present the cost of digitizing line in the food industry equals approximately EUR 1 million, which means that for example in case of five lines it will be approximately EUR 5 million. Thus, another undeniable advantage is reducing digitization costs by purchasing one packaging device for many lines, which also means that digitizing the entire plant with many low-efficiency lines is affordable for a single recipient. In addition, it is possible to introduce an innovative product to the market with features and parameters not offered in the products available on the market so far.

[0034] These mobile packaging devices are used to digitize low-efficiency lines in the food industry. The device can be optimally adapted to the needs of recipients, especially in terms of the type and weight of the product being packed and the mobile system that can be used. The present invention provides a trouble-free handling of various working utilities by the packaging device. It is possible to work with any customer and the required technical guidelines. This is provided by the modular docking station. In addition, the three-phase power backup system ensures the immediate start of operation by the device when connected to the docking station.

[0035] The object of the present invention is presented in the embodiments in the drawing, in which:

[0036] Fig. 1 shows a mobile packaging device with a docking station,

[0037] Fig. 2 shows a mobile packaging device docked in a docking station in a side view,

[0038] Fig. 3 shows a mobile packaging device docked in a docking station in a plan view,

[0039] Fig. 4 shows a mobile packaging device in a rear view,

[0040] Fig. 5 shows a mobile trolley of a mobile packaging device docked in a docking station in an isometric view,

[0041] Fig. 6 shows a locating-docking station in an isometric view,

[0042] Fig. 7 shows a mobile packaging device in an isometric view with a robotic arm,

[0043] Fig. 8 shows a mobile trolley of a mobile packaging device in an example view on the line,

[0044] Fig. 9 shows a mobile packaging device in an exemplary view by the line,

[0045] Fig. 10 shows a docking module of a mobile device,

[0046] Fig. 11 shows a docking station of a device with connectors,

[0047] Fig. 12 - 14 show diagrams of power modes,

[0048] Fig. 15 shows a diagram of control and measurement of individual parameters,

[0049] Fig. 16 shows a mobile trolley of a mobile packaging device disconnected from a docking station,

[0050] Fig. 17 shows packaging points,

[0051] Fig. 18 shows a gripper, Fig. 19 shows a mobile module of a mobile packaging device,

[0052] Fig. 20 shows an operating element,

[0053] Fig. 21 shows the communication and software infrastructure.

[0054] According to the invention, the set of technical means includes operating elements such as: actuators, packaging points and communication infrastructure and software.

[0055] One embodiment illustrated, among others, in Figs. 1- 5, Fig. 7, Fig. 8, Fig. 9, Fig. 16, relates to a mobile packaging device 9 assembly, a mobile trolley with a docking station assembly. The mobile packaging device 9 includes, among others, such components as: 1-Locating / docking station as in Fig. 6 as well as: 40-the docking station on the side of the robot, i.e. the mobile packaging device 9, as in Fig. 10. The mobile packaging device 9 further includes: 3-Power backup system, 4-Battery power supply, component of the power backup system, 5-Mobile trolley.

[0056] According to the invention, the lifting capacity of the mobile packaging device 9 in its standard version is for example 500kg. Exemplary dimensions of the structure are about 1707 mm long, 704 mm wide and 347 mm high. Exemplary unladen weight is about 350kg, maximum speed about 2m / s. The mobile trolley module 5 has a movement mechanism for moving the device. The exemplary mobile trolley module 5 is preferably driven by two BLDC-24VDC motors. Each of the motors drives one wheel located on either side of the mobile trolley module 5. In addition, the mobile trolley module 5 preferably has four tracking wheels, located in each corner of the machine. They keep the mobile packaging device 9 stable on the plane. In alternative embodiments, these values and models will vary depending on the selected demand and dimensions.

[0057] Further elements included in the set according to the invention are: 6-Mobile trolley controls, 7- Six-axis robot controller. Exemplary controller 7 has a standard controller weight of about 45 kg, it is powered by a three-phase 230VAC voltage, however, in alternative embodiments, these values will vary depending on the operating requirements, which is obvious to the person skilled in the art.

[0058] In addition, the mobile packaging device 9 kit also includes a robot 8-Industrial six-axis robot with an arm. An exemplary standard version of the robot 8, has an unladen weight of about 250 kg and a lifting capacity of about 25 kg. The maximum range can be defined as a sphere with a radius of about 1831 mm. In alternative embodiments, it is possible to replace the industrial robot 8 and its controller 7 with a smaller one. In such a case, the robot parameters will decrease, the range will be about 1249 mm and the lifting capacity will be up to 10kg. However, this will reduce the weight of the robot-controller set from about 290 kg to about 60 kg. Then, the power supply of the system will change from three-phase to single-phase. Such a procedure makes it possible to change a mobile module to a smaller one, the lifting capacity of which will be about 250 kg. In such a situation, the dimensions of the mobile module will also change to about 800 mm in length, 500 mm in width and 300 mm in height. The parameters can be advantageously selected to meet the individual requirements, which is obvious to the person skilled in the art. Owing to the compact solution, it is possible to use the packaging machine in rooms with significant space limitations, where it is not possible to move around with a larger structure. This solution allows to provide a series of mobile packaging devices that meet the needs of digitizing low-efficient lines in the food industry, i.e. a series of dimensional products of a specific type, with which it is possible to make a machine of smaller or larger dimensions, as provided in alternative embodiments.

[0059] The mobile packaging device 9 according to Fig. 1 further includes elements such as: operating elements, in particular the operator interface 22 visible, among others, in Fig. 7, Fig. 16 and Fig. 20, enabling data exchange with production management systems. In addition, the mobile packaging device 9 solution has actuators, for example, such as a mobile module 5, visible in Fig. 1-5, Fig. 16, Fig. 19, with a mounted robot 8 having a robotic arm, which is visible, among others, in Fig. 1, Fig. 16. In addition, the kit includes a locating-docking station 1 and a docking station 40, visible in Fig. 1, Fig. 6, Fig. 16, as well as equipment, such as grippers 18, visible in Fig. 18 with handles 18a, so that it is possible to tool up the robot arm 8.

[0060] Grippers 18 in alternative embodiments are made specifically for tasks that are determined by individual requirements, each time they are designed and made in accordance with the work requirements. In most cases, they preferably have pneumatic cylinders responsible for their operation, in alternative embodiments it can be at least one piece. Sensors are used to control grippers 18, preferably at least one for detecting the gripped articles, its functionality depends on the type of articles. Additional sensors mounted on the actuators are used to define the state of the gripper 18, they determine the open and closed position, preferably there is at least one sensor for each state of the gripper actuator.

[0061] In Fig. 17, the entire confectioning point is visible fig. 17-the end of individual low-efficiency production lines. Elements of the packaging points 17 of Fig. 17 meeting the exemplary requirements include, among others, a transporter 20a collecting the product visible in Fig. 20, a product storage 20b, a cover paper cutting system 20c, a cover paper removal system 20e, a cut-off paper basket 20d as shown in Figs. 20.

[0062] The mobile packaging device 9 solution also has the communication infrastructure 21c and software, as in Figs. 1-6 and Fig. 21. These includes WiFi communication modules 21a, a data exchange structure with the individual packaging points 17, exchanging data between actuators, and, in addition, the software of passageways of the mobile module 5 of the mobile packaging device 9, software of the movement functions of the mobile packaging device 9, preparing virtual operating panels.

[0063] An operating element such as the operator interface 22 of Fig. 2 and Fig. 7, includes a control panel 22a, preferably the HMI panel 22a, shown in close-up in Fig. 20, preferably dedicated to the needs of each customer, and additional operating and functional buttons, containing at least: confirmation 22b of safety systems as in Fig. 22, resumption 22c of station operation, as in Fig. 22, reset of functional errors 22d, as in Fig. 22.

[0064] The communication infrastructure and software of the mobile packaging device 9 includes components such as a WiFi communication and data exchange module 21a, as seen in fig. 21, a safety circuit controller 21b, a programmable logic controller 21c controlling operation and communication, an anti-shock protection 2 Id, an overvoltage and overcurrent protection for 400VAC and 24VDC power supply, a connection bus 21e for electrical connections, as seen in Figs. 21.

[0065] According to the embodiment of the present invention, the locating-docking station 1 of the embodiment further illustrates in the figures the locating-docking station module 1 for engagement with the docking station 40 on the side of a mobile trolley 5, which is a component of the mobile packaging device 9. The locating-docking station 1 is visible, among others, in Figs. 6 and 11, it allows for a stable, accurate and rigid positioning of the entire system. The station 1 may, for example, preferably have a frame shape in the form of a rack or gate or, alternatively, a portal, with docking connectors disposed at the front, as seen in Fig. 6 or Fig. 11, and can be attached to the ground or other stable base structure in a given area of operation. The locating-docking station 1 is also used to exchange data with an operated end of the line of the packaging point 17. It also supplies the necessary utilities, such as electricity, through the visible in Fig. 10 and Fig. 11 electrical power connector 2e, a compressed air connector 3e, a cooling water connector 3a, a hydraulic connector 3b, an industrial gas connector 3c, a vacuum connector 3d. The connectors are also provided on the docking station 40 side of the mobile device 9, as seen in Fig. 10. It is possible to freely and alternatively select the required utilities according to the needs and / or guidelines of the customer and to freely retrofit both sides with necessary connectors. The basic utilities used for operation are three-phase electricity supplied through the electrical power connector 2e and compressed air supplied through the compressed air connector 3e. Three-phase power supply is used for the operation of the robotic arm of the robot 8 in the increased power consumption mode. Compressed air is required for the effector replacement system and gripper operation. The other utilities are not required for basic operation of the device in an alternative embodiment. The locating-docking station 1 couples with a docking station 40 visible in Fig. 10 on the side of the mobile device 9 and with corresponding connectors. The docking module, i.e. the locating-docking station 1, is visible in Fig. 6 and Fig. 11, in individual projections, which show the following listed connectors: electrical power connector, 2e-it allows to transfer three-phase power for the robot operation and charging the power backup system. In addition, a connector for low-voltage signals 14 may be provided in the locating-docking station module 1, which is used to exchange data with the entire stand to which the packaging machine is connected. Furthermore, this connector of low-voltage signals 14 transmits signals for safety systems allowing for safe cooperation with the locating-docking station 1. These signals are at least “Emergency Stop” and “Stands Connected”. The utilities supplied through the locating-docking station 1, that is for example through the electrical power connector 2e, the compressed air connector 3e, the cooling water connector 3a, the hydraulic connector 3b, the industrial gas connector 3c, the vacuum connector 3d, are selected from a group of connectors, depending on the needs and requirements of the customer or the system in which the work is performed. The minimum requirement is the compressed air, which is, for example, needed for the proper operation of the grippers 18 of the mobile packaging device 9, which can be seen in Fig. 18. The above-mentioned connectors are located on the frame of the locating-docking station 1, visible in Figs. 10 and 11. The locating-docking station 1 according to Fig. 6 and Fig. 11 also includes components such as a set of two air pin assemblies 17a, 17b and retaining sleeves 15a, 15b. They correct the plane of adhesion, and lock the mobile device 9 in the working position with the docking station 40. In the alternative embodiments seen in Fig. 10 and Fig. 11, the mobile device 9 also has a system of two guide pins 16a, 16b on the docking station side 40, and a sliding sleeve 19a, 19b on the locating-docking station side 1. They are used to guide the mobile packaging device 9 module to the correct docking position in the locating-docking station 1. The docking module of Fig. 11 has control elements that comprise at least one position sensor I la in the locating-docking station 1 responsible for detecting the position of its mobile elements, and / or at least one confirmation sensor 11b on the docking station 40 side confirming the correct position of the connected mobile packaging device 9 module.

[0066] In addition, the mobile packaging device 9 solution has a power backup system 30 visible in Fig. 1, Fig. 21, and preferably also has a three-phase power supply support. This is schematically shown in Fig. 12-15. As can be seen in Fig. 1 and Fig. 21, the three-phase power supply backup system 30 is designed to continuously supply power to the control systems. This is regardless of whether the mobile packaging device is in the operating mode or moves to another stand. The system includes components such as a voltage converter 31 resulting from the connection of a rectifier 32 and an inverter 33, a constant voltage charger 34, an energy storage 35 in the form of batteries, as a battery power supply 4, i.e. a component of the power backup system further includes a control system 36 for the source network status and battery charging, and includes static bypass 37 and service bypass systems 38. By means of this solution, the power backup system 30 may operate in several modes.

[0067] One of the exemplary operating modes is the operating mode, schematically illustrated in Fig. 12, which is implemented so that, through a "static bypass" 39, the three-phase network provides power for the work of the packaging machine i.e. mobile packaging device 9. At the same time, in this mode, the batteries or energy storage 35 are charged for backup operation. In the event of an increase in energy demand, it is possible to supply energy from the three-phase network and it can be generated by the inverter 33. The power backup system is connected to the docking unit and the control unit.

[0068] Another of exemplary operating modes is the backup mode, which is schematically illustrated in Fig. 13. It allows you to maintain the necessary functions of the device, especially of the packaging machine, during its movement between individual working points. In this mode, an inverter 33 is used to generate a three-phase power supply, which draws energy from the charged batteries 35. The switching of the mains power supply to the battery power supply is performed only after the loss of the former. This is checked and performed by the component controlling the three-phase network parameters. Switching occurs immediately after a power failure is detected.

[0069] Another of the exemplary operating modes is the service mode, which been schematically illustrated in Fig. 14, and is used when it is necessary to check the functioning of the device components, in particular the packaging machine-the mobile device 9.

[0070] In addition, according to the invention, a system based on a charge control algorithm of individual cells is used to control the parameters of the battery 4 / energy storage 35 of the power backup system 30, which is schematically illustrated in Fig. 15. It is designed to verify the current status of individual cells and to signal their discharge or damage. According to the exemplary variant, at the beginning of the cycle, the matrix measuring system checks the current state of charge of individual battery cells. If their voltage is higher than 2.00 VDC, further operation is possible. If the voltage drops below this value, the machine begins to signal an error and the need for a cycle charging. If the voltage drops below 1.97 VDC, a critical error signal is issued, requiring a full charge to be performed. If a cycle charging signal is issued, the machine will move for charging after completing the operation at the currently occupied end of the line, at the packaging point 17. When a full charging is required, the machine immediately completes its tasks and goes to the charging station. The voltage is checked during the charging cycle. If cycle charging was required, the device is charged to a minimum of 2.10[V], if at this point the packaging machine has any tasks, it will move to perform them. When there are no such tasks, charging will continue up to the maximum value. In the situation where a full charging was required, the batteries will be charged continuously until the voltage on the individual cells reaches 2.13 [V] . The presented method of controlling the battery cells enables detection of early damage to individual blocks. This makes it possible to use the entire power backup module for a longer period of time, where only defective elements are replaced, rather than entire battery packs.

[0071] In a preferred embodiment, by using an alternative matching of functionality and equipment of the device, the solution can be implemented as a component in a milk production line. In alternative embodiments, the mobile robot can be used anywhere on a production line, for example in the can lid adding station. The robotic device, i.e. the mobile packaging device 9, automatically docks and starts the programmed operation. For example, one of the steps of the device’s modes of operation is to retrieve a set of lids from the warehouse and to drive up to the device that unpacks the lids from paper. The sets of lids are then transferred to the conveyor belts. Once the appropriate lid buffer has been loaded, the robot, i.e. the mobile packaging device 9, is uncoupled from the line and moved to the next station, which is, for example, the boxboard collection stand. The next steps, depending on the assigned tasks, are opening, emptying, etc., which takes place at the tray of the board machine.

[0072] The method of operation of the device according to the invention comprises the following steps:

[0073] STEP I. Starting a new task;

[0074] STEP II. Estimating the trajectory of a transit to a point;

[0075] STEP III. Driving to the work point;

[0076] STEP IV. Performing the docking function;

[0077] STEP V. Verifying the correct connection of the stand;

[0078] STEP VI. Replacing the work gripper;

[0079] STEP VII. Starting work with the end of the stand;

[0080] STEP VIII. Operating the robotic arm, collecting material and depositing it in the predefined patterns;

[0081] STEP IX. During operation, waiting for the task to be interrupted and calling a new one;

[0082] STEP X. Completing the current task and putting down the work gripper;

[0083] STEP XI. Undocking from the stand; STEP XII. Returning to STEP I;

[0084] Step I is controlled by a master PLC that retrieves information from the factory system. It sends tasks to the controller 21c located in the packaging machine, visible in Fig. 21.

[0085] In Step II, based on the received data, the module - mobile device 9 with a mobile trolley 5 shown in Fig. 1 - 5 estimates the trajectory that it must take to dock at the end of the line of the packaging point 17 visible in Fig. 17.

[0086] Stage III is a transit from the point where the packaging machine is located to the docking point, visible in Fig. 17.

[0087] Step IV is docking to this point at the locating-docking station 1 and docking station 40, as seen in Fig. 6, Fig. 10, Fig. 11.

[0088] In Step V, the control system 21c and the safety system 21b visible in Fig. 21 verify the correct connection to the end of the line of the packaging point 17 visible in Fig. 17. This step also includes controlling the correct connection of the utilities with the connectors via the locating-docking station 1 visible in Fig. 10 and Fig. 11.

[0089] Step VI consists in taking the appropriate gripper 18, visible in Fig. 18, allowing to work with a given end of the line of the packaging point 17.

[0090] Step VII is the commencement of work in a given locating-docking station 1.

[0091] Step VIII is the actual work of the robot, i.e. the mobile packaging device 9.

[0092] Step IX is waiting for new tasks, at the same time the work started in Step VII is still being performed.

[0093] Step X consists in completing the existing task, putting down the gripper 18 of a given end of the line of the packaging point 17, and preparing to uncouple from the locating-docking station 1.

[0094] Step XI is the undocking of the robot, i.e. the mobile packaging device 9 from the locating-docking station 1.

[0095] Step XII is a return to Step I, in which a new task is started.

[0096] The solution according to embodiments provides the functionality of moving in an area limited, for example, to about 20 m or other in alternative embodiments, software of many functionalities depending on the type of cooperating line, also an increase in packaging efficiency by about 200% compared to non-digitized lines and an increase in the efficiency of using the limited area by about 20% is ensured. The stacking of objects in semi-enclosed areas (e.g. boxboard) is ensured, the unladen weight of the device is reduced by about 30% as a result of the use of light materials, thus reducing the energy demand during movement, the amount of production waste at the customer is reduced by about 20% as a result of fewer errors and packaging damage compared to non-digitized lines, the high efficiency of the physical object detection system in various industrial conditions is ensured, e.g. dustiness, different lighting conditions, noise.

[0097] These mobile packaging devices are used to digitize low-efficiency lines in the food industry. The device can be optimally adapted to the needs of recipients, especially in terms of the type and weight of the product being packed and the mobile system that can be used. The present invention provides a trouble-free handling of various working utilities by the packaging device. It is possible to work with any customer and the required technical guidelines depending on the indicated operating parameters.

[0098] Of course, the invention is not limited to the embodiments shown and various modifications thereof are possible within the scope of the claims without departing from the essence of the invention.

Claims

Claims1. A mobile packaging device (9) for the packaging point (17), including actuators for operating the packaging point (17) together with a communication infrastructure and software, characterized in that it has a docking station (40) attached to a mobile trolley (5) for connection with a locating-docking station (1) and has a power backup system (3) attached to the mobile trolley (5), a battery power supply system (4) and a controller (6) with an operator interface (22), as well as a controller (7), in addition, on the mobile trolley (5), which has a movement mechanism for moving the device between the packaging points (17), there is an industrial robot with an arm (8), to which the handles (18a) for the grippers (18) of the packaging point (17) are attached, by which it engages with the locating-docking station (1).

2. The mobile packaging device according to claim 1, characterized in that the mobile device (9) sequentially operates any number of packaging points (17) on the industrial line.

3. The mobile packaging device according to any one of claims 1-2, characterized in that the mobile device (9) also has a changeable head with attachable grippers (18) at each of the packaging points (17).

4. The mobile packaging device according to any one of claims 1-3, characterized in that the docking station (40) has connectors for utilities and retaining elements in the locating-docking station (1) on the side of the mobile device (9).

5. The mobile packaging device according to any one of claims 1-4, characterized in that it comprises a mounted communication and data exchange module (21a), a safety circuit controller (21b), a programmable logic controller (21c), protections (2 Id), a connection bus (21e).

6. The mobile packaging device according to any one of claims 1-5, characterized in that the operator interface (22) comprises a control panel (22a) and operation buttons (22a, 22b, 22c, 22d).

7. The mobile packaging device according to any one of claims 1-6, characterized in that the locating-docking station (1), to which the mobile device (9) is docked, includes any of the following: an electrical power connector (2e), a compressed air connector (3), a cooling water connector (3a), a hydraulic connector (3b), an industrial gas connector (3 c), a vacuum connector (3d), a low-voltage signal connector (14).

8. The mobile packaging device according to any one of claims 1-7, characterized in thatthe locating-docking station (1), to which the mobile device (9) is docked, includes any of the following coupled to it: a system of pneumatic pins (17a), retaining sleeves (17b), guide pins (19a), sliding sleeves (19b), a position sensor (I la), a confirmation sensor (1 lb).

9. The mobile packaging device according to any one of claims 1-8, characterized in that it has a power backup system (30) including a voltage converter (31) resulting from the connection of a rectifier (32) and an inverter (33), a constant voltage charger (34), an energy storage (35), a network and charge status control system (36), static (37) and service (38) bypass systems.

10. The mobile packaging device according to any one of claims 1-9, characterized in that it operates in one of the operating modes: in a static bypass mode, in a backup mode, in a service mode.IL The mobile packaging device according to any one of claims 1-10, characterized in that it is equipped with a charge control system and a system for verifying the status of the individual battery power cells (4) and power a backup system (30).12 The mobile packaging device according to any one of claims 1-11, characterized in that it is dockable via a locating-docking station (1) at an operated packaging point (17) including any of the following components: a conveyor (20a), a product warehouse (20b), a cutting system (20c), a removal system (20e), a basket (20d).12 The mobile packaging device according to any one of claims 1-12, characterized in that the mobile trolley (5) has a drive system and a system (8) for attaching the robot with an arm having a changeable head for grippers (18).

14. A method for operating a mobile device, characterized in that it comprises the following steps: a) Starting a new task b) Estimating the trajectory of the transit to the point c) Driving to the work point d) Performing the docking e) Verifying the correct connection of the stand f) Replacing the work gripper g) Starting work with the end of the stand h) Operating the robotic arm, collecting material and depositing it in the predefined patternsi) During operation, waiting for the task to be interrupted and calling a new one j) Completing the current task and putting down the work gripper k) Undocking from the stand l) Returning to the initial step.IS The method of operation of the mobile device according to claim 14, characterized in that in individual programmed steps of operation, appropriate power modes are executed from among: a static bypass mode, a backup mode and a service mode as well as process control and control of energy storage cells is performed.

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