RU2008111257A - CONTAINER LOADING SYSTEM FOR PIECE LOADS - Google Patents

Abstract

1. A system for loading piece goods into a container, including loading, recognition, orientation, size and placement devices, characterized in that the loading device consists of a cargo conveyor, a measuring complex for determining the details, overall dimensions and mass of goods, a loading conveyor, right and left drive lock doors, mounted at one end on a vertical shaft and located in the opening of the side guard of the loading conveyor with the possibility of rotation in position transverse to the feed conveyor belt, the right and left chain drive plate elevators-cargo elevators with the possibility of start-stop and reverse movement, into which incoming goods are loaded by means of the loading conveyor and lock doors, two pushers - the right and left, providing the movement of cargo from the plate, respectively, of the right or left elevator-drive to the output conveyor and partial orientation of the load relative to the sides of the output conveyor, e.g. of a sliding slide, in which an empty container with open doors is fixed, a loading robot-manipulator with "technical vision", which ensures the capture of cargo from the output conveyor and its movement into the container with subsequent layering vertically or frontally, the "help" drive in the form, for example, a non-driven roller conveyor, into which goods with unidentified details, sizes and weights that go beyond the permissible limits for the possibility of a

Claims (6)

1. A system for loading piece goods into a container, including loading, recognition, orientation, size and placement devices, characterized in that the loading device consists of a cargo conveyor, a measuring complex for determining the details, overall dimensions and mass of goods, a loading conveyor, right and left drive lock doors, mounted at one end on a vertical shaft and located in the opening of the side guard of the loading conveyor with the possibility of rotation in position transverse to the feed conveyor belt, the right and left chain drive plate elevators-cargo elevators with the possibility of start-stop and reverse movement, into which incoming goods are loaded by means of the loading conveyor and lock doors, two pushers - the right and left, providing the movement of cargo from the plate, respectively, of the right or left elevator-drive to the output conveyor and partial orientation of the load relative to the sides of the output conveyor, e.g. of a sliding slide, in which an empty container with open doors is fixed, a loading robot-manipulator with "technical vision", which ensures the capture of cargo from the output conveyor and its movement into the container with subsequent layering vertically or frontally, the "help" drive in the form, for example, a non-driven roller conveyor, into which goods with unidentified details, sizes and weights that go beyond the permissible limits for the possibility of a loading cargo into the container, as well as by the operator manually moving the cargo from the output conveyor if it is impossible for one reason or another to be picked up by a robotic arm, a piece loading control device that transfers and processes information, synchronizes the operation of all moving elements of the system and ensures stacking cargo to the container, taking into account the restrictions on the capacity of the container and the requirement to minimize the height of the center of gravity of the loaded container. 2. The system for loading piece goods into a container according to claim 1, characterized in that the chains of each elevator-drive are interconnected by load-bearing plates that are attached to the chains by axles, while the plates on the outside and sides are flanged to prevent the load from being displaced behind the dimensions of the plate during loading and the movement of the elevators, the contours of the chains on the side projection are offset relative to each other by a distance equal to the distance between the points of attachment of the plates to the chains. 3. The system for loading piece cargo into a container according to claim 1, characterized in that the loading robot manipulator is made according to an angular (angular) kinematic scheme, including a vertically located rack, six movable links and six lower kinematic pairs, the number of degrees of freedom of the manipulator is six , the hinges of the first and sixth have vertical axes, the hinges of the third and fourth provide mutual movements in the same plane, and the hinges of the second and fifth in the plane perpendicular to the hinges of the third and fourth, at the end of the seventh the vacuum link is strengthened, the rotation of the manipulator links during the capture of the load, moving and stacking it in the container and returning to its original position provides servos. 4. The system for loading piece cargo into a container according to claim 1, characterized in that the control device for loading piece cargo contains a unit for calculating the cargo area S _g = l _g · m _g , a unit for calculating the shape coefficient of the cargo K _fg = l _g / m _g , where l _g and m _g, respectively, the length and width of the cargo, and the ranking unit, which assigns the goods numbers 1, 2, ... in the sequence of decreasing values of S _g , in this case, if two goods have the same value S _g , then a smaller number is assigned to the cargo with a large value of K _fg , if the goods have the same values of S _g and K _fg , then The smallest number is assigned to the cargo with a larger mass, if the goods have the same values of S _g , K _fg and mass, then the smaller number is assigned to the cargo earlier received in the loading system. 5. The system for loading piece cargo into a container according to claim 4, characterized in that the control device for loading piece cargo contains a modeling unit (BM) for packing goods in a container, which stores measurements about the internal dimensions of the container body (length L, width M and height H of the container) and - about the permissible total mass of cargo G of the container, while the modeling unit continuously monitors: L> l _g , M> m _g and H> h _g , as well as the permissible total mass of goods placed in the container, based on the stored information and sequence number in goods with dimensions l _r, m _r and weight g _grams coming from block ranking input BM, which is made shipping location determination in a plane forming layer and the verification of compliance with the restrictions on the container capacity and the number of stacking layers, the process simulation stowage, represented by parallelepipeds of the same height h _g with dimensions in terms of l _g · m _g and mass g _g , is carried out sequentially in layers, starting from the bottom, filling each layer of the container is carried out sequentially, starting from one of the farthest, for example, right, relative to the robot-manipulator corners of the container in two mutually perpendicular directions, while a prerequisite for modeling the packing of goods inside the layer is the abutment of two adjacent sides of the load or to the inner walls of the body, or to the wall and side adjacent cargo, or to the sides of neighboring cargoes from the side of the angle from which the container begins to fill, by the criterion for determining the position of the cargo on the layer formation plane at each calculation step um minimum shape factor of R _fs remaining free after placement in the plane of the load based on the following relationship:

, where i = 1,2, ..., n is the number of the rectangle in the free space of the container remaining after placing the laid cargo when the latter is conditionally divided into rectangles by lines passing from the ribs of the cargo that are not in contact with the walls of the container body or adjacent loads parallel to the sides of the container; l _i - the length of the i-th rectangle; n is the number of rectangles in the remaining free space of the container; S _to = L · M is the cross-sectional area of the container body; S _z - the area of the plane of formation of the layer occupied by the laid loads; S _n - the area of the plane of formation of the layer, inconvenient for loading, equal to the area of the rectangle adjacent to the protrusion of the placed cargo from the side opposite to the direction of loading of the container, for each possible variant of cargo placement on the layer formation plane, two values of K _fs are calculated: for rectangles formed when dividing the container’s free space by lines running along the longitudinal side of the container, and for rectangles formed when dividing the container’s free space by lines running along the transverse side of the container As a result of such selected option cargo placement at which the minimum K _fs, if after the first iteration of placing the goods in the plane of layer formation inside the layer there are empty sections, then they are checked one by one, starting from the section with a larger area, for the possibility of stacking goods from the ranked sequence stored in the ranking block, with the exception of already loaded goods, the process of modeling the packing of goods in a container continues until the number of layers exceeds the permissible value of H / h, the total mass of the goods to be stacked does not exceed the specified capacity of the container G or there are no goods left in the ranked ith sequence arriving at the input of the BM from the ranking unit. 6. The system for loading piece cargo into a container according to claim 5, characterized in that the device for loading piece cargo contains an automated workstation (AWP) of the operator, which contains a system unit, a monitor and a printer, an interface input / output of the AWP system unit is connected to an interface the input / output of the simulation unit, while the workstation allows you to debug programs that ensure the operation of the robotic arm and control the operation of the components of the container loading system, visualizing the plan for laying cargo in container, preparation and printing of accompanying documents for consignments, preparation and printing of production reports for a given period of time.