RU2441830C1 - Method for outloading packaged cargoes from the container - Google Patents

Abstract

FIELD: logistics. ^ SUBSTANCE: invention is related to the field of postal service, warehousing and it can be used in automated unloading of cargo being similar to a parallelepiped by form. A method of unloading packaged cargoes from the container is implemented by means of a device consisting of a vertical bedplate, to which right and left inclined spiral chutes are fixed steadily symmetrically from the inner sides, as well as of a branch conveyor, control system and manipulating robot. While implementing the method, the container being outloaded is set up so as for the container housing to be situated in front of the bedplate between its vertical sides, the inner container volume is divided by the left and right coverage areas, the cargo from the left area is transferred and released on the left release are, and the cargo from the lower area is transferred and released on the branch conveyor. In advance estimates ate made and movement patterns of the robot arm are recorded and the patterns recorded are used for robot steering. ^ EFFECT: productivity enhancement while unloading cargoes from the container. ^ 4 cl, 8 dwg

Description

The invention relates to the field of postal services, warehousing and can be used to automate the unloading of goods, in the form close to the box, of approximately the same height, for example parcels, mail boxes with correspondence, etc. from containers.

A device for automatically unloading containers is described in [Barsuk I.V., Gil G.K., Voskresensky A.L. and others. Organization of automated processing of mail in large communication centers. - M .: Radio and communications, 1985. - 208 S.], in which the input of containers into the unloading device and the output of empty containers are carried out by inclined sections of the towing conveyor. In the unloading device, the container automatically tilts, and the packages are unloaded to the receiving skid, from which they are fed to the discharge conveyor. After emptying, the container returns to a vertical position, is transported down to the floor level and continues to move along the route of the towing conveyor. Due to the fact that the unloading of parcels is carried out in bulk, the integrity of the packaging and envelope of the parcels, the safety of the attachment, and the streamlining and separation of the parcels are not guaranteed, which requires automation of the subsequent processing of parcels (recognition, sorting) to include additional parcel separation devices.

A device is known by A.S. SU 1111963, 1986 for unloading a container using a flexible conveyor belt, which, when the container is loaded in layers, is looped between layers of cargo. When unloading the container as this tape is pulled, the goods in an orderly manner in layers exit the container on the tape. The use of the device is limited due to the decrease in the useful volume of the container due to the double thickness of the tape between the cargo layers and the gaps between the walls of the body and the cargo layers, determined by the bending radius of the tape. In addition, to automate the subsequent processing of goods (recognition, sorting) after the container unloading device, it is necessary to include one by one in the line of the device for cargo separation.

A device is known by A.S. SU 1239067, 1986 for unloading the container, using the bottom and side walls pivotally connected inside the container body, which when unloading goods, rising up and turning around the axis in the highest position, form a common plane located on the diagonal of the body. As the bottom rotates, the loads under their own weight move towards the side window, formed by swing doors or a folding wall, and then to the discharge conveyor. The use of the device limits the need to manually unload the top layer of cargo when the container body is completely (or almost completely) filled or to have an opening upper body cover, which weakens the rigidity of the container structure, as well as the need to include one load separation device in the line for automation of cargo handling in subsequent stages (recognition, sorting).

Known devices for the layered separation of goods in a stack, container, pallet, and their transfer to the conveyor, stack, pallet, which are used in various combinations of drive belts (patent US 5265712, 1993), drive belts and rollers with a rough surface (patent US 5238350, 1993), a wedge-shaped plane, rollers with a rough surface and drive belts (patent US 5538391, 1996).

However, the use of these devices for unloading, for example, mail cargo from a container is impossible, since there is a high probability of damage to the packaging of goods (bandages, seals, etc.).

A robotic device is known according to the patent US 5102292, 1992 for loading flat objects of the same size from a pallet onto a discharge conveyor, in which the working bodies can move in three mutually perpendicular planes, and the gripping head rotates around a vertical axis. Limitations on the use of this device are the need for the container to have an opening top lid or the need to equip the device with a mechanism to bring the container with goods into a horizontal position with the doors open up and return the empty container to its original state.

A gripping device is known according to the patent US 6652014, 2003, which implements a vacuum system for gripping at least one object that has a base unit and at least two suction elements that are separately connected to the base unit. This device, which is of undoubted interest from the point of view of the operation of the vacuum capture, does not cover the operation of the system as a whole.

The closest analogue (prototype) of the present invention is a device for unloading packages of pallets from a mobile container according to US patent No. 5007785, 1991. This device contains: (1) a container, (2) unloading device for unloading packages from the specified container, (3) device moving the unloading device; and (4) a control device for controlling the moving device.

The container has vertical racks and many horizontal sections between them, so that horizontal shelves with different levels in height are formed, three adjacent packs of packages are placed on the shelves. The unloading device moves to the top of the front side of the unloaded container shelf and horizontally penetrates under the lowest package of the middle pack of packages (one of at least three adjacent packages). The unloading device is controlled so that the middle set of packages is lifted and moved sideways so as to free the middle set from adjacent side sets and it can be removed without interference. After such release, the middle set of packages is horizontally removed from the front of the container by a moving means. Together with the unloading means, the moving means moving it and the control means associated with the moving means, which controls it so that it can move as follows: (a) vertically next to the container, so that the unloading device is opposite the first (top) shelves; (b) horizontally forward (towards the middle pack of packages) so that the discharge means is inserted under the lowest package of the middle pack; (c) slightly raise the middle pack above the shelf (for easy separation of the pack from the shelf); (d) swing from side to side so as to free the middle pack from the neighbors on the right and left; (e) take the elevated pack horizontally in the direction opposite to that which was during administration so as to remove this pack from the container. Further, the packs of packages are left by the unloading device on the conveyor belt or in the buffer, which have one or more holes in the place of transfer through which the fork is pulled back after the package of packs is transferred.

The disadvantage of the prototype lies in the fact that when using this system for unloading goods from the container to the discharge conveyor, the unloading device must make unnecessary idle movements associated with the need to accurately stack the cargo on the discharge conveyor, all movements are made along mutually perpendicular trajectories, and the trajectories of the unloading device cannot be shortened by approaching the place of abandonment of the cargo to the container. This reduces the upload speed, which reduces system performance. In addition, lengthening the transport path creates additional energy costs.

The problem to which the invention is directed, is to increase the productivity of the device for unloading piece goods from the container to the discharge conveyor and reduce energy costs while ensuring a guaranteed interval between the unloaded goods.

The solution of this problem is achieved by using the method of operation of the device for unloading piece goods from a container with a fixed roof and an opening side wall containing a bed, an unloading robotic arm, a control system and a discharge conveyor, and the bed is made in the form of a structure with two vertically directed parts and horizontal closing them part, to the vertical parts from the inside, the right and left inclined helical descents, the lower edges of which are fixedly mounted symmetrically to each other located above the outlet conveyor, and the unloading robot arm is fixed in the middle of the horizontal part of the bed, in which the unloaded container is installed so that the open side wall of the container is located in front of the bed between its vertical parts symmetrically relative to the vertical axis passing through the attachment point of the robot arm. (The following are the distinguishing features of the invention). The internal volume of the container body is conventionally divided into the left, right and lower gripping zones, and, capturing the cargo from the left zone with the help of a robotic arm, transfer it and dump it onto the left descent, capturing the cargo from the right zone, transfer it and dump it onto the right trigger, and capturing the cargo from the lower zone, transfer it and dump it on the discharge conveyor.

In addition, the border between the left and right grip zones is drawn along the vertical axis of symmetry of the frontal projection of the open side of the container to the point of intersection with the border of the lower zone, the geometrical location of points equidistant from the rightmost point of the frontal projection of the upper edge of the left inclined helical descent and points of the frontal projection of the belt of the outlet conveyor between its left edge and the middle, and consider the geometric location as the boundary between the right and lower zones then points equidistant from the extreme left point of the frontal projection of the upper edge of the right inclined helical descent and the points of the frontal projection of the conveyor belt between its right edge and the middle.

In addition, the trajectories of the robot arm moving from the cargo place in the capture zone to the dumping place on the corresponding descent or on the conveyor and the robot’s robot paths from the dumping place of the cargo to the capture point of the next load in the capture zone are calculated and stored in advance and the stored trajectories are used to control the robot than ensure the operation of the device with maximum performance (S mode) by reducing the length of the path of movement of the robot arm and the time to calculate it.

In addition, from the right and left capture zones exclude sections of zones lying below the place of cargo discharge to the corresponding descent and include them in the lower zone, which ensures the operation of the device with the maximum saving of energy costs (mode E) by excluding the operations of lifting cargo from these sections zones to the level of the place of discharge on the corresponding descent.

The unloading device, with which the proposed method is carried out, consists of a bed, an unloading robot-manipulator, a control system, a discharge conveyor and the installation site of the container for unloading. The bed is made in the form of a construction with two vertically directed parts (uprights) and a horizontal part closing them, and the right and left inclined helical descents with a rotation angle of 90 ° and an angle of inclination in the range of 35-40 °, the lower edges of the descents are located above the side fences of the outlet conveyor, the unloading robotic arm is mounted on the horizontal part of the bed, the plane of symmetry of the outlet conveyor is perpendicular loskosti frame, wherein the downhill has a flange to prevent displacement of the load due to their size, and the width of the longest diagonal runs over the sides of cargo with the maximum allowable size. The unloading robotic arm can be made according to a kinematic scheme, including a vertically arranged rack, six movable links forming six lower kinematic pairs with hinges, the hinge axes of each of two adjacent links being mutually perpendicular, a vacuum grip attached to the end of the sixth movable link. The device comprises a control system containing a control microcontroller (this may be, for example, an Atmel AVR microcontroller) with a microprocessor, a system controller, random access memory (RAM), read-only memory (ROM), an input-output module and a communication device with an object ( USO), moreover, the microprocessor is connected to RAM, ROM and the system controller, the system controller is connected, in addition, data and control buses to RAM, ROM and through the input and output interfaces of the input-output module with USO, means about determining the position of the cargo in the container, means for determining the position of the robot arm, means for controlling servo drives of the manipulator nodes, means for controlling the vacuum pickup, means for controlling the discharge conveyor, means for transmitting and receiving control signals to and from the operator, all of the above means being connected to the microcontroller through the corresponding USO ports . Means for determining the position of the robot arm and the position of the load in the container may be, for example, a laser or mechanical scanner.

The design of the device for unloading piece goods from the container and its operation are illustrated by the following figures:

Figure 1 shows a device for unloading piece goods from a container (front view).

Figure 2 shows a device for unloading piece goods from a container (side view).

Figure 3 shows a device for unloading piece goods from a container (top view).

Figure 4 shows the kinematic diagram of the arm of a robot manipulator.

Figure 5 shows a control block diagram of a device for unloading piece goods from a container.

Figure 6 shows a frontal projection of the open side of the container with zones of unloading of goods in mode S.

7 shows a frontal projection of the open side of the container with areas of unloading in mode E.

On Fig shows the algorithm of operation of the device for unloading piece goods from the container.

List of accepted designations

1) vertically directed part of the bed (left);

2) vertically directed part of the bed (right);

3) the horizontal part of the bed;

4) left inclined helical descent;

5) right inclined helical descent;

6) robot manipulator;

7) discharge conveyor;

8) container;

9) a frame for accommodating a number of photosensors;

10) the first row of photosensors;

11) the second row of photosensors;

12) control unit housing;

13) a protrusion on the floor of the installation site of the container;

14) an emphasis to prevent lateral displacement of the container;

15) an emphasis for prevention of capsizing of the container;

16) control microcontroller;

17) the core of the microcontroller;

18) input-output module;

19) communication device with objects (USO);

20) external objects;

21) means for determining the position of the cargo in the container;

22) means of transmitting and receiving signals to and from the operator;

23) servo control means;

24) means for determining the position of the robot arm;

25) vacuum gripper control means;

26) means for controlling the discharge conveyor;

27) a means of determining the dimensions of the captured cargo;

28) means for determining the weight of the captured cargo;

29) unloading zone on the left descent;

30) unloading zone on the right descent;

31) unloading zone on the conveyor belt;

32) conveyor belt;

33) part of the unloading zone to the left descent (29), which has passed into zone (31);

34) part of the unloading zone on the right descent (30), which has passed into zone (31).

Figures 1, 2 and 3 show projections of a device for unloading piece goods from a container. The device bed is made in the form of an arched or p-shaped structure having two vertically directed parts (left 1 and right 2) and horizontal part 3 closing them. The left 4 and right 5 inclined helical descents are fixedly mounted symmetrically to each other on the vertical parts with a rotation angle of 90 ° and a tilt angle in the range of 35-40 °. The lower edges of the descents are located above the side rails of the discharge conveyor 7. The unloading robotic arm 6 is mounted on the horizontal part of the bed 3. The preferred fixing point for the robotic arm is the middle of the horizontal part of the bed. The plane of symmetry of the discharge conveyor 7 is perpendicular to the plane of the bed, in which its vertical and horizontal parts lie. This plane of symmetry passes, preferably, through the middle of the horizontal part of the bed 3. On descents 4 and 5 there is a flange to prevent the load from moving beyond their dimensions, and the width of the descents 4 and 5 is greater than the largest diagonal of the sides of the load with the maximum permissible dimensions to prevent the formation of congestion.

The unloaded container 8 has doors that open 180 ° or 270 ° on the open side, it is located on the floor of the installation site to unload the container so that the open side faces the bed. The floor of the installation site for unloading the container has a protrusion 13, which is higher than the level of the floor part under the opposite side of the container so that the bottom of the container is inclined at an angle of 2-5 ° to the horizontal. To fix the container at the unloading place, there are two stops 14 located in front and behind the wheels of the container installed for unloading. They serve to lock the wheels and prevent the container from moving in directions parallel to the plane of the bed. In addition, there is an emphasis 15 to prevent displacement or tipping of the specified container in the direction perpendicular to the plane of the bed. It is located behind the opposite side of the bed from the container and is attached to the floor with pins inserted through the holes of the stop into the corresponding holes in the floor.

Figure 1-3 shows the frame 9 symmetrically mounted on the outer sides of the vertical parts of the frame. They serve to accommodate two rows of photosensors 10 and 11. The size of the frames vertically is not less than the height of the open side of the container, and rows 10 and 11 of the photosensors are spaced from each other at a distance slightly exceeding the length of the largest diagonal of the load with the maximum permissible dimensions. Sources and receivers of light are placed, respectively, opposite each other on opposite frames 9, so that the space between the vertical parts of the frame is “covered” by light rays.

Figure 4 shows the kinematic diagram of the arm of a robot manipulator. The robotic arm contains a vertically arranged stand 6.1, six movable links (6.2-6.6), which form six lower kinematic pairs with hinges (6.I-6.VI), the hinge axes of each of two adjacent links being mutually perpendicular, the hinge axis the first link 6.1 is vertical, a vacuum gripper 6.7 is attached to the end of the sixth movable link 6.VI, with each movable link connected to a corresponding servo drive, and the gripper is connected to a vacuum source (servos and vacuum source are not shown in the diagram).

5 shows a control block diagram of a discharge device. The microcontroller 16 contains the core of the microcontroller 17 and the input-output module 18. The core of the core is a microprocessor, a system controller and at least two memory units: operational (RAM) and permanent (ROM). The I / O module contains an input interface and an output interface. The microprocessor is connected to RAM and ROM by three buses: address, data and control. In addition, a data bus and a control bus connect the microprocessor to the input and output interfaces. The interfaces of the input and output module are connected to the object communication device (USO) 19. The USO 19 contains input and output channels for communication with external devices 20.

External devices can be sensors for determining the parameters necessary for the microcontroller to generate control commands for the unloading device, actuators such as servos of the robot arm and gripping pneumatic pumps, visual and sound means of signaling to the operator. They include means for determining the position of the cargo in the container 21 (it can be optical or mechanical), means for transmitting and receiving signals to and from the operator 22 (optical and sound signals), means for controlling 23 links of the manipulator's hand (amplifiers and servos), means determining the position of the robot arm 24 (optical or by feedback signals from the parts of the manipulator's hand), gripper 25 (pneumatic cylinders or other devices for creating a vacuum in the gripper), means for determining the weight of the load 28 (ten architects of different designs), means for determining the dimensions of the captured cargo 27 (laser or with photo sensors, described above), control means for the discharge conveyor 26 (start and stop signals).

The method of unloading piece goods from the container is as follows.

Before unloading the cargo, the container 8 with the doors previously opened 180 ° or 270 ° is installed with the open side in front of the end of the outlet conveyor 7 at a small distance from it so that the vertical plane of symmetry of the conveyor and the container from the open door side approximately coincides. Moreover, the axis of rotation of the first link 6.1 of the robotic arm 6 is located in the plane of the axis of symmetry of the outlet conveyor 7, the upper edges of the inclined screw descents 4 and 5 are in the same plane as the edge of the end of the outlet conveyor 7, and their lower edges are above the side frame of the outlet conveyor 7 . The number of degrees of freedom of the manipulator according to the formula of A. P. Malyshev is equal to W = 6 × n-5 × p = 6 × 6-5 × 6 = 6 (L.N. Reshetov. "Designing rational mechanisms." - M.: Mechanical Engineering , 1987). Turning the links of the manipulator during the search and capture of cargo in the container, moving the cargo to one of the inclined screw slopes or the discharge conveyor, returning the robot arm for the next cargo is carried out by precise servos. Such a kinematic diagram of the robotic arm enables the capture and removal of cargo from anywhere in the internal volume of the body of the container with a rigid roof.

The control system of the device for unloading piece goods from the container provides scanning of the open side of the container, finding the top layer from which the unloading should be carried out, and searching for unloaded cargo in this layer. It provides synchronous execution by servos of all movements of the robot arm in accordance with the set operating modes and trajectories of the robot arm with and without load. In addition, it determines the non-standard position of the load, changes the movements of the robot arm depending on this position, controls the actions of capture, keeps records of the unloaded units of cargo and performs a number of other necessary and auxiliary actions. For example, the control system provides control of the outlet conveyor, converts the Start and Stop operator commands to device control signals, and displays device stop signals or other signals for the operator on pointers or lamps.

To create the best conditions for excavation, first of all, unload the cargo located in the upper layer closest to the open side of the container. When two or more cargoes are located at the same distance from the open side of the container, to resolve the uncertainty, the cargo located most close to one (for example, the left) from the side walls of the container body is unloaded first. After capturing the load, it is slightly lifted (by 10–20 mm) and swaying by a swivel motion through the 6.VI hinge relative to the axis of the sixth link by a small angle (5–10 °) clockwise and vice versa, in order to be reliably released from contact with neighboring cargo.

The place where the load should be moved from the container (right or left downhill or conveyor), the trajectory of movement, the moment of dumping the load, the trajectory of the return of the robot arm to capture the next load is determined as follows. The internal volume of the container body is conditionally (virtually) divided (Fig. 6) into three zones: upper left 29, where the loads are located closer to the left inclined screw descent 4, upper right 30, where the loads are located closer to the right inclined screw descent 5, and the lower , where the goods are located closer to the moving belt 32 of the discharge conveyor 7, located at the lower edge of the body of the container 8. This separation provides the shortest trajectory of unloading goods, and therefore, the quickest release of the robotic arm for processing the next about the cargo. The boundaries of the zones on the frontal projection of the open side of the container ABCD are determined as follows (on the example of the left side). Point О, corresponding to the right edge of the left inclined helical descent 4, is connected by straight lines ОО ₁ ... ОО ₂ with points located on the segment from the left edge О ₁ to the middle О _{2 of the} belt 32 of the outlet conveyor 7. Perpendiculars are restored to the midpoints of ОО ₁ ... ОО ₂ . Then the curve EF from the left edge of the container body at point E to the axis of symmetry of the body GO ₂ in the plane ABCD at point F will serve as the geometrical location of the points equidistant from the right edge of the inclined helical descent 5 and the belt 32 of the discharge conveyor 7, and the indicated perpendiculars will be tangent to this curve. The EF curve characterizes the lower boundary of the cargo unloading zone onto the left inclined helical descent 4, and the AGFE region covers this entire zone. The BHFG region, symmetrical to the AGFE region, will correspond to the zone of unloading goods to the right inclined helical descent 5, and the DEFHC region will correspond to the zone of unloading goods to the moving belt 32 of the outlet conveyor 7. To resolve the uncertainty, many points corresponding to the half-interval (GF) can be attributed to the zone 29, and the set of points corresponding to the EFH curve is to zone 31.

Depending on the requirements of the production process, the device operates with maximum productivity (mode S) or maximum energy savings (mode E). The optimization of the trajectory of the movement of the cargo and the return of the robot arm to the position of the start of the capture of the next load can be made for these two operating modes of the robot manipulator. In S mode, which ensures the maximum productivity of the device, the optimization criterion is the minimum time for transferring cargo from the container to the place of discharge and returning the hand to the capture point of the next cargo. In E mode, when the device does not require maximum performance under operating conditions, the optimization criterion can be the minimum energy required to transfer cargo from the container to one of the inclined screw descents or a moving belt of the discharge conveyor and return the robot arm to the position of capture of the next cargo. Mode E may differ from the above mode S, for example, when unloading onto inclined helical descents of loads from parts of the side zones lying below the level of the edge of the inclined helical descent, unloading is performed directly onto a moving belt. This avoids the waste of energy in lifting goods from these parts of the side zones. In this case, of course, productivity decreases due to the lengthening of the paths along which these loads are moved. This is illustrated in FIG. 7, where the hatched portion 33 of the left side zone 29 is combined with the unloading zone 31 onto the moving conveyor belt. Similarly, the section 34 of the right side zone 30 is combined with zone 31. In this case, to resolve the uncertainty, the set of points corresponding to the IKFLM curve belongs to zone 31.

The entire space inside the container with a radius equal to the maximum arm length of the robotic arm and a height equal to the height of the container body, with the exception of restrictions imposed by the structural parts of the device, is conditionally (virtually) divided into elementary volumes with dimensions comparable to the minimum allowable cargo sizes, and pre-calculated and remember the optimal trajectory of the movement of the cargo from each elementary volume of the place of capture of the cargo in the container to the place of discharge of the cargo on one of the inclined screw descents s or a moving discharge conveyor belt, and the return path of the robot arm from the reset position to the cargo volume element the capture of the next cargo in the container. These optimal paths are stored in the read-only memory of the microcontroller 16. The programs for solving all the necessary tasks are also stored there. The microprocessor in conjunction with RAM RAM and ROM performs tasks that arise during operation of the device. The system controller provides the joint operation of the microprocessor core 17 through the input-output module 18 and the device USO 19 with external objects 20. Each external object accesses the microprocessor or receives signals from it through the corresponding unidirectional channel of the device USO 19.

The functions of the device for unloading piece goods from the container are explained by the algorithm of its operation in Fig. 8. Before starting the device, the operator sets the selected operating mode E or S using the switch. By pressing the "Start" button (in the outlet conveyor control means 26), the operator starts the outlet conveyor 7 and turns on the unloading device. Finding the upper layer of goods is carried out by issuing the necessary commands to the servos of the robot arm (means 23 to control the servos) and using a scanning device (means 21 to determine the position of the load in the container). These can be scanners: laser or mechanical, the probe of which is mounted on the robot arm. If no layer is detected, the device stops and an appropriate signal is generated to the operator. The reason for not finding the layer may be the end of the unloading process of this container. If a layer is detected, the coordinates of this layer are transferred to the microcontroller. The microcontroller gives the command to search for cargo in the detected layer. After detecting the cargo, the coordinates of this cargo should be transferred to the microcontroller. The microcontroller, on the basis of the received coordinates of the load and the selected position of the mode select switch (E or S), selects from the read-only memory ROM a route developed for and stored in it that is optimal for the data of the load coordinates of moving the robot arm from its original position to the location of the load in the container, and then - to the discharge site defined above. Then, appropriate commands are issued to the servomotors of the robot arm (servo control means 23) and the gripper (gripper control means 25). When the capture approaches the selected load, it is determined whether the load is in the correct position in which the vacuum capture can capture it. This check can be carried out either with a scanning device or with the help of position sensors fixed on the links of the robot arm. If the load is in the wrong position (for example, turned at a significant angle to the plane of the open wall of the container), a description of its actual position is transmitted to the microcontroller. This description is recorded in RAM, the microcontroller generates a command to change the position of the capture, after which again the verification of the relationship of the load and capture. If the load is in the correct position (or the rotation of the grab ensures that it is docked with the load as standard), the load is grabbed. The next operation is checking for excess weight and dimensions of the captured cargo. Exceeding the maximum permissible values of these values can occur if, for some reason, coupling occurs between two adjacent loads or an unacceptably large load was placed in the container during shipment. The detection of excess weight of the cargo can be made using the means 28 for determining the weight of the captured cargo. Excess weight can be detected, for example, using sensors (not shown) built into the links of the robot arm. These may be, for example, strain gauges or resonant sensors such as Tuning-Fork from Shinko Denshi, Japan. Exceeding cargo dimensions can be detected using means 27 for determining the dimensions of the captured cargo. Such means may be, for example, a laser (e.g., a WB4 scanner from Cyberware USA) or a mechanical scanner (e.g., a mechanical MicroScribe-SD scanner from Immersion, USA). Another means of determining the excess dimensions of the cargo can serve as a system of two rows of photosensors 10 and 11, placed on the frame 9, shown in figure 2. When moving the cargo, it first crosses the rays of the photosensors of row 10, and then of row 11. The distance between these rows slightly exceeds the largest overall size of the allowed load. The signals of the simultaneous intersection of the rays of both rows serve the microcontroller as an indication of the excess dimensions of the cargo. If during the movement of cargo for a certain period of time, the sensors sequentially darken from the first vertical row with respect to the container, and then the second, this indicates that the unloading process is normal.

If the dimensions or weight of the cargo exceeds the maximum permissible values, the device stops and gives the operator an appropriate light or sound signal.

If the weight does not exceed the maximum permissible values, then the optimal path for moving the robot arm with the load to the place of unloading is selected from the ROM, and the corresponding commands to the servomotors of the robot arm are issued by the microprocessor. The robot arm goes to a previously determined unloading place and dumps the cargo there. Then the search cycle for the top layer and the load in it is repeated, the robot arm is guided along the optimal path to the selected load.

Due to the fact that the unloading of goods from the container is carried out sequentially by the robotic arm, a reliable interval between the goods on the moving belt of the discharge conveyor is guaranteed, and due to the fact that the movement of goods from the container is carried out to places located in the closest proximity to the container, the internal volume of which is conditional It is divided into zones in which goods are located at minimum distances from these places, and in one mode of operation of the device when moving goods minimizes time Static preparation and idle movements of the robot manipulator arm, and the other energy consumption is minimized, are obtained respectively maximum performance device or maximum energy savings.

Thus, the objectives of the invention are achieved and the technical tasks are solved.

The possibility of practical implementation of the device is confirmed by the fact that it can be created on the basis of commercially available components and manufactured by industry containers, conveyors, robotic manipulators, computers and touch devices.

Claims (4)

1. The method of operation of the device for unloading piece goods from a container with a fixed roof and an opening side wall containing a bed, an unloading robotic arm, a control system and a discharge conveyor, the bed being made in the form of a structure with two vertically directed parts and a horizontal part closing them, to to the vertical parts from the inside, the right and left inclined helical descents are fixedly mounted symmetrically to each other, the lower edges of which are located above the outlet conveyor, and p the loading robot arm is fixed in the middle of the horizontal part of the bed, in which the unloaded container is installed so that the open side wall of the container is located in front of the bed between its vertical parts symmetrically with respect to the vertical axis passing through the fastening point of the robot arm, characterized in that the internal volume of the body the container is conventionally divided into left, right and lower gripping zones, and, capturing the cargo from the left zone with the help of a robotic arm, they are transferred and dumped are on the left slope, right from seizing load zone, it is transferred and discharged to the right descent and gripping the goods from the lower zone, it is transferred and discharged onto a discharge conveyor. 2. The method of work according to claim 1, characterized in that the boundary between the left and right grip zones is drawn along the vertical axis of symmetry of the frontal projection of the open side of the container to the point of intersection with the border of the lower zone, the geometrical place of the points is considered the border between the left and lower grip zones, equidistant from the rightmost point of the frontal projection of the upper edge of the left inclined helical descent and the points of the frontal projection of the conveyor belt between its left edge and the middle, and the boundary between the right and lower we consider the geometrical location of points equidistant from the extreme left point of the frontal projection of the upper edge of the right inclined helical descent and the points of the frontal projection of the conveyor belt between its right edge and the middle. 3. The method of work according to claim 1, characterized in that the trajectories of the robot arm moving from the cargo place in the capture zone to the dumping place on the appropriate descent or on the conveyor and the robot arm’s path from the dumping place of the cargo to the place of capture of the next load are calculated and stored in advance in the capture zone, and use the stored paths to control the robot, which ensures the operation of the device with maximum performance (mode S) by reducing the length of the path of movement of the robot arm and the time to calculate it. 4. The method of operation according to claim 1, characterized in that sections of zones lying below the dumping point on the corresponding descent are excluded from the right and left capture zones and included in the lower zone, thereby ensuring the operation of the device with maximum energy cost savings (mode E) due to the exclusion of operations of lifting goods from the specified sections of the zones.

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