Container Unloading using Robotized Palletizing
Container Unloading using Robotized Palletizing
Container Unloading using Robotized Palletizing
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<strong>Container</strong> <strong>Unloading</strong> <strong>using</strong> <strong>Robotized</strong> <strong>Palletizing</strong><br />
Theoretical Framework<br />
It is manufactured by Univeyor in Denmark and facilitates the picking of cartons from the<br />
container to the conveyor. Empticon is based on telescopic conveyor, which is able to reach<br />
all cartons in the container. At the front of the conveyor, Empticon is equipped with seven<br />
arms. Each arm, in turn, is provided with a suction cup. These arms attach to the carton/-s and<br />
pull it/them to the conveyor and drop down in slots of the belt in order to not hinder the<br />
cartons. Then the employee operates Empticon to the next carton by a wireless control desk,<br />
see Figure 24.<br />
Figure 24: A wireless control desk.<br />
Cartons, which can be handled by Empticon, have to have dimensions larger than<br />
150x150x150 mm in length, width and height and smaller than 1000x800x800 mm. The<br />
maximum weight of the handled carton is 40 kg. Empticon can be used for both 20 and 40<br />
foot containers and also for high cube container of 40 foot size. By <strong>using</strong> Empticon a skilled<br />
and trained operator is able to unload 600 cartons per hour and even more if it is possible to<br />
pick two or three cartons at a time. The investment cost of Empticon is 1 000 000 SEK, but<br />
note that this price includes education, delivery and installation.<br />
3.7.3 ParcelRobot<br />
Another machine, which is not manually operated, is the fully automated ParcelRobot, see<br />
Figure 25 [39]. This system is based on a 3D laser scanner, a computer and a robot. The<br />
procedure begins with the laser scanner scans the pattern of the cartons and transmits the data<br />
to the computer, which in turn calculates the gripping position and the trajectory to this<br />
position. The system also considers reachability of the gripping position and avoidance of<br />
collisions. The robot grips the carton with a vacuum pad called UniGripper and when the<br />
robot has picked the carton it places the carton on the conveyor belt [40]. When all the<br />
reachable cartons are picked, the telescopic conveyor belt can be extended further into the<br />
container. This system can be used for both 20 foot and 40 foot containers.<br />
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