CN114380244B - Material rack carrying system and method thereof - Google Patents
Material rack carrying system and method thereof Download PDFInfo
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- CN114380244B CN114380244B CN202011134664.9A CN202011134664A CN114380244B CN 114380244 B CN114380244 B CN 114380244B CN 202011134664 A CN202011134664 A CN 202011134664A CN 114380244 B CN114380244 B CN 114380244B
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 238000002360 preparation method Methods 0.000 claims description 21
- 238000003780 insertion Methods 0.000 claims description 10
- 230000037431 insertion Effects 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 238000012546 transfer Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 9
- 239000003365 glass fiber Substances 0.000 description 8
- 239000004744 fabric Substances 0.000 description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 4
- 230000009471 action Effects 0.000 description 4
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- 238000012937 correction Methods 0.000 description 4
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- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- CDBYLPFSWZWCQE-UHFFFAOYSA-L Sodium Carbonate Chemical compound [Na+].[Na+].[O-]C([O-])=O CDBYLPFSWZWCQE-UHFFFAOYSA-L 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000011889 copper foil Substances 0.000 description 2
- 238000007730 finishing process Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 238000004513 sizing Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 239000005995 Aluminium silicate Substances 0.000 description 1
- 235000019738 Limestone Nutrition 0.000 description 1
- 235000012211 aluminium silicate Nutrition 0.000 description 1
- 238000009990 desizing Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- NLYAJNPCOHFWQQ-UHFFFAOYSA-N kaolin Chemical compound O.O.O=[Al]O[Si](=O)O[Si](=O)O[Al]=O NLYAJNPCOHFWQQ-UHFFFAOYSA-N 0.000 description 1
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- 238000012360 testing method Methods 0.000 description 1
- 238000009941 weaving Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides a material rack carrying system and a method thereof, wherein a portal frame provided with a lifting mechanism is arranged in front of a vehicle body of an automatic carrying forklift, and a material rack is arranged on the portal frame.
Description
Technical Field
The invention relates to a material rack conveying system and a method thereof, in particular to an automatic conveying forklift which can guide to travel to a preparation position through a first obstacle avoidance sensor, and carry out secondary positioning of a pallet fork through a second obstacle avoidance sensor, wherein the position sensor carries out determination of lifting height, so that the pallet fork can carry out insertion operation while correction so as to complete the actions of conveying and loading and unloading of the material rack.
Background
In recent years, the specifications of electronic and communication products are continuously upgraded, so that the circuit board is developed towards the light and thin directions, and electronic grade glass fiber cloth is used as a main raw material of a copper foil substrate to provide the quality requirements of strength, dimensional stability, electrical property and the like required by the copper foil substrate, and along with the requirement that the circuit board is widely applied to the circuit board raw materials of information, consumer electronics, communication equipment, electric vehicles and other high-tech electronic products, the technological process of the glass fiber industry is continuously researched, developed and automatically produced, so that the upgrading requirement of an application end can be met.
The Glass fiber cloth is mainly produced from Glass fiber Yarn (Glass Yarn), which is produced by crushing fine silica sand, broken Glass, limestone, sodium carbonate, kaolin and the like, then producing Glass paste by high-temperature melting in a kiln, preparing the Glass fiber Yarn through processes of spinning, reeling, twisting and the like, and then preparing the Glass fiber cloth through processes of Yarn finishing, sizing, doubling, weaving, desizing and the like, wherein the Yarn finishing process utilizes a Yarn finishing machine to firstly arrange a certain number of warp yarns according to the width and tissue requirements of the cloth, and then warping and reeling the warp yarns on a warp beam to prepare the subsequent sizing.
However, in the traditional yarn finishing process, an on-site operator is required to operate an electric forklift to carry the full yarn carrier, the full yarn carrier is convenient to convey to the side of the yarn finishing machine, the empty yarn tubes on the yarn finishing machine can be firstly taken down and mounted on the empty yarn carrier in a manual mode, then the full yarn tubes on the full yarn carrier are taken down and mounted on the yarn finishing machine, so that replacement operation is completed, the on-site operator can operate the electric forklift to convey the empty yarn carrier to a warehouse area or a station for yarn repairing operation, and the yarn tubes are required to be replaced and repaired in time, so that the requirement of a production line can be met.
In the era of automated production in unmanned factories, along with the diversified processing of glass fiber cloth manufacturing processes, the requirements of production line automation and manufacturing process design are considered, and an unmanned conveying vehicle and a mechanical arm are matched, so that the speed of the production line is increased, and the production efficiency is improved, therefore, an operator needs to design an automated conveying device capable of reducing the operations of conveying, loading and unloading the creel by operating an electric forklift by on-site operators, and the direction of research and improvement is needed for the operator according to the requirements of the production line automation and manufacturing process design.
Disclosure of Invention
Accordingly, the present inventors have devised the rack handling system and method thereof by collecting related data, evaluating and considering the related data by multiple parties, and continuously testing and modifying the system with years of research and development experience accumulated in the industry.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a work or material rest handling system, characterized in that: the automatic carrying forklift comprises an automatic carrying forklift body which is provided with a forklift body capable of moving according to a set running path, a portal frame of a lifting mechanism is arranged in front of the forklift body, a fork which is installed on the portal frame and used for taking and placing a material frame along with lifting of the portal frame in the Z-axis direction, a first obstacle avoidance sensor used for guiding and positioning the automatic carrying forklift to come and go to a preparation position is arranged above the forklift body, a second obstacle avoidance sensor used for judging the secondary positioning of the distance and the angle of the fork on an XY direction plane is arranged in the middle of the front of the portal frame, and a position sensor used for judging the lifting height of the fork in the Z-axis direction is arranged on the side edge of the portal frame.
The material rack carrying system comprises: and third obstacle avoidance sensors are respectively arranged at two sides of the rear of the vehicle body, are infrared, laser or ultrasonic obstacle avoidance sensors and are used for measuring the distance between the automatic carrying forklift and surrounding obstacles.
The material rack carrying system comprises: the side edge of the portal of the lifting mechanism is also provided with a distance sensor for judging the insertion distance of the fork in the Y-axis direction, and the distance sensor is an infrared or ultrasonic distance sensor.
The material rack carrying system comprises: the fork of the lifting mechanism comprises an upper fork part extending forwards from the left side and the right side of a mounting frame in the same direction, and a bottom fork part fixed at the left side and the right side of the bottom of the portal frame and extending forwards in the same direction, and two fork wheels are arranged in front of the two bottom fork parts Fang Gebie.
The material rack carrying system comprises: the lifting mechanism is also provided with a distance sensor on the side edge of the portal, the distance sensor is an infrared or ultrasonic distance sensor and is used for judging the insertion distance of the two bottom fork parts of the fork in the Y-axis direction, and guide parts are respectively arranged at the front outer side and the front outer side of the two bottom fork parts of the fork and are used for guiding the fork to be inserted into a position.
The material rack carrying system comprises: the first obstacle avoidance sensor and the second obstacle avoidance sensor are infrared, laser obstacle avoidance sensors or ultrasonic obstacle avoidance sensors, and acquire distance and angle data of the obstacle based on rotation or movement of a measuring beam or ultrasonic waves on an XY direction plane.
The material rack carrying system comprises: the second obstacle avoidance sensor is also integrally provided with a depth camera, which is used for overlapping the distance data measured by the second obstacle avoidance sensor with the image obtained by the obstacle shot by the depth camera so as to calculate the distance and the size of the obstacle.
The material rack carrying system comprises: the position sensor is a stay wire type encoder, one end pulled out by a stay wire is connected to the portal frame, and then the number of steps of each circle pulled out by the stay wire along with the lifting of the portal frame is measured by an encoder so as to calculate the lifting displacement height of the fork in the Z-axis direction.
The material rack carrying system is characterized by comprising the material rack carrying system and a carrying device, wherein the carrying device is provided with a carrying table, the left side and the right side of the carrying table are provided with positioning parts for the fork of the automatic carrying forklift to place the material rack on the transverse surface above the fork, and a containing space for the fork to descend into is formed between the two positioning parts.
The material rack carrying system comprises: the transverse surfaces above the two positioning parts of the bearing table are respectively provided with baffle plates for the bottom of the base frame of the material rack to be placed on the two positioning parts along the baffle plates, and the inner sides of the baffle plates are respectively provided with limit grooves for the rollers at the bottom of the base frame to be respectively clamped in.
The material rack carrying system comprises: the fork of the automatic carrying forklift comprises an upper fork part for taking and placing the material rack in a Z-axis direction, and a bottom fork part fixed at the bottom of the portal frame, wherein the bearing device is provided with a body, the bottom of the body is provided with a counterpoint part positioned below the bearing table by a certain distance, and an inserting space for inserting the bottom fork part into the positioning is formed in the counterpoint part from the end surface of the body in a concave manner.
The material rack conveying method is suitable for a material rack conveying system, the material rack conveying system utilizes an automatic conveying forklift to convey a material rack and place the material rack on a bearing table of a bearing device, and is characterized in that the material rack conveying method comprises the following implementation steps:
(A) The automatic carrying forklift uses a fork of a lifting mechanism to carry the material rack, and guides the material rack to travel to a preparation position through a first obstacle avoidance sensor;
(B) The automatic carrying forklift carries out distance and angle positioning of the fork on an XY direction plane through a second obstacle avoidance sensor, and a position sensor judges the lifting height of the fork in the Z axis direction;
(C) The automatic carrying forklift moves towards the bearing device;
(D) The automatic carrying forklift performs the inserting operation while correcting the fork distance and angle through the second obstacle avoidance sensor;
(E) The fork of the automatic carrying forklift is used for completing the placement of the material rack on the bearing table of the bearing device and then retreating from the bearing device.
A method for handling a rack, which is applicable to a rack handling system that uses an automatic handling forklift to travel to a preparation position and takes down a rack placed on a carrying platform by a carrying device, the method comprising the following steps:
(A) The automatic carrying forklift is guided by a first obstacle avoidance sensor to travel to the preparation position;
(B) The automatic carrying forklift carries out distance and angle positioning of the fork on an XY direction plane through a second obstacle avoidance sensor, and a position sensor judges the lifting height of the fork in the Z axis direction;
(C) The automatic carrying forklift moves towards the bearing device;
(D) The automatic carrying forklift performs the inserting operation while correcting the fork distance and angle through the second obstacle avoidance sensor;
(E) After the fork of the automatic carrying forklift finishes taking down the material rack placed on the bearing table by the bearing device, the material rack is retreated from the bearing device.
The invention has the main advantages that the front of the vehicle body of the automatic carrying forklift is provided with the portal provided with the lifting mechanism, the portal is provided with the fork which can carry out taking and placing of a material rack along with the lifting of the fork in the Z-axis direction, the upper part of the vehicle body is provided with the first obstacle avoidance sensor used for guiding and positioning the automatic carrying forklift to come back and forth to the preparation position, the middle of the front of the portal is provided with the second obstacle avoidance sensor used for carrying out secondary positioning of the distance and the angle of the fork on the XY-direction plane, and the side edge of the portal is provided with the position sensor used for judging the lifting height of the fork in the Z-axis direction.
The invention has the secondary advantages that the left side and the right side of the bearing table of the bearing device are provided with the positioning parts and the accommodating space formed between the two positioning parts, when the fork of the automatic carrying fork truck carries a material rack (such as a full creel) towards the bearing device, the material rack can be lifted to a distance above the bearing table by utilizing the upper fork part of the fork, after the upper fork part is inserted into the accommodating space between the two positioning parts for positioning, the lower fork part of the upper fork part is moved downwards and enters the accommodating space between the two positioning parts, so that the bottom of the base frame of the material rack is stably placed on the transverse surface above the two positioning parts, the bottom of the body of the bearing device can be further provided with the aligning part with the inserting space, and the bottom fork part of the fork is inserted into the aligning part while the correction of the distance and the angle between the bottom fork part and the aligning part is carried out, and the front guiding part of the bottom fork part is utilized, and the distance sensor is smoothly inserted into the inserting space for positioning so as to ensure that the material rack can be placed on the bearing table, and the whole operation is safer.
The invention has the advantages that when the automatic carrying forklift is used for carrying out the full-creel carrying process, the fork of the lifting mechanism can be used for carrying the material taking frame, the material taking frame is guided to travel to a preparation position close to the bearing device (such as an unmanned carrying trolley without the creel carrying frame) through the first obstacle avoidance sensor, the second obstacle avoidance sensor is used for carrying out distance and angle positioning of the fork on the XY-direction plane, the position sensor is used for judging the lifting height of the fork in the Z-axis direction, the fork is moved towards the bearing device, the fork distance and angle are corrected, the inserting operation is carried out, the material taking frame can be rapidly completed, and the automatic carrying forklift can be retracted from the bearing device (such as the unmanned carrying trolley) to return to the preparation position according to the set travel path.
The invention has the main difference that the automatic carrying forklift does not carry out the action of carrying the material rack firstly when the automatic carrying forklift takes off the empty carrier, the automatic carrying forklift directly moves to the preparation position through the guidance of the first obstacle avoidance sensor, the second obstacle avoidance sensor carries out the distance and angle positioning of the material rack, and the position sensor carries out the judgment of the lifting height, then moves towards the position of the bearing device (such as the unmanned carrier with the empty carrier), carries out the inserting action while carrying out the correction of the distance and angle of the material rack, and then the material rack can quickly finish the removal of the material rack (such as the empty carrier) placed on the bearing platform and returns to the preparation position from the bearing device according to the set driving path.
Drawings
Fig. 1 is a perspective view of an automated handling forklift according to the present invention.
FIG. 2 is a flow chart of the steps of the method for handling a rack of the present invention in placing a full pallet truck.
Fig. 3 is a schematic view of the automated handling forklift of the present invention when the handling full creel is driven to the ready position.
FIG. 4 is a schematic diagram of an automated handling forklift of the present invention utilizing obstacle avoidance sensors for secondary positioning and position sensors for fork height determination.
Fig. 5 is a schematic view of the automatic transfer forklift of the present invention when the forks are inserted while being corrected in the direction of the unmanned transfer carriage.
Fig. 6 is a schematic view of a fork of an automated guided vehicle truck of the present invention placing a full pallet truck in front of an unmanned transfer cart.
Fig. 7 is a schematic view of the fork of the automated guided vehicle according to the present invention after placing a full pallet truck on an unmanned transfer carriage.
Fig. 8 is a schematic view of the automatic transfer forklift of the present invention being retracted from the unmanned transfer carriage.
Fig. 9 is a flowchart of the steps of the method for handling a rack according to the present invention in removing an empty trolley.
Fig. 10 is a schematic view of an empty creel truck placed by an automated guided forklift truck to a standby position and removed from an unmanned transfer truck.
Reference numerals illustrate: 1-automatic handling forklift; 11-a vehicle body; 12-lifting mechanism; 121-a portal; 122-forks; 122 a-a mounting frame; 1221-an upper fork; 1222-a bottom fork; 1223-pallet fork; 1224-a guide; 13-a first obstacle avoidance sensor; 14-a second obstacle avoidance sensor; 14 a-depth camera; 15-a third obstacle avoidance sensor; 16-position sensor; 17-a distance sensor; 2-a carrying device; 21-a body; 210-an insertion space; 211-an alignment part; 2111-guide surface; 22-a bearing table; 220-accommodating space; 221-positioning part; 2211-a baffle; 2212-a limit groove; 222-steering mechanism; 2221-mill wheel; 2222-strand; 223-motor; 23-a mechanical arm; 231-a pick-and-place section; 2311-motorized jaws; 3-material rack; 31-a base frame; 311-hanging yarn rod; 312-a roller; 313-foot bar; 4-full bobbin; 5-empty bobbin.
Detailed Description
To achieve the above objects and advantages and in accordance with the purpose of the invention, as embodied and broadly described herein, the present invention provides for the following detailed description of the preferred embodiments of the invention.
Referring to fig. 1 to 3, which are respectively a three-dimensional appearance diagram of an automatic handling forklift, a flow chart of a step of placing a full-creel truck in the automatic handling forklift and a schematic diagram of the automatic handling forklift when the full-creel truck is moved to a preparation position, it can be clearly seen that the automatic handling forklift 1 and a carrying device 2 are included in the automatic handling forklift according to the present invention, wherein:
the automatic carrying forklift 1 is provided with a forklift body 11, a transmission device, a steering system, a hydraulic device, a driving control system and the like are arranged on a forklift frame of the forklift body 11, a portal 121 of a lifting mechanism 12 is arranged in front of the forklift frame, the portal 121 comprises an inner portal and an outer portal, a fork 122 is arranged on the inner side of the inner portal through a carriage, a lifting cylinder of the hydraulic device is arranged between the inner portal and the outer portal to form an electric forklift, wheels at the bottom of the forklift body 11 can be driven by the driving control system through the transmission device, the forklift body 11 can be controlled to move according to a set driving path through the steering system, the inner portal can be driven by the lifting cylinder of the hydraulic device, the lifting chain wheel drives the carriage to ascend or descend along the inner portal, and then the fork 122 can ascend or descend along with the carriage.
In the present embodiment, the fork 122 of the lifting mechanism 12 includes a mounting frame 122a mounted on a carriage inside the gantry 121, upper fork portions 1221 extending in the same direction from the left and right sides of the mounting frame 122a, and bottom fork portions 1222 fixed at the left and right sides of the bottom of the outer gantry and extending in the same direction from the front, a teeterboard-type two-fork wheel 1223 mounted at the front Fang Gebie of the two bottom fork portions 1222 for supporting the ground to improve the stability of the upper fork portions 1221 during transportation, and guide portions 1224 respectively provided at the front and outer sides of the two bottom fork portions 1222, such as at least one guide wheel respectively mounted by a telescopic adjusting element, but not limited thereto, the bottom fork portions 1222 may be omitted, and the guide portions may be directly provided at the front and outer sides of the two bottom fork portions 1222.
In addition, the automatic handling forklift 1 is provided with a first obstacle avoidance sensor 13 above the gantry 121 of the forklift 11 or the lifting mechanism 12, and a second obstacle avoidance sensor 14 is provided in the middle of two bottom fork portions 1222 of the fork 122 in front of the gantry 121, and symmetrically distributed third obstacle avoidance sensors 15 are respectively provided at two sides behind the forklift 11, and a position sensor 16 is provided on the outer gantry side of the gantry 121, and each obstacle avoidance sensor 13, 14, 15 may be respectively an obstacle avoidance sensor using an infrared ray or a laser light source, such as a radar (LiDAR) sensor, for measuring the distance between the infrared ray and the obstacle based on the Time of Flight (ToF) of light, but not limited thereto, each obstacle avoidance sensor may also be an ultrasonic obstacle avoidance sensor, based on the distance and angle (θ) obtained by rotating or moving a measuring beam or ultrasonic wave on the XY direction plane, and the distance between the obstacle and the obstacle sensor 14a can be further integrated with the distance sensor 14a, and the distance sensor 14a can be further integrated; in addition, the position sensor 16 is preferably a wire-pulling encoder, and after one end of the wire pulled out is connected to the inner gantry or the carriage of the gantry 121, the encoder can be used to measure the number of steps of each cycle of the wire pulled out along with the lifting of the inner gantry or the carriage, so as to calculate the height of the fork 122 along with the lifting of the carriage in the Z-axis direction.
In this embodiment, the lifting mechanism 12 is further provided with a distance sensor 17 on the outer side of the gantry 121 near the position sensor 16, including an infrared or ultrasonic distance sensor, and the preferred embodiment measures the distance between the sensor and the obstacle based on the flight time of light, and each of the obstacle avoidance sensors 13, 14, 15, the depth camera 14a, the position sensor 16 and the distance sensor 17 can be connected to the controller of the drive control system through a transmission line or a data bus, respectively, and the controller receives and stores the data of the sensor to control and operate the automatic handling forklift 1, wherein the first obstacle avoidance sensor 13 is used for guiding and positioning the automatic handling forklift 1 to and fro to the preparation position (moving from the point a to the point B); the second obstacle avoidance sensor 14 is used for judging the secondary positioning of the fork 122 of the lifting mechanism 12 on the XY direction plane; the third obstacle avoidance sensor 15 is used for detecting the distance between the automatic carrying forklift 1 and surrounding obstacles so as to enlarge the surrounding detection range; the position sensor 16 is used for judging the lifting height of the fork 122 in the Z-axis direction; and the distance sensor 17 is used for determining the insertion distance of the fork 122 in the Y-axis direction, but the principle and application of the obstacle avoidance sensor, the position sensor and the distance sensor are related to the control and operation of the electric forklift by receiving the data transmitted by the sensor by the controller of the driving control system, which are all included in the patent scope covered by the present invention.
The carrying device 2 has a main body 21, and an electromagnetic or optical automatic guiding device is provided on the main body 21, so that the driving control system can drive the wheels at the bottom of the main body 21 to move according to a set driving path through the transmission device, thereby forming an unmanned carrier, an intelligent guiding carrier or other unmanned transferring carrier, but not limited thereto, the main body 21 can also be a fixed or movable goods shelf, a material shelf, etc., the front and rear sides of the main body 21 are respectively provided with a carrying table 22 and a mechanical arm 23, and the left and right sides of the carrying table 22 are provided with positioning parts 221 protruding upwards, and a containing space 220 penetrating front and rear is formed between the two positioning parts 221, the transverse surfaces above the two positioning portions 221 are respectively provided with left and right opposite inclined baffles 2211 in a protruding manner, the inner side of each baffle 2211 is provided with a concave limiting groove 2212, the bottom of the bearing table 22 is connected with a steering mechanism 222 comprising a steering wheel 2221 and a steering bar 2222, the motor 223 drives the steering mechanism 222 to enable the bearing table 22 to rotate to different directions, the bottom of the frame of the main body 21 or the lower part of the bearing table 22 is provided with an aligning portion 211, a U-shaped inserting space 210 is concavely formed on the aligning portion 211 from the end face of the main body 21 towards the direction of the mechanical arm 23, and two sides of an opening of the inserting space 210 are respectively outwards formed with guide surfaces 2111.
The mechanical arm 23 may be a joint type mechanical arm or other mechanical arm with multi-axis movement, picking and placing or carrying functions, and is connected with an electric power system on the unmanned transfer trolley through a power system, and a controller drives and controls a motor of each degree of freedom of the servo mechanism, so that the mechanical arm can make multi-axis movement in a plane or three-dimensional space, and the picking and placing part 231 is arranged on the end part of the mechanical arm 23, so that the controller can drive and control the electric clamping jaw 2311 of the picking and placing part 231 to perform clamping and placing actions.
In this embodiment, the automatic handling forklift 1 can utilize the fork 122 of the lifting mechanism 12 to fork a material rack 3 for carrying, stacking and transporting at a short distance, wherein the material rack 3 is preferably implemented as a pallet, a warehouse cage, a stacking rack or other various racks, if the material rack 3 is illustrated by a full pallet, a plurality of rows of yarn hanging rods 311 are arranged on the base frame 31, each yarn hanging rod 311 is respectively hung with a full yarn tube 4 in a sleeving manner, each full yarn tube 4 is uniformly wound with glass fiber yarns on the yarn tube, and a plurality of rollers 312 and foot rods 313 are arranged at the periphery of the bottom of the base frame 31.
As shown in fig. 2, the above-mentioned method for transporting a material rack in the present invention includes the following implementation steps:
(S101) the automated guided forklift 1 carries the material rack 3 by the forks 122 of the lifting mechanism 12, and guides the vehicle to the standby position by the first obstacle avoidance sensor 13.
(S102) the automated guided forklift 1 performs distance and angle positioning of the forks 122 on the XY-direction plane by the second obstacle avoidance sensor 14, and the position sensor 16 determines the elevation height of the forks 122 in the Z-axis direction.
(S103) the automated guided forklift 1 moves toward the carrier 2.
(S104) the automatic transfer forklift 1 performs the insertion operation while correcting the distance and angle of the forks 122 by the second obstacle avoidance sensor 14.
(S105) the forks 122 of the automated guided forklift 1 complete the placement of the pallet 3 on the pallet 22 of the carrier 2 and then retract from the carrier 2.
Referring to fig. 4 to 8, the schematic diagram of the automatic handling forklift according to the present invention, in which the secondary positioning is performed by using the obstacle avoidance sensor and the height of the fork is determined by using the position sensor, the schematic diagram of the automatic handling forklift when the fork is inserted while being corrected toward the direction of the unmanned transferring trolley, the schematic diagram of the fork of the automatic handling forklift before the pallet is placed on the unmanned transferring trolley, the schematic diagram of the pallet after the pallet is placed on the unmanned transferring trolley, and the schematic diagram of the automatic handling forklift returning to the preparation position after the automatic handling forklift is withdrawn from the unmanned transferring trolley are shown, in which the carrying device 2 in the present embodiment is illustrated by using an unmanned transferring trolley, and after the unmanned transferring trolley receives the task instruction issued by the main control console, when the automated guided vehicle 1 carries the material loading rack 3, for example, a full-yarn carrier with a plurality of full-yarn tubes 4 is mounted on a pedal of the vehicle body 11, and the automated guided vehicle 1 is operated in a manual mode by a manual operation lever, or the automated guided vehicle 1 receives a task instruction issued by the main control console, and then moves to a warehouse area or a designated station position (e.g., point a) in an automatic mode, and the material loading rack 3 with the plurality of full-yarn tubes 4 is forked up by the fork 122 of the lifting mechanism 12 to complete the movement of the material loading rack 3, and then the automated guided vehicle 1 can be automatically guided to a preparation position (e.g., point B) by the first obstacle avoidance sensor 13.
When the automated guided forklift 1 conveys the work carrier 3 to the standby position, the second obstacle avoidance sensor 14 can first position the work carrier 3 by a distance and an angle between the fork 122 and the unmanned transfer carriage in the XY direction plane, and the position sensor 16 can determine the elevation of the fork 122 in the Z axis direction, and after the upper fork 1221 of the fork 122 lifts the work carrier 3 to a height higher than the height of the loading table 22, the work carrier 3 moves toward the unmanned transfer carriage, and during the movement of the automated guided forklift 1, the second obstacle avoidance sensor 14 can correct the distance and the angle between the bottom fork 1222 of the fork 122 and the alignment part 211 of the main body 21, and can insert the work carrier into the alignment part 211, and smoothly insert the work carrier 3 into the insertion space 210 to the positioning by the front guide wheel of the bottom fork 1222 along the guide surface 2111, and simultaneously move the upper fork 1221 of the fork 122 to a distance above the loading table 22, the upper fork 1221 is moved downward into the space 220 between the two positioning parts 221, the bottom of the base frame 31 of the material rack 3 is placed on the lateral surface of the two positioning parts 221 along the guiding surfaces inside the left and right baffles 2211, the rollers 312 at the two sides of the middle of the bottom of the base frame 31 are respectively clamped into the corresponding limiting grooves 2212 of the two positioning parts 221, and each foot bar 313 is respectively abutted against the front and rear side wall surfaces of the two positioning parts 221, so that the material rack 3 can be placed on the bearing platform 22 quickly, the automatic carrying forklift 1 can be retracted from the unmanned carrying trolley to the preparation position according to the set travelling path and then is driven to the original warehouse area or the work station position for carrying the next another full-yarn trolley, or can be driven to the other unmanned carrying trolley position for carrying out the empty-yarn trolley removing operation, and then returning to the originally designated position.
In addition, when the unmanned transfer trolley with the full yarn carrier is driven to the side end position of the yarn rack platform, the mechanical arm 23 clamps the full yarn tubes 4 mounted on the first yarn hanging area by the material taking rack 3 in sequence, and respectively places the full yarn tubes 5 mounted on the yarn rack platform, and after the full yarn tubes 4 are all replaced on the yarn rack platform, the motor 223 drives the steering mechanism 222 to rotate the material rack 3 placed on the bearing platform 22, so that the second yarn hanging area is turned to face the mechanical arm 23, and after the mechanical arm 23 replaces the full yarn tubes 4 in the second yarn hanging area on the yarn rack platform, the unmanned transfer trolley carries the empty yarn racks with the empty yarn tubes 5 to the initial position.
Referring to fig. 9 to 10, which are respectively a flow chart of a step of taking down an empty yarn carrier in the method for handling a material rack according to the present invention and a schematic diagram of taking down an empty yarn carrier placed by an unmanned transfer carrier when an automatic handling forklift is driven to a preparation position, it can be clearly seen that the flow chart of taking down an empty yarn carrier in the method for handling a material rack according to the present invention includes the following implementation steps:
(S201) the automated guided forklift 1 guides the travel to the standby position by the first obstacle avoidance sensor 13.
(S202) the automated guided forklift 1 performs distance and angle positioning of the forks 122 on the XY-direction plane by the second obstacle avoidance sensor 14, and the position sensor 16 determines the elevation height of the forks 122 in the Z-axis direction.
(S203) the automated guided forklift 1 moves toward the carrier 2.
(S204) the automated guided forklift 1 performs the insertion operation while correcting the distance and angle of the forks 122 by the second obstacle avoidance sensor 14.
(S205) after the pallet fork 122 of the automatic handling forklift 1 has completed removing the rack 3 placed on the loading table 22 by the loading device 2, it is retracted from the loading device 2.
As can be seen from the above steps, the automatic handling forklift 1 according to the present invention has the main difference that the unmanned transfer trolley with the empty bobbin trolley is moved to the initial position in advance after the empty bobbin trolley is removed and the full bobbin trolley is placed, and the automatic handling forklift 1 in step (S201) does not perform the handling of the material rack 3 first, but can directly move to the preparation position by the guide of the first obstacle avoidance sensor 13, and then perform the distance and angle positioning of the pallet fork 122 on the XY direction plane by the second obstacle avoidance sensor 14, and the position sensor 16 performs the determination of the lifting height of the pallet fork 122 in the Z axis direction, then can move toward the position of the carrier 2, and perform the inserting operation while the distance and angle correction of the pallet fork 122 is performed by the second obstacle avoidance sensor 14, and the automatic handling forklift 1 in the step (S205) can complete the removal of the material rack 3 placed on the carrier 22, for example, and the automatic handling forklift is loaded with a plurality of bobbins 5, and the automatic handling forklift can return to the position of the electric forklift 1 according to the setting of the position, thereby reducing the labor cost and labor cost, and labor saving, and handling work time saving, and the like.
The above description is illustrative of the invention and is not to be construed as limiting, and it will be understood by those skilled in the art that many modifications, variations or equivalents may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (11)
1. A work or material rest handling system, characterized in that: the automatic carrying forklift comprises an automatic carrying forklift body capable of moving according to a set running path, a portal frame of a lifting mechanism is arranged in front of the automatic carrying forklift body, a fork which is arranged on the portal frame and used for taking and placing a material frame along with lifting of the portal frame in the Z-axis direction, a first obstacle avoidance sensor used for guiding and positioning the automatic carrying forklift to come and go to a preparation position is arranged above the automatic carrying forklift body, a second obstacle avoidance sensor used for judging secondary positioning of the distance and the angle of the fork on an XY-direction plane is arranged in the middle of the front of the portal frame, and a position sensor used for judging the lifting height of the fork in the Z-axis direction is arranged on the side edge of the portal frame; the side edge of the portal of the lifting mechanism is also provided with a distance sensor for judging the insertion distance of the fork in the Y-axis direction;
the automatic carrying forklift comprises a rack, a fork, a loading device and a lifting device, wherein the rack is provided with a loading table, positioning parts for the fork of the automatic carrying forklift to place the rack on the upper transverse surface of the rack are arranged at the left side and the right side of the loading table, and a containing space for the fork to descend into is formed between the two positioning parts; the transverse surfaces above the two positioning parts of the bearing table are respectively provided with baffle plates for the bottom of the base frame of the material rack to be placed on the two positioning parts along the baffle plates, and the inner sides of the baffle plates are respectively provided with limiting grooves for the rollers at the bottom of the base frame to be respectively clamped in.
2. The rack handling system of claim 1, wherein: and third obstacle avoidance sensors are respectively arranged at two sides of the rear of the vehicle body, are infrared, laser or ultrasonic obstacle avoidance sensors and are used for measuring the distance between the automatic carrying forklift and surrounding obstacles.
3. The rack handling system of claim 1, wherein: the distance sensor is an infrared or ultrasonic distance sensor.
4. The rack handling system of claim 1, wherein: the fork of the lifting mechanism comprises an upper fork part extending forwards from the left side and the right side of a mounting frame in the same direction, and a bottom fork part fixed at the left side and the right side of the bottom of the portal frame and extending forwards in the same direction, and two fork wheels are arranged in front of the two bottom fork parts Fang Gebie.
5. The rack handling system of claim 4, wherein: the lifting mechanism is also provided with a distance sensor on the side edge of the portal, the distance sensor is an infrared or ultrasonic distance sensor and is used for judging the insertion distance of the two bottom fork parts of the fork in the Y-axis direction, and guide parts are respectively arranged at the front outer side and the front outer side of the two bottom fork parts of the fork and are used for guiding the fork to be inserted into a position.
6. The rack handling system of claim 1, wherein: the first obstacle avoidance sensor and the second obstacle avoidance sensor are infrared, laser obstacle avoidance sensors or ultrasonic obstacle avoidance sensors, and acquire distance and angle data of the obstacle based on rotation or movement of a measuring beam or ultrasonic waves on an XY direction plane.
7. The rack handling system of claim 1, wherein: the second obstacle avoidance sensor is also integrally provided with a depth camera, which is used for overlapping the distance data measured by the second obstacle avoidance sensor with the image obtained by the obstacle shot by the depth camera so as to calculate the distance and the size of the obstacle.
8. The rack handling system of claim 1, wherein: the position sensor is a stay wire type encoder, one end pulled out by a stay wire is connected to the portal frame, and then the number of steps of each circle pulled out by the stay wire along with the lifting of the portal frame is measured by an encoder so as to calculate the lifting displacement height of the fork in the Z-axis direction.
9. The rack handling system of claim 1, wherein: the fork of the automatic carrying forklift comprises an upper fork part for taking and placing the material rack in a Z-axis direction, and a bottom fork part fixed at the bottom of the portal frame, wherein the bearing device is provided with a body, the bottom of the body is provided with a counterpoint part positioned below the bearing table by a certain distance, and an inserting space for inserting the bottom fork part into the positioning is formed in the counterpoint part from the end surface of the body in a concave manner.
10. A method of handling a rack, suitable for use in a rack handling system according to any one of claims 1-9, the rack handling system handling a rack using an automated handling forklift and placing the rack on a carrying platform of a carrying device, the method comprising the steps of:
(A) The automatic carrying forklift uses a fork of a lifting mechanism to carry the material rack, and guides the material rack to travel to a preparation position through a first obstacle avoidance sensor;
(B) The automatic carrying forklift carries out distance and angle positioning of the fork on an XY direction plane through a second obstacle avoidance sensor, and a position sensor judges the lifting height of the fork in the Z axis direction;
(C) The automatic carrying forklift moves towards the bearing device;
(D) The automatic carrying forklift performs the inserting operation while correcting the fork distance and angle through the second obstacle avoidance sensor;
(E) The fork of the automatic carrying forklift is used for completing the placement of the material rack on the bearing table of the bearing device and then retreating from the bearing device.
11. A method of handling a work rack, suitable for use in a work rack handling system according to any one of claims 1-9, the work rack handling system being adapted to be moved to a preparation position by means of an automated handling forklift and to remove a work rack having a carrying device placed on a carrying table, the method comprising the steps of:
(A) The automatic carrying forklift is guided by a first obstacle avoidance sensor to travel to the preparation position;
(B) The automatic carrying forklift carries out distance and angle positioning of the fork on an XY direction plane through a second obstacle avoidance sensor, and a position sensor judges the lifting height of the fork in the Z axis direction;
(C) The automatic carrying forklift moves towards the bearing device;
(D) The automatic carrying forklift performs the inserting operation while correcting the fork distance and angle through the second obstacle avoidance sensor;
(E) After the fork of the automatic carrying forklift finishes taking down the material rack placed on the bearing table by the bearing device, the material rack is retreated from the bearing device.
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| CN202011134664.9A CN114380244B (en) | 2020-10-21 | 2020-10-21 | Material rack carrying system and method thereof |
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| CN202011134664.9A CN114380244B (en) | 2020-10-21 | 2020-10-21 | Material rack carrying system and method thereof |
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| JP2003034497A (en) * | 2001-07-19 | 2003-02-07 | Nippon Yusoki Co Ltd | Unmanned carrying system |
| CN109911819A (en) * | 2019-03-22 | 2019-06-21 | 杭州昱透实业有限公司 | A kind of balance weight type AGV forklift |
| CN111483949A (en) * | 2020-03-16 | 2020-08-04 | 浙江大华机器人技术有限公司 | Stacking vehicle AGV and height positioning method, device and equipment for pallet fork of stacking vehicle AGV |
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| JP2003034497A (en) * | 2001-07-19 | 2003-02-07 | Nippon Yusoki Co Ltd | Unmanned carrying system |
| CN2503054Y (en) * | 2001-09-08 | 2002-07-31 | 云南昆船第一机械有限公司 | Floor fork type laser guide automatic transport vehicle |
| CN109911819A (en) * | 2019-03-22 | 2019-06-21 | 杭州昱透实业有限公司 | A kind of balance weight type AGV forklift |
| CN111483949A (en) * | 2020-03-16 | 2020-08-04 | 浙江大华机器人技术有限公司 | Stacking vehicle AGV and height positioning method, device and equipment for pallet fork of stacking vehicle AGV |
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