TWI751664B - Material rack handling system and method - Google Patents
Material rack handling system and method Download PDFInfo
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- TWI751664B TWI751664B TW109129374A TW109129374A TWI751664B TW I751664 B TWI751664 B TW I751664B TW 109129374 A TW109129374 A TW 109129374A TW 109129374 A TW109129374 A TW 109129374A TW I751664 B TWI751664 B TW I751664B
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Abstract
本發明係提供一種料架搬運系統及其方法，其係於自動搬運叉車之車體前方為設置有起升機構之門架，並於門架上安裝有貨叉，當自動搬運叉車之貨叉搬取有一料架時，可通過車體上方之第一避障感測器導引行駛至預備位置，並由門架前方中間之第二避障感測器進行貨叉在XY方向平面上的距離和角度定位，且門架側邊上之位置感測器進行貨叉在Z軸方向升降高度的判定，再朝向承載裝置移動，一邊進行貨叉距離和角度的補正，一邊進行插置之動作，完成將料架置放在承載裝置之承載台上，再退離於承載裝置，此種自動搬運叉車可減少人工操作電動叉車進行紗架車搬運、裝卸過程中所耗費之工時與成本，並具有高度自動化、提高生產效率及可精簡人力成本之效果。 The present invention provides a material rack handling system and a method thereof, wherein a gantry with a hoisting mechanism is arranged in front of the car body of an automatic handling forklift, and a fork is installed on the gantry, which is used as the fork of the automatic handling forklift. When carrying a material rack, it can be guided by the first obstacle avoidance sensor on the top of the car body to the preparatory position, and the second obstacle avoidance sensor in the middle of the front of the gantry can carry out the fork on the XY direction plane. The distance and angle are positioned, and the position sensor on the side of the gantry determines the lifting height of the fork in the Z-axis direction, and then moves toward the carrying device, while correcting the distance and angle of the fork, and performing the insertion action , Complete the placement of the material rack on the bearing platform of the bearing device, and then withdraw from the bearing device. This kind of automatic handling forklift can reduce the man-hour and cost spent in the manual operation of the electric forklift for the handling and loading and unloading of the creel. And it has the effect of high automation, improving production efficiency and reducing labor costs.
Description
本發明係提供一種料架搬運系統及其方法，尤指自動搬運叉車可通過第一避障感測器導引行駛至預備位置，並由第二避障感測器進行貨叉的二次定位，位置感測器進行升降高度的判定，使貨叉可一邊進行補正一邊進行插置之動作，以完成料架搬運、裝卸之動作。 The present invention provides a material rack handling system and method thereof, in particular, an automatic handling forklift can be guided by a first obstacle avoidance sensor to travel to a preparatory position, and the second obstacle avoidance sensor can perform secondary positioning of the fork , The position sensor determines the height of the lift, so that the fork can be inserted while compensating, so as to complete the movement of the material rack and loading and unloading.
按，近年由於電子及通訊產品的規格不斷升級，使電路板朝輕、薄方向發展，並利用電子級玻璃纖維布作為銅箔基板的主要原料，提供銅箔基板所需之強度、尺寸安定性、電性特性等品質要求，而隨著電路板被廣泛的應用於資訊、消費性電子、通訊器材與電動車等及其他高科技電子產品的電路板原料需求，讓玻璃纖維產業技術製程要不斷研發精進及自動化生產，才能滿足應用端的升級需求。 Press, in recent years, due to the continuous upgrading of the specifications of electronic and communication products, the circuit boards have been developed in the direction of lightness and thinness, and electronic-grade glass fiber cloth is used as the main raw material of the copper foil substrate to provide the strength and dimensional stability required by the copper foil substrate. , electrical characteristics and other quality requirements, and as circuit boards are widely used in information, consumer electronics, communication equipment, electric vehicles, and other high-tech electronic products, the demand for circuit board raw materials makes the technical process of the glass fiber industry continue to be Advanced research and development and automated production can meet the upgrade needs of the application side.
而玻璃纖維布的主要來源為玻璃纖維紗(Glass Yarn)，其產出為將精矽砂、碎玻璃、石灰石、純鹼與高嶺土等軋碎後由窯爐高溫熔解生產成玻璃膏，並經過抽絲、捲取、撚紗等過程製成玻璃纖維紗後，再經由整紗、漿紗、併經、織布、退漿等處理製成玻璃纖維布，其中該整紗製程係利用整紗機先依布種的幅寬及組織要求而排列一定數目之經紗，再將經紗整經捲取於經軸上後，以作為後續漿紗前之準備。 The main source of glass fiber cloth is glass fiber yarn (Glass Yarn). After the glass fiber yarn is made from silk, coiling, twisting and other processes, it is then processed into glass fiber cloth through whole yarn, sizing, warp, weaving, desizing, etc. The whole yarn process uses a yarn finishing machine First, arrange a certain number of warp yarns according to the fabric width and weave requirements, and then warp the warp yarns and wind them on the warp beam as a preparation for subsequent sizing.
惟該傳統整紗的過程中，需要現場作業員操作電動叉車來搬取滿紗架車，並將滿紗架車運送至整紗機側方，便可藉由人工的方式先將整紗機上之空紗管取下掛載在空紗架車上，再將滿紗架車上之滿紗管取下掛載在整紗機上，以完成置換之作業，而現場作業員則可操作電動叉車將空紗架車運回至倉庫區或工站位置進行補紗之作業，且各紗管需要及時的置換與補紗，才能滿足生產線之需求。 However, in the traditional yarn finishing process, the on-site operator needs to operate the electric forklift to carry the full creel car and transport the full creel car to the side of the yarn finishing machine. The empty bobbins above are removed and mounted on the empty creel car, and then the full bobbins on the full creel car are taken off and mounted on the yarn finishing machine to complete the replacement operation, and the on-site operator can operate The electric forklift transports the empty creel back to the warehouse area or station for yarn patching, and each bobbin needs to be replaced and patched in time to meet the needs of the production line.
是以，在無人工廠利用自動化生產的時代，隨著玻璃纖維布製程多元化的加工處理，便需考量到生產線自動化與製程設計之需求，並配合無人搬送車與機械手臂，使生產線之速度加快，提高生產之效率，故業者要如何設計出可減少現場作業員操作電動叉車進行紗架車的搬運、裝卸等作業之自動化搬運裝置，以因應生產線自動化與製程設計之需求，即為從事於此行業者所亟欲研究改善之方向所在。 Therefore, in the era of automated production in unmanned factories, with the diversified processing of glass fiber cloth processes, it is necessary to consider the needs of production line automation and process design, and cooperate with unmanned transport vehicles and robotic arms to speed up the production line. , to improve the efficiency of production, so how to design an automated handling device that can reduce the number of field operators operating electric forklifts for handling, loading and unloading of creel vehicles, in order to meet the needs of production line automation and process design, that is, to engage in this Industry players are eager to study the direction of improvement.
故，發明人有鑑於上述缺失，乃搜集相關資料，經由多方的評估及考量，並以從事於此行業累積之多年研發經驗持續試作與修改，始設計出此種料架搬運系統及其方法的發明專利誕生。 Therefore, in view of the above deficiencies, the inventor collects relevant information, conducts multiple evaluations and considerations, and continues to experiment and revise with years of R&D experience accumulated in this industry, before designing the material rack handling system and its method. Invention patent was born.
本發明之主要目的乃在於自動搬運叉車之車體前方為設置有起升機構之門架，並於門架上安裝有可隨著其在Z軸方向升降進行取放一料架之貨叉，而車體上方則設置有用於導引定位自動搬運叉車往返至預備位置之第一避障感測器，並於門架前方中間設置有用於貨叉在XY方向平面上的距離和角度二次定位之第二避障感測器，且門架側邊上設置有用於貨叉在Z軸方向升降高度的判定之位置感測器，便可藉由自動搬運叉車 進行置放滿紗架車或取下空紗架車流程，並朝向承載裝置移動，一邊進行貨叉距離和角度的補正一邊進行插置之動作，以完成將滿紗架車置放在承載裝置之承載台上，或者是將空紗架車自承載台上取下之動作，此種自動搬運叉車不需現場作業員操作電動叉車，可減少人工操作電動叉車進行紗架車搬運、裝卸過程中所耗費之工時與成本，具有高度自動化、提高生產效率及可精簡人力成本之效果。 The main purpose of the present invention is that the front of the car body of the automatic transport forklift is provided with a gantry with a lifting mechanism, and a fork that can pick up and place a material rack is installed on the gantry along with the lifting and lowering in the Z-axis direction. The top of the car body is provided with a first obstacle avoidance sensor for guiding and positioning the automatic transport forklift to and from the preparatory position, and a secondary positioning of the distance and angle of the fork on the XY plane is provided in the middle of the front of the gantry. The second obstacle avoidance sensor, and the side of the gantry is provided with a position sensor for judging the lifting height of the fork in the Z-axis direction, which can be automatically transported by the forklift Carry out the process of placing the full creel trolley or removing the empty creel trolley, and move towards the carrier, while correcting the distance and angle of the fork and inserting it, so as to complete the placement of the full creel trolley on the carrier device This kind of automatic handling forklift does not require on-site operators to operate the electric forklift, which can reduce the manual operation of the electric forklift for the handling, loading and unloading of the creel. The labor hours and costs expended have the effect of highly automated, improved production efficiency and reduced labor costs.
本發明之次要目的乃在於承載裝置之承載台左右二側處為設有定位部及二定位部間所形成之容置空間，當自動搬運叉車之貨叉搬取一料架(如滿紗架車)朝向承載裝置移動時，可利用貨叉之上叉部將料架起升至承載台上方一距離，並於上叉部***至定位後，再將上叉部下降位移進入至二定位部間之容置空間內，使料架之基架底部穩定的置放於二定位部上方之橫向表面，而承載裝置之本體底部亦可進一步設有具插置空間之對位部，並於自動搬運叉車一邊進行貨叉之底叉部與對位部間距離和角度的補正，一邊進行插置於對位部內之動作，可利用底叉部前方導引部、輔以距離感測器順利的***於插置空間內至定位，以確保貨叉可將料架置放於承載台上，整體作業上也更為安全。 The secondary purpose of the present invention is that the left and right sides of the bearing platform of the bearing device are provided with a positioning portion and an accommodating space formed between the two positioning portions. When the trolley moves toward the carrying device, the upper fork part of the fork can be used to lift the material rack to a distance above the carrying platform, and after the upper fork part is inserted into the position, the upper fork part can be lowered and displaced to the second position In the accommodating space between the parts, the bottom of the base frame of the material rack can be stably placed on the lateral surface above the two positioning parts, and the bottom of the main body of the carrying device can further be provided with an aligning part with an insertion space, and the bottom of the base frame of the material rack can be stably placed on the lateral surface above the two positioning parts. While correcting the distance and angle between the bottom fork and the alignment portion of the fork, the automatic handling forklift performs the action of inserting the fork into the alignment portion. It is inserted into the insertion space until it is positioned to ensure that the fork can place the material rack on the bearing platform, and the overall operation is also safer.
本發明之另一目的乃在於當自動搬運叉車進行置放滿紗架車流程時，可利用起升機構之貨叉搬取料架，並通過第一避障感測器導引行駛至靠近承載裝置(如未置放有紗架車之無人移載台車)之預備位置，第二避障感測器進行貨叉在XY方向平面上的距離和角度定位，以及位置感測器進行貨叉在Z軸方向升降高度的判定，再朝向承載裝置移動一邊進行貨叉距離和角度的補正，一邊進行插置之動作，即可迅速完成將料架置 放在承載台上之動作，且自動搬運叉車可依設定的行駛路徑退離於承載裝置(如無人移載台車)返回至預備位置。 Another object of the present invention is to use the forks of the hoisting mechanism to pick up the material rack when the automatic forklift truck is in the process of placing the full creel, and is guided by the first obstacle avoidance sensor to travel close to the load. The preparatory position of the device (such as an unmanned transfer trolley without a creel car), the second obstacle avoidance sensor performs the distance and angle positioning of the fork on the XY plane, and the position sensor performs the fork in the Z direction. Judgment of the lifting height in the axial direction, and then move toward the carrying device to correct the distance and angle of the fork, and perform the insertion action to quickly complete the racking of the material. The action of placing it on the carrying platform, and the automatic transport forklift can retreat from the carrying device (such as an unmanned transfer trolley) according to the set travel path and return to the preparatory position.
本發明之再一目的乃在於當自動搬運叉車進行取下空紗架車流程時，係與置放滿紗架車流程大致相同，其主要差異在於自動搬運叉車不會先進行料架搬取之動作，係通過第一避障感測器的導引直接行駛至預備位置，第二避障感測器進行貨叉距離和角度定位，以及位置感測器進行升降高度的判定後，再朝向承載裝置位置(如置放有空紗架車之無人移載台車)移動，一邊進行貨叉距離和角度的補正，一邊進行插置之動作，使貨叉可迅速完成將承載台上置放之料架(如空紗架車)取下，再依設定的行駛路徑退離於承載裝置返回至預備位置。 Another object of the present invention is that when the automatic handling forklift carries out the process of removing the empty creel car, it is roughly the same as the process of placing the full creel car, and the main difference is that the automatic handling forklift does not carry out the removal of the material rack first. The action is to drive directly to the preparatory position through the guidance of the first obstacle avoidance sensor. The position of the device (such as an unmanned transfer trolley with an empty creel trolley) is moved, and the distance and angle of the fork are corrected while the insertion action is performed, so that the fork can quickly complete the material placed on the carrier table. Remove the frame (such as an empty creel car), and then retreat from the carrier device according to the set travel path and return to the preparatory position.
1:自動搬運叉車 1: Automatic handling forklift
11:車體 11: Body
12:起升機構 12: Lifting mechanism
121:門架 121: Gantry
122:貨叉 122: Fork
122a:安裝架 122a: Mounting bracket
1221:上叉部 1221: Upper fork
1222:底叉部 1222: Bottom fork
1223:貨叉輪 1223: Fork Wheel
1224:導引部 1224: Guidance Department
13:第一避障感測器 13: The first obstacle avoidance sensor
14:第二避障感測器 14: Second obstacle avoidance sensor
14a:深度攝影機 14a: Depth Camera
15:第三避障感測器 15: The third obstacle avoidance sensor
16:位置感測器 16: Position Sensor
17:距離感測器 17: Distance sensor
2:承載裝置 2: carrying device
21:本體 21: Ontology
210:插置空間 210: Insert Space
211:對位部 211: Counterpart
2111:導引面 2111: Guide Surface
22:承載台 22: Bearing platform
220:容置空間 220: accommodating space
221:定位部 221: Positioning Department
2211:擋板 2211: Bezel
2212:限位槽 2212: Limit slot
222:轉向機構 222: Steering mechanism
2221:鍊輪 2221: Sprocket
2222:鍊條 2222: Chain
223:馬達 223: Motor
23:機械手臂 23: Robotic Arm
231:取放部 231: Pick and place
2311:電動夾爪 2311: Electric Gripper
3:料架 3: Material rack
31:基架 31: Pedestal
311:掛紗桿 311: Yarn hanging rod
312:滾輪 312: Roller
313:腳桿 313: Foot bar
4:滿紗管 4: Full bobbin
5:空紗管 5: Empty bobbin
〔第1圖〕係本發明自動搬運叉車之立體外觀圖。 [Fig. 1] is a perspective external view of the automatic transfer forklift of the present invention.
〔第2圖〕係本發明料架搬運方法在置放滿紗架車之步驟流程圖。 [Fig. 2] is a flow chart of the steps of placing the full creel cart in the material rack handling method of the present invention.
〔第3圖〕係本發明自動搬運叉車搬運滿紗架車行駛至預備位置時之示意圖。 [FIG. 3] is a schematic diagram of the present invention when the automatic forklift truck transports the full creel and travels to the ready position.
〔第4圖〕係本發明自動搬運叉車利用避障感測器進行二次定位及位置感測器進行貨叉高度判定之示意圖。 [FIG. 4] is a schematic diagram of the automatic transport forklift of the present invention using the obstacle avoidance sensor for secondary positioning and the position sensor for fork height determination.
〔第5圖〕係本發明自動搬運叉車之貨叉朝無人移載台車方向邊補正邊進行插置動作時之示意圖。 [FIG. 5] is a schematic diagram of the fork of the automatic transfer forklift of the present invention, when the fork is compensating and inserting in the direction of the unmanned transfer trolley.
〔第6圖〕係本發明自動搬運叉車之貨叉將滿紗架車置放於無人移載台車前之示意圖。 [Fig. 6] is a schematic diagram of the forks of the automatic transport forklift of the present invention before placing the full creel on the unmanned transfer trolley.
〔第7圖〕係本發明自動搬運叉車之貨叉將滿紗架車置放於無人移載台車後之示意圖。 [Fig. 7] is a schematic diagram of the forks of the automatic transfer forklift of the present invention placing the full creel on the unmanned transfer trolley.
〔第8圖〕係本發明自動搬運叉車退離於無人移載台車之示意圖。 [Fig. 8] is a schematic diagram of the automatic transfer forklift of the present invention retreating from the unmanned transfer trolley.
〔第9圖〕係本發明料架搬運方法在取下空紗架車之步驟流程圖。 [Fig. 9] is a flow chart of the steps of removing the empty creel car in the material rack handling method of the present invention.
〔第10圖〕係本發明自動搬運叉車行駛至預備位置取下無人移載台車置放的空紗架車之示意圖。 [Fig. 10] is a schematic diagram of the automatic transfer forklift of the present invention traveling to the ready position to remove the empty creel car placed on the unmanned transfer trolley.
為達成上述目的及功效，本發明所採用之技術手段及其構造，茲繪圖就本發明之較佳實施例詳加說明其構造與功能如下，俾利完全瞭解。 In order to achieve the above-mentioned purpose and effect, the technical means and structure adopted by the present invention, the preferred embodiments of the present invention are described in detail in the drawings and the structure and function are as follows, so as to be fully understood.
請參閱如第1~3圖所示，係分別為本發明自動搬運叉車之立體外觀圖、料架搬運方法在置放滿紗架車之步驟流程圖及自動搬運叉車搬運滿紗架車行駛至預備位置時之示意圖，由圖中可清楚看出，本發明之料架搬運系統為包括有自動搬運叉車1及承載裝置2，其中：
Please refer to Figures 1 to 3, which are the three-dimensional appearance diagram of the automatic handling forklift of the present invention, the flow chart of the steps of placing the full creel car in the material rack handling method, and the automatic transport forklift moving the full creel car to the The schematic diagram of the preparation position, it can be clearly seen from the figure that the material rack handling system of the present invention includes an
該自動搬運叉車1為具有車體11，並於車體11之車架上安裝有傳動裝置、轉向系統、液壓裝置及驅動控制系統等，且車架前方設置有起升機構12之門架121，而門架121包含內門架及外門架，並於內門架內側通過一滑架安裝有貨叉122，且內門架與外門架之間安裝有液壓裝置之起升油缸，以構成一電動叉車，便可藉由驅動控制系統通過傳動裝置帶動車體11底部之車輪，並由轉向系統來控制車體11能夠依設定的行駛路徑移動，且可透過液壓裝置之起升油缸帶動內門架，以供起升鏈輪驅動鏈條帶動滑架沿著內門架作上升或下降，進而使貨叉122可隨著滑架作上
升或下降，惟該電動叉車之種類與型式很多，其基本的組成與結構設計，隨著應用的方式不同，也大多不盡相同，並可依實際的應用來搭配選用或變更設計，如手動操控桿、踏板等，故在本案以下之說明書內容中皆一起進行說明，合予陳明。
The
在本實施例中，起升機構12之貨叉122包含安裝於門架121內側的滑架上之安裝架122a、安裝架122a左右二側朝前方同向延伸之上叉部1221，以及固定在外門架底部左右二側朝前方同向延伸之底叉部1222，並於二底叉部1222前方各別安裝有蹺蹺板式之二貨叉輪1223，用以撐抵於地面來提升上叉部1221搬運時之穩定性，且二底叉部1222前方二外側處分別設有導引部1224，如可通過一伸縮調整元件分別安裝有至少一個導引輪，但並不以此為限，亦可省略底叉部1222結構設計，直接在貨叉122前方二外側處分別設有導引部。
In this embodiment, the
此外，自動搬運叉車1在車體11或起升機構12之門架12l上方為設置有第一避障感測器13，並於門架121前方貨叉122在二底叉部1222中間設置有第二避障感測器14，且車體11後方二側處分別設置有對稱分布之第三避障感測器15，再於門架121之外門架側邊上設置有位置感測器16，而每一個避障感測器13、14、15較佳實施可分別為採用紅外線或雷射光源之避障感測器〔如雷達(LiDAR)感測器〕，係基於光的飛行時間(Time of Flight，ToF)來測量出紅外線、雷射避障感測器與障礙物之間的距離，但並不以此為限，每一個避障感測器亦可分別為超聲波避障感測器，係基於通過在XY方向平面上旋轉或移動量測光束或超聲波，以取得障礙物的距離和角度(θ)資料，且第二避障感測器14上方一距
離也可進一步整合設置有深度攝影機14a，便可將避障感測器14量測之距離資料與深度攝影機14a所拍攝取得之影像進行疊合，更能精確地計算出障礙物距離及大小；另，位置感測器16較佳實施可為一拉線型編碼器，並將拉線拉出的一端連接於門架121之內門架或滑架上後，便可藉由編碼器量測拉線隨著內門架或滑架升降所拉出的每圈步數，進而計算出貨叉122在Z軸方向隨著滑架升降的高度。
In addition, the
在本實施例中，起升機構12在門架121之外門架側邊上靠近位置感測器16位置為進一步設置有距離感測器17，包含紅外線或超聲波距離感測器，較佳實施係基於光的飛行時間來測量出感測器與障礙物之間的距離，而每一個避障感測器13、14、15、深度攝影機14a、位置感測器16與距離感測器17則可分別通過傳輸線或資料匯流排連接於驅動控制系統之控制器，並由控制器接收和存儲感測器的資料，以進行自動搬運叉車1的控制與操作，其中該第一避障感測器13用於導引定位自動搬運叉車1往返至預備位置(由A點移動至B點)；第二避障感測器14用於起升機構12之貨叉122在XY方向平面上二次定位的判定；第三避障感測器15用於檢測自動搬運叉車1與周圍障礙物之間的距離，以擴大周圍檢測的範圍；位置感測器16用於貨叉122進行Z軸方向升降高度的判定；以及距離感測器17用於貨叉122在Y軸方向插置距離的判定，惟此部分有關避障感測器、位置感測器、距離感測器的原理與應用，並由驅動控制系統之控制器接收感測器傳輸的資料進行電動叉車相關的控制與操作等，係為現有技術之範疇，凡其他未脫離本發明所揭示之技藝精神下所完成之均等變化與修飾變更，均應包含於本發明所涵蓋之專利範圍中。 In this embodiment, the lifting mechanism 12 is further provided with a distance sensor 17 on the side of the gantry outside the gantry 121 and close to the position sensor 16, including an infrared or ultrasonic distance sensor, preferably implemented The distance between the sensor and the obstacle is measured based on the time of flight of light, and each obstacle avoidance sensor 13, 14, 15, depth camera 14a, position sensor 16 and distance sensor 17 It can be connected to the controller of the drive control system through a transmission line or a data bus, and the controller receives and stores the data of the sensor, so as to control and operate the automatic handling forklift 1, wherein the first obstacle avoidance sensor 13 is used for guiding and positioning the automatic transport forklift 1 to and from the preparatory position (moving from point A to point B); the second obstacle avoidance sensor 14 is used for 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 to detect the distance between the automatic handling forklift 1 and surrounding obstacles to expand the surrounding detection range; the position sensor 16 is used for the fork 122 to lift the height in the Z-axis direction and the distance sensor 17 is used for the determination of the insertion distance of the fork 122 in the Y-axis direction, but this part is about the principle and application of the obstacle avoidance sensor, the position sensor and the distance sensor, and is described by The controller of the drive control system receives the data transmitted by the sensor to perform the control and operation related to the electric forklift, etc., which is the scope of the prior art, and all other equal changes and modifications are completed without departing from the technical spirit disclosed in the present invention. , shall be included in the patent scope covered by the present invention.
該承載裝置2為具有本體21，並於本體21上具備有電磁或光學自動導引裝置，使驅動控制系統可通過傳動裝置帶動本體21底部之車輪能夠依設定的行駛路徑移動，以構成一無人搬運車、智慧型導引運輸車或其他無人移載台車，但並不以此為限，本體21亦可為固定式或移動式貨架、物料架等，而本體21前後二側處則分別設置有承載台22及機械手臂23，並於承載台22左右二側處設有向上凸起之定位部221，且二定位部221之間形成有前後貫通之容置空間220，再於二定位部221上方之橫向表面分別凸設有左右相對之傾斜狀擋板2211，且各擋板2211內側處設有內凹之限位槽2212，又承載台22底部連結有包含鍊輪2221與鍊條2222之轉向機構222，並由馬達223驅動轉向機構222使承載台22可轉動至不同的方向，而本體21之車架底部或承載台22下方一距離則設有對位部211，並於對位部211從本體21端面上朝機械手臂23方向內凹形成有U形狀之插置空間210，且插置空間210開口二側處分別朝外形成有導引面2111。
The carrying
而機械手臂23可為一關節型機械手臂或其他具多軸運動、取放或搬運等功能之機械手臂，係通過動力系統與無人移載台車上之電力系統連接，並由控制器來驅動控制伺服機構每個自由度的電機，使機械手臂能夠在一平面或三維空間作多軸運動，且機械手臂23之端部上設有取放部231，便可藉由控制器驅動控制取放部231之電動夾爪2311來進行夾取和置放動作。
The
在本實施例中，自動搬運叉車1可利用起升機構12之貨叉122將一料架3叉起進行搬取、堆疊和短距離的運輸作業，其中該料架3
較佳實施為一紗架車，但並不以此為限，亦可為棧板、倉庫籠、積層架或其他各種貨架，若是料架3以滿紗架車為說明時，係於基架31上設有多排陣列之複數掛紗桿311，並於每一個掛紗桿311上以套接的方式分別掛載有滿紗管4，且各滿紗管4在紗管上均勻捲繞有玻璃纖維紗，再於基架31底部周邊處設有複數滾輪312及腳桿313。
In this embodiment, the
如第2圖所示，本發明上述之料架搬運方法在置放滿紗架車之流程，係包括下列之實施步驟： As shown in Figure 2, the process of placing the full creel carriage in the above-mentioned material rack handling method of the present invention includes the following implementation steps:
(S101)自動搬運叉車1利用起升機構12之貨叉122搬取料架3，並通過第一避障感測器13導引行駛至預備位置。
( S101 ) The
(S102)自動搬運叉車1通過第二避障感測器14進行貨叉122在XY方向平面上的距離和角度定位，以及位置感測器16進行貨叉122在Z軸方向升降高度的判定。
(S102) The
(S103)自動搬運叉車1朝向承載裝置2移動。
( S103 ) The
(S104)自動搬運叉車1通過第二避障感測器14一邊進行貨叉122距離和角度的補正，一邊進行插置之動作。
( S104 ) The
(S105)自動搬運叉車1之貨叉122完成將料架3置放在承載裝置2之承載台22上，再退離於承載裝置2。
( S105 ) The
請搭配參閱如第4~8圖所示，係分別為本發明自動搬運叉車利用避障感測器進行二次定位及位置感測器進行貨叉高度判定之示意圖、自動搬運叉車之貨叉朝無人移載台車方向邊補正邊進行插置動作時之示意圖、自動搬運叉車之貨叉將紗架車置放於無人移載台車上前之示意圖、紗架車置放於無人移載台車上後之示意圖及自動搬運叉車退離於無人移載
台車返回至預備位置之示意圖，由圖中可清楚看出，在本實施例中之承載裝置2係以一無人移載台車為說明，並於無人移載台車接收到主控制台所下達的任務指令後，可使承載台22未置放有紗架車之無人移載台車先行駛至起始位置，當自動搬運叉車1進行搬取料架3時，例如掛載有多個滿紗管4之滿紗架車，可供現場作業員站立在車體11之踏板上，並由手動操控桿以手動模式操控自動搬運叉車1，或者是自動搬運叉車1接收到主控制台下達的任務指令後，以自動模式行駛至倉庫區或指定的工站位置(如A點)，並利用起升機構12之貨叉122來將掛載有多個滿紗管4的料架3叉起，以完成搬取之動作，再通過第一避障感測器13使自動搬運叉車1可自動導引行駛至預備位置(如B點)。
Please refer to Figures 4 to 8, which are the schematic diagrams of the automatic handling forklift using the obstacle avoidance sensor for secondary positioning and the position sensor for fork height determination, respectively, and the fork orientation of the automatic handling forklift. The schematic diagram of the unmanned transfer trolley when the direction is corrected and the insertion action, the schematic diagram of the automatic transfer fork before placing the creel on the unmanned transfer trolley, after the creel is placed on the unmanned transfer trolley Schematic diagram of the automatic forklift and the unmanned transfer
The schematic diagram of the trolley returning to the preparatory position. It can be clearly seen from the figure that the carrying
當自動搬運叉車1將料架3搬運至預備位置時，可通過第二避障感測器14先進行貨叉122與無人移載台車之間在XY方向平面上的距離和角度定位，以及位置感測器16進行貨叉122在Z軸方向升降高度的判定，並使貨叉122之上叉部1221將料架3起升的高度為高於承載台22的高度後，再朝向無人移載台車位置移動，而自動搬運叉車1移動的過程中，可通過第二避障感測器14一邊進行貨叉122之底叉部1222與本體21之對位部211間距離和角度的補正，一邊進行插置於對位部211內之動作，並利用底叉部1222前方導引輪可沿著導引面2111順利的***於插置空間210內至定位，同時使貨叉122之上叉部1221將料架3搬運至承載台22上方一距離，且上叉部1221下降位移進入至二定位部221間之容置空間220內，便可將料架3之基架31底部沿著左右擋板2211內側之導引面置放於二定位部221之橫向表面，並使基架31底部中間二側處
之滾輪312分別卡入於二定位部221對應之限位槽2212內，且各腳桿313分別抵靠於二定位部221前後二側壁面上，即可迅速完成將料架3置放在承載台22上之動作，使自動搬運叉車1可依設定的行駛路徑退離於無人移載台車返回至預備位置，再行駛至原先的倉庫區或工站位置，以進行後續另一台滿紗架車之搬運作業，或是可先行駛至另一台無人移載台車位置進行空紗架車之取下作業，再返回至原先指定的位置。
When the
此外，當置放有滿紗架車之無人移載台車行駛至紗架台側方終點位置時，可由機械手臂23依序夾取料架3在第一掛紗區中掛載之滿紗管4，並分別置放於紗架台上，再將紗架台上掛載之空紗管5置放於第一掛紗區中原先的位置，直到滿紗管4都置換於紗架台上後，馬達223便會驅動轉向機構222使承載台22上置放之料架3跟著轉動，以供第二掛紗區轉向面對至機械手臂23，並於機械手臂23將第二掛紗區中之滿紗管4都置換於紗架台上後，再由無人移載台車載運掛載有多個空紗管5之空紗架車行駛至起始位置。
In addition, when the unmanned transfer trolley on which the full creel car is placed travels to the end position on the side of the creel table, the
請參閱如第9~10圖所示，係分別為本發明料架搬運方法在取下空紗架車之步驟流程圖及自動搬運叉車行駛至預備位置取下無人移載台車置放的空紗架車之示意圖，由圖中可清楚看出，本發明上述之料架搬運方法在取下空紗架車之流程，係包括下列之實施步驟： Please refer to Figures 9 to 10, which are the flow chart of the steps of removing the empty creel in the material rack handling method of the present invention and the automatic transport forklift driving to the preparatory position to remove the empty yarn placed by the unmanned transfer trolley. The schematic diagram of the trolley, it can be clearly seen from the figure that the process of removing the empty creel trolley in the above-mentioned material rack handling method of the present invention includes the following implementation steps:
(S201)自動搬運叉車1通過第一避障感測器13導引行駛至預備位置。
( S201 ) The
(S202)自動搬運叉車1通過第二避障感測器14進行貨叉122在XY方向平面上的距離和角度定位，以及位置感測器16進行貨
叉122在Z軸方向升降高度的判定。
(S202) The
(S203)自動搬運叉車1朝向承載裝置2移動。
( S203 ) The
(S204)自動搬運叉車1通過第二避障感測器14一邊進行貨叉122距離和角度的補正，一邊進行插置之動作。
( S204 ) The
(S205)自動搬運叉車1之貨叉122完成取下承載裝置2在承載台22上置放之料架3後，再退離於承載裝置2。
( S205 ) After the
由上述之步驟可以得知，本發明之自動搬運叉車1在取下空紗架車之流程與置放滿紗架車之流程大致相同，其主要差異在於置放有空紗架車之無人移載台車為預先行駛至起始位置，並於步驟(S201)中之自動搬運叉車1不會先進行搬取料架3，可通過第一避障感測器13的導引直接行駛至預備位置，再通過第二避障感測器14進行貨叉122在XY方向平面上的距離和角度定位，以及位置感測器16進行貨叉122在Z軸方向升降高度的判定後，便可朝向承載裝置2位置移動，並通過第二避障感測器14邊進行貨叉122距離和角度的補正邊進行插置之動作，且該步驟(S205)中之自動搬運叉車1係通過貨叉122完成取下承載台22上置放之料架3，例如掛載有多個空紗管5之空紗架車，再依設定的行駛路徑退離於無人移載台車返回至預備位置，此種自動搬運叉車1不需現場作業員操作電動叉車進行紗架車搬運、裝卸等作業，即可減少人工操作電動叉車進行紗架車搬運、裝卸的過程中所耗費之工時與成本，具有高度自動化、提高生產效率及可精簡人力成本之效果。
It can be seen from the above steps that the process of removing the empty creel car in the
上述詳細說明為針對本發明一種較佳之可行實施例說明而已，惟該實施例並非用以限定本發明之申請專利範圍，凡其他未脫離本發 明所揭示之技藝精神下所完成之均等變化與修飾變更，均應包含於本發明所涵蓋之專利範圍中。 The above detailed description is only for describing a preferred feasible embodiment of the present invention, but this embodiment is not intended to limit the scope of the patent application of the present invention, and all others do not depart from the present invention Equivalent changes and modifications made under the spirit of the art disclosed in the disclosure shall be included in the scope of the patent covered by the present invention.
綜上所述，本發明上述之料架搬運系統及其方法使用時為確實能達到其功效及目的，故本發明誠為一實用性優異之發明，為符合發明專利之申請要件，爰依法提出申請，盼 審委早日賜准本案，以保障發明人之辛苦發明，倘若 鈞局審委有任何稽疑，請不吝來函指示，發明人定當竭力配合，實感德便。 To sum up, the above-mentioned material rack handling system and method of the present invention can indeed achieve its effect and purpose when used. Therefore, the present invention is an invention with excellent practicability. To meet the application requirements for an invention patent, it is proposed in accordance with the law. I hope that the review committee will approve the case as soon as possible to protect the inventor's hard work. If the review committee has any doubts, please do not hesitate to send a letter for instructions. The inventor will do his best to cooperate.
1:自動搬運叉車 1: Automatic handling forklift
11:車體 11: Body
12:起升機構 12: Lifting mechanism
121:門架 121: Gantry
122:貨叉 122: Fork
122a:安裝架 122a: Mounting bracket
1221:上叉部 1221: Upper fork
1222:底叉部 1222: Bottom fork
1223:貨叉輪 1223: Fork Wheel
13:第一避障感測器 13: The first obstacle avoidance sensor
14:第二避障感測器 14: Second obstacle avoidance sensor
14a:深度攝影機 14a: Depth Camera
15:第三避障感測器 15: The third obstacle avoidance sensor
16:位置感測器 16: Position Sensor
17:距離感測器 17: Distance sensor
Claims (11)
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| TW109129374A TWI751664B (en) | 2020-08-27 | 2020-08-27 | Material rack handling system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5938710A (en) * | 1996-04-03 | 1999-08-17 | Fiat Om Carrelli Elevatori S.P.A. | Selectively operable industrial truck |
| WO2018090081A1 (en) * | 2016-11-15 | 2018-05-24 | Swisslog Australia Pty Limited | A system for, and a method of, order palletising |
| CN209127982U (en) * | 2018-10-31 | 2019-07-19 | 安徽合力股份有限公司 | The mounting structure of draw wire encoder |
| 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 |
-
2020
- 2020-08-27 TW TW109129374A patent/TWI751664B/en active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5938710A (en) * | 1996-04-03 | 1999-08-17 | Fiat Om Carrelli Elevatori S.P.A. | Selectively operable industrial truck |
| WO2018090081A1 (en) * | 2016-11-15 | 2018-05-24 | Swisslog Australia Pty Limited | A system for, and a method of, order palletising |
| CN209127982U (en) * | 2018-10-31 | 2019-07-19 | 安徽合力股份有限公司 | The mounting structure of draw wire encoder |
| 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 |
Non-Patent Citations (1)
| Title |
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| 未來机器人V (公開人)，未來机器人無人倉，堆高式無人叉車取放貨，2020/4/1(公開日期)，Youku，https://www.bing.com/videos/search?q=%e5%90%88%e5%8a%9b%e5%8f%89%e8%bd%a6%e6%99%ba%e8%83%bd%e6%90%ac%e8%bf%90AGV&&view=detail&mid=50FDDD81DF54F2F969B850FDDD81DF54F2F969B8&&FORM=VRDGAR&ru=%2Fvideos%2Fsearch%3Fq%3D%25e5%2590%2588%25e5%258a%259b%25e5%258f%2589%25e8%25bd%25a6%25e6%2599%25ba%25e8%2583%25bd%25e6%2590%25ac%25e8%25bf%2590AGV%26FORM%3DH * |
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| TW202208259A (en) | 2022-03-01 |
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