TWM630741U - Automatic loading and unloading system - Google Patents

Abstract

An automatic loading and unloading system includes an overhead platform and a transporting machine. The transporting machine is configured to move on rails of the overhead platform along a first direction, and includes a hoist mechanism, a fork assembly, a base, rollers, a rotating shaft, an angle adjustment hydraulic cylinder, a shaft supporting mechanism, two optical scanners, and a position sensor. The fork assembly is disposed on the hoist mechanism. The rollers are disposed on the base and can move on the rails. The rotating shaft is disposed on a shaft clamping part of the base. The angle adjustment hydraulic cylinder is disposed on the base. An upper portion of the shaft supporting mechanism is connected to the angle adjustment hydraulic cylinder, and a lower portion is connected to the rotating shaft. The shaft supporting mechanism is connected to the hoist mechanism. The optical scanners are disposed on the base and can obtain two-dimensional contour information above a carrying plane of a truck. The position sensor is disposed on the base and can sense position information of the transporting machine.

Description

自動裝載與卸載系統Automatic loading and unloading system

本揭露是有關於一種物料之裝載與卸載技術，且特別是有關於一種自動裝載與卸載系統。The present disclosure relates to a material loading and unloading technology, and more particularly, to an automatic loading and unloading system.

目前，自動裝載與卸載系統已經廣泛用於使用袋裝物料的行業中，例如水泥業、食品業、飼料業、與肥料業。在自動裝載與卸載系統中，叉車自托盤叉取袋裝物料，再將袋裝物料轉運到貨車上，來進行物料的裝載作業。叉車亦可自貨車上叉取袋裝物料，並將袋裝物料轉運到托盤上，以進行物料的卸載作業。At present, automatic loading and unloading systems have been widely used in industries that use bagged materials, such as the cement industry, the food industry, the feed industry, and the fertilizer industry. In the automatic loading and unloading system, the forklift picks up the bagged material from the pallet, and then transfers the bagged material to the truck to load the material. The forklift can also pick up the bagged materials from the truck and transfer the bagged materials to the pallet for unloading of the materials.

然而，這樣的自動裝載與卸載系統需要使用托盤，而托盤的物料成本及倉儲管理對業者造成負擔。此外，叉車叉取袋裝物料時，可能由於人為操作失準，而將叉車的貨叉叉入袋裝物料中，導致袋裝物料破損，而造成物料外洩。在這樣的情況下，工作人員需清理現場才能繼續進行裝載或卸載作業，而延誤作業時程。However, such an automatic loading and unloading system requires the use of pallets, and the material cost and warehouse management of the pallets impose burdens on the operators. In addition, when the forklift fork picks up the bagged material, the fork of the forklift may be fork into the bagged material due to inaccurate human operation, resulting in the damage of the bagged material and the leakage of the material. In such a situation, workers need to clear the site to continue loading or unloading operations, which delays the operation schedule.

因此，本揭露之一目的就是在提供一種自動裝載與卸載系統，其搬運機之基座沿橫向的二側分別設有光學掃描器，且搬運機之基座上設有在搬運機移動時感測搬運機之位置的位置感測器。藉此，於掃描貨車之承載平面時可避免承載平面之二側為貨物的高度所遮蔽。因此，可針對已經滿載的貨車，取得貨物與貨車之承載平面相對位置的資訊，以及貨車之承載平面在滿載的高度。故，於卸載貨物時，可避免貨物損毀，而可大幅提升貨物卸載的效率。Therefore, one of the objectives of the present disclosure is to provide an automatic loading and unloading system, wherein the base of the transporter is provided with optical scanners on two sides along the lateral direction, and the base of the transporter is provided with a sensor that detects when the transporter moves. A position sensor that detects the position of the carrier. In this way, when scanning the loading plane of the truck, the two sides of the loading plane can be prevented from being obscured by the height of the cargo. Therefore, it is possible to obtain information about the relative position of the cargo and the loading plane of the truck, and the height of the loading plane of the truck at full load for a fully loaded truck. Therefore, when the cargo is unloaded, the damage of the cargo can be avoided, and the efficiency of the cargo unloading can be greatly improved.

本揭露之另一目的就是在提供一種自動裝載與卸載系統，其貨叉上設有一或多個另一光學掃描器或攝像頭，且搬運機之升降機構上設有另一位置感測器。如此可在取得貨車之承載平面在滿載的高度資訊後，隨著貨叉的下降而利用另一光學掃描器或攝像頭取得貨車承載平面後方的二維輪廓資訊，再搭配升降機構上的位置感測器所取得之升降機構的位置資訊，建立貨車後方之三維輪廓。藉此，可驅使貨叉準確叉取貨車上的貨物，順利卸貨。Another object of the present disclosure is to provide an automatic loading and unloading system, wherein one or more other optical scanners or cameras are arranged on the forks, and another position sensor is arranged on the lifting mechanism of the carrier. In this way, after obtaining the height information of the loading plane of the truck when it is fully loaded, as the fork descends, another optical scanner or camera can be used to obtain the two-dimensional contour information behind the loading plane of the truck, and then matched with the position sensing on the lifting mechanism. The position information of the lifting mechanism obtained by the device is used to establish a three-dimensional outline of the rear of the truck. In this way, the fork can be driven to pick up the goods on the truck accurately and unload the goods smoothly.

根據本揭露之上述目的，提出一種自動裝載與卸載系統。此自動裝載與卸載系統包含高空平台以及搬運機。高空平台包含二軌道。搬運機設於軌道上，且配置以在軌道上沿第一方向移動。此搬運機包含升降機構、貨叉、基座、數個滾輪、旋轉軸件、角度調整油壓缸、軸支撐機構、二光學掃描器、以及位置感測器。貨叉設於升降機構上，其中升降機構配置以驅動貨叉沿第二方向移動，貨叉包含數個叉件，這些叉件並排且間隔設置。基座包含二軸件夾持部。數個滾輪設於基座，且配置以在軌道上移動。旋轉軸件設於二軸件夾持部上。角度調整油壓缸設於基座之上方。軸支撐機構具有上部與下部，其中上部與角度調整油壓缸接合，下部與旋轉軸件接合，其中軸支撐機構與升降機構相互連接。當角度調整油壓缸作動時，軸支撐機構與升降機構繞旋轉軸件轉動，以使貨叉沿逆時針方向抬升或沿順時針方向前傾。前述之二光學掃描器設於基座之第一橫桿上並在第三方向上彼此分隔，且配置以在搬運機移動時對軌道下方之貨車進行光學掃描，以取得貨車之承載平面上方之數個二維輪廓資訊。承載平面上方之每個二維輪廓資訊係基於第二方向及第三方向。第一方向、第二方向、與第三方向互相垂直。位置感測器設於第一橫桿上，且配置以在搬運機移動時感測搬運機之數個位置資訊。利用搬運機的這些位置資訊及承載平面上方之二維輪廓資訊形成三維輪廓資訊。According to the above objective of the present disclosure, an automatic loading and unloading system is provided. This automatic loading and unloading system includes an aerial platform and a handler. The high-altitude platform contains two orbits. The transporter is provided on the rail, and is configured to move along the first direction on the rail. The transporter includes a lifting mechanism, a fork, a base, several rollers, a rotating shaft, an angle adjustment hydraulic cylinder, a shaft support mechanism, two optical scanners, and a position sensor. The fork is arranged on the lifting mechanism, wherein the lifting mechanism is configured to drive the fork to move along the second direction, and the fork includes a plurality of forks, which are arranged side by side and spaced apart. The base includes a two-axis member clamping portion. Several rollers are arranged on the base and are configured to move on the track. The rotating shaft is arranged on the clamping part of the two shafts. The angle adjustment hydraulic cylinder is arranged above the base. The shaft support mechanism has an upper part and a lower part, wherein the upper part is engaged with the angle adjustment hydraulic cylinder, and the lower part is engaged with the rotating shaft part, wherein the shaft support mechanism and the lifting mechanism are connected to each other. When the angle adjustment hydraulic cylinder is actuated, the shaft support mechanism and the lifting mechanism rotate around the rotating shaft, so that the fork is lifted in the counterclockwise direction or inclined forward in the clockwise direction. The aforementioned two optical scanners are arranged on the first crossbar of the base and are separated from each other in the third direction, and are configured to perform optical scanning on the trucks under the track when the carrier moves, so as to obtain the data above the loading plane of the trucks. 2D contour information. Each 2D profile information above the bearing plane is based on the second and third directions. The first direction, the second direction, and the third direction are perpendicular to each other. The position sensor is arranged on the first horizontal bar, and is configured to sense several position information of the carrier when the carrier moves. The three-dimensional contour information is formed by using the position information of the carrier and the two-dimensional contour information above the carrier plane.

依據本揭露之一實施例，上述之自動裝載與卸載系統更包含數個防止脫軌裝置，其中基座更包含第一縱桿與第二縱桿分別與第一橫桿之相對二端接合，第一縱桿與第二縱桿之外側均設有這些防止脫軌裝置之至少二者。According to an embodiment of the present disclosure, the above-mentioned automatic loading and unloading system further includes a plurality of derailment prevention devices, wherein the base further includes a first longitudinal rod and a second longitudinal rod respectively engaged with opposite ends of the first transverse rod, the first longitudinal rod At least two of these derailment prevention devices are provided on the outer sides of one longitudinal rod and the second longitudinal rod.

依據本揭露之一實施例，上述之升降機構包含第一桅桿、第二桅桿、高度調整油壓缸、以及滑輪組件。第二桅桿設於第一桅桿之下且與第一桅桿平行設置，其中貨叉設於第二桅桿上。高度調整油壓缸連接第一桅桿。滑輪組件連接第一桅桿與第二桅桿。高度調整油壓缸作動時，第一桅桿沿第二方向移動，以帶動滑輪組件驅動第二桅桿及該貨叉沿第二方向移動。According to an embodiment of the present disclosure, the above-mentioned lifting mechanism includes a first mast, a second mast, a height adjustment hydraulic cylinder, and a pulley assembly. The second mast is arranged under and parallel to the first mast, wherein the fork is arranged on the second mast. The height adjustment hydraulic cylinder is connected to the first mast. The pulley assembly connects the first mast and the second mast. When the height adjustment hydraulic cylinder is actuated, the first mast moves along the second direction, so as to drive the pulley assembly to drive the second mast and the fork to move along the second direction.

依據本揭露之一實施例，上述每個叉件包含二傳送帶，且這些傳送帶平行設置。According to an embodiment of the present disclosure, each of the fork members includes two conveyor belts, and the conveyor belts are arranged in parallel.

依據本揭露之一實施例，上述之自動裝載與卸載系統更包含載貨機構，其中載貨機構包含傳送帶平台。當貨叉靠近載貨機構時，傳送帶與傳送帶平台配置以將載貨機構上之貨物從傳送帶平台傳送到叉件。According to an embodiment of the present disclosure, the above-mentioned automatic loading and unloading system further includes a loading mechanism, wherein the loading mechanism includes a conveyor belt platform. When the forks are proximate to the load carrier, the conveyor belt and the conveyor belt platform are configured to transfer the load on the load mechanism from the conveyor belt platform to the forks.

依據本揭露之一實施例，上述之叉件分成數個叉件組，這些叉件組可個別沿第三方向移動，以調整這些叉件組之間的間距，且這些叉件組亦可一起沿第三方向移動。According to an embodiment of the present disclosure, the above-mentioned fork elements are divided into several fork element groups, and these fork element groups can be moved individually along a third direction to adjust the distance between the fork element groups, and the fork element groups can also be together Move in the third direction.

依據本揭露之一實施例，上述之搬運機更包含另一位置感測器。此另一位置感測器設於升降機構上，且配置以在升降機構移動時感測升降機構在第二方向上之數個位置之對應之數個位置資訊。According to an embodiment of the present disclosure, the aforementioned handling machine further includes another position sensor. The other position sensor is disposed on the lifting mechanism and is configured to sense a plurality of position information corresponding to a plurality of positions of the lifting mechanism in the second direction when the lifting mechanism moves.

依據本揭露之一實施例，上述之自動裝載與卸載系統更包含至少一另一光學掃描器或至少一攝像頭設於貨叉上。此至少一另一光學掃描器或至少一攝像頭配置以在升降機構移動時，對軌道下方之貨車進行光學掃描或影像辨識，以取得貨車之承載平面後方之數個二維輪廓資訊或影像，其中承載平面後方之二維輪廓資訊係基於第一方向及第三方向。利用升降機構之位置資訊與承載平面後方之二維輪廓資訊或影像建立貨車後方之三維輪廓資訊。According to an embodiment of the present disclosure, the above-mentioned automatic loading and unloading system further includes at least one other optical scanner or at least one camera disposed on the fork. The at least one other optical scanner or at least one camera is configured to perform optical scanning or image recognition on the truck under the track when the lifting mechanism moves, so as to obtain several two-dimensional contour information or images behind the carrying plane of the truck, wherein The 2D contour information behind the bearing plane is based on the first direction and the third direction. Use the position information of the lifting mechanism and the two-dimensional contour information or image behind the carrying plane to create the three-dimensional contour information of the rear of the truck.

依據本揭露之一實施例，上述之至少一另一光學掃描器或至少一攝像頭之數量為2，且這些另一光學掃描器或攝像頭在第三方向上分隔設置。According to an embodiment of the present disclosure, the number of the above-mentioned at least one other optical scanner or at least one camera is 2, and these other optical scanners or cameras are spaced apart in the third direction.

依據本揭露之一實施例，上述之搬運機更包含至少一夾持機構設於貨叉之上方，且配置以沿第二方向移動以夾持貨物。According to an embodiment of the present disclosure, the above-mentioned handling machine further includes at least one clamping mechanism disposed above the fork and configured to move along the second direction to clamp the goods.

以下仔細討論本揭露的多個實施例。然而，可以理解的是，這些實施例提供許多可應用的概念，其可實施於各式各樣的特定內容中。所討論與揭示的這些實施例僅供說明，並非用以限定本揭露之範圍。本揭露之所有實施例揭露多種不同特徵，但這些特徵可依需求而單獨實施或結合實施。另外，關於本文中所使用之「第一」、「第二」、…等，並非特別指次序或順位的意思，其僅為了區別以相同技術用語描述的元件或操作。Various embodiments of the present disclosure are discussed in detail below. It should be appreciated, however, that these embodiments provide many applicable concepts that can be embodied in a wide variety of specific contexts. The embodiments discussed and disclosed are for illustrative purposes only and are not intended to limit the scope of the present disclosure. All embodiments of the present disclosure disclose various features, but these features may be implemented individually or in combination as desired. In addition, "first", "second", .

此外，本揭露所敘述之二元件之間的空間關係不僅適用於圖式所繪示之方位，亦適用於圖式所未呈現之方位，例如倒置之方位。此外，本揭露所稱二部件的「連接」、「耦接」、「電性連接」或之類用語並非僅限制於此二者為直接的連接、耦接、或電性連接，亦可視需求而包含間接的連接、耦接、或電性連接。In addition, the spatial relationship between the two elements described in the present disclosure applies not only to the orientation shown in the drawings, but also to orientations not shown in the drawings, such as an inverted orientation. In addition, the terms "connected", "coupled", "electrically connected" or the like of the two components referred to in this disclosure are not limited to direct connection, coupling, or electrical connection between the two components, and can also be determined as required. Rather, indirect connections, couplings, or electrical connections are included.

請參照圖1，其係繪示依照本揭露之一實施方式的一種自動裝載與卸載系統的裝置示意圖。自動裝載與卸載系統100主要可包含高空平台200以及搬運機300。在一些例子中，自動裝載與卸載系統100更可包含載貨機構400。貨車500可停放在高空平台200的正下方，藉此自動裝車系統100可利用搬運機300將貨物101從載貨機構400轉移至貨車500上，或者將貨物101從貨車500上轉移至載貨機構400上。Please refer to FIG. 1 , which is a schematic diagram of an apparatus of an automatic loading and unloading system according to an embodiment of the present disclosure. The automatic loading and unloading system 100 may mainly include an aerial platform 200 and a handler 300 . In some examples, the automatic loading and unloading system 100 may further include a loading mechanism 400 . The truck 500 can be parked directly below the aerial platform 200 , whereby the automatic loading system 100 can use the handler 300 to transfer the goods 101 from the truck 400 to the truck 500 , or transfer the goods 101 from the truck 500 to the truck 400 superior.

如圖1所示，高空平台200可包含二軌道210與220。此二軌道210與220互相平行且間隔設置。每個軌道210與220可沿第一方向D1設置。軌道210與220的長度、以及彼此之間的間距可依裝貨時之實際情況而調整。舉例而言，可依據貨車500的數量及長度、載貨機構400的位置、以及裝貨現場的物件配置，來調整軌道210與220的長度以及彼此之間的間距。高空平台200具有相對之第一端240與第二端250。第一端240與第二端250可分別鄰近軌道210與220之二端點。As shown in FIG. 1 , the high-altitude platform 200 may include two rails 210 and 220 . The two rails 210 and 220 are parallel and spaced apart from each other. Each of the rails 210 and 220 may be disposed along the first direction D1. The lengths of the rails 210 and 220 and the distance between them can be adjusted according to the actual conditions of loading. For example, the lengths and the distances between the rails 210 and 220 can be adjusted according to the number and length of the trucks 500 , the position of the loading mechanism 400 , and the object configuration at the loading site. The aerial platform 200 has a first end 240 and a second end 250 opposite to each other. The first end 240 and the second end 250 may be adjacent to two end points of the rails 210 and 220, respectively.

在一些例子中，如圖1所示，自動裝載與卸載系統100可包含數個支承件102，這些支承件102可支撐高空平台200。這些支承件102可固定在地面上，以承托方式支撐高工平台200。在另一些例子中，若高空平台200設於有天花板的場地時，支承件102可由天花板向下延伸，而以吊掛方式支撐高空平台200。In some examples, as shown in FIG. 1 , the automated loading and unloading system 100 may include several supports 102 that may support the aerial platform 200 . These supports 102 can be fixed on the ground to support the high-tech platform 200 in a supporting manner. In other examples, if the high-altitude platform 200 is installed on a site with a ceiling, the support member 102 may extend downward from the ceiling to support the high-altitude platform 200 in a hanging manner.

搬運機300可搬運貨物101。搬運機300設於軌道210與220上，且可在軌道210與220上沿第一方向D1來回移動。高空平台200之第一端240與第二端250可選擇性地各設有一或多個緩衝器260。在圖1所示的例子中，第一端240與第二端250各設有二緩衝器260。這些緩衝器260位於軌道210與220之間。當搬運機300在軌道210與220上移動而接近高空平台200之第一端240或第二端250時，緩衝器260可阻止搬運機300繼續移動，並給予搬運機300沿第一方向D1的緩衝力。The handler 300 can transport the cargo 101 . The transporter 300 is disposed on the rails 210 and 220 and can move back and forth along the first direction D1 on the rails 210 and 220 . The first end 240 and the second end 250 of the high-altitude platform 200 can optionally each be provided with one or more buffers 260 . In the example shown in FIG. 1 , the first end 240 and the second end 250 are each provided with two buffers 260 . These buffers 260 are located between the rails 210 and 220 . When the handler 300 moves on the rails 210 and 220 and approaches the first end 240 or the second end 250 of the aerial platform 200 , the buffer 260 can prevent the handler 300 from continuing to move, and give the handler 300 a sway in the first direction D1 cushioning force.

請同時參照圖2與圖3，其係分別繪示依照本揭露之一實施方式的一種自動裝載與卸載系統之搬運機的立體示意圖與系統組裝圖。搬運機300主要包含升降機構310及貨叉320。貨叉320可用以承托如圖1所示之貨物101。升降機構310與貨叉320接合，而可升降貨叉320。在一些例子中，升降機構310主要可包含第一桅桿311、第二桅桿312、高度調整油壓缸313、以及滑輪組件314。第二桅桿312設於第一桅桿311之下方，且可與第一桅桿311平行設置。高度調整油壓缸313之一端連接第一桅桿311。滑輪組件314連接第一桅桿311與第二桅桿312。Please refer to FIG. 2 and FIG. 3 at the same time, which are respectively a three-dimensional schematic diagram and a system assembly diagram of a handling machine of an automatic loading and unloading system according to an embodiment of the present disclosure. The transporter 300 mainly includes a lift mechanism 310 and a fork 320 . The fork 320 can be used to support the cargo 101 as shown in FIG. 1 . The lift mechanism 310 is engaged with the fork 320, and the fork 320 can be raised and lowered. In some examples, the lift mechanism 310 may mainly include a first mast 311 , a second mast 312 , a height adjustment hydraulic cylinder 313 , and a pulley assembly 314 . The second mast 312 is arranged below the first mast 311 and can be arranged in parallel with the first mast 311 . One end of the height adjustment hydraulic cylinder 313 is connected to the first mast 311 . The pulley assembly 314 connects the first mast 311 and the second mast 312 .

在一些示範例子中，搬運機300可更包含軸支撐機構330。升降機構310設於軸支撐機構330上，而與軸支撐機構330相互連接。舉例而言，如圖1與圖2所示，升降機構310可固定於軸支撐機構330之內側，且面向高空平台200之第二端250。升降機構310之高度調整油壓缸313之一端穿設於軸支撐機構330中。因此，高度調整油壓缸313之相對二端分別連接第一桅桿311與軸支撐機構330。舉例而言，軸支撐機構330可包含凹槽331。高度調整油壓缸313可穿設於凹槽331中，藉此可使升降機構310與軸支撐機構330所形成的架構更為緊實。升降機構310可包含彼此相對之二高度調整油壓缸313，軸支撐機構330可包含彼此相對之二凹槽331，且此二高度調整油壓缸313分別穿設於此二凹槽331中。在其他例子中，升降機構310可僅包含一高度調整油壓缸313對應穿設於軸支撐機構330之一凹槽331中。 In some demonstrative examples, the handler 300 may further include a shaft support mechanism 330 . The lift mechanism 310 is disposed on the shaft support mechanism 330 and is connected to the shaft support mechanism 330 . For example, as shown in FIG. 1 and FIG. 2 , the lifting mechanism 310 can be fixed on the inner side of the shaft supporting mechanism 330 and face the second end 250 of the aerial platform 200 . One end of the height-adjusting hydraulic cylinder 313 of the lifting mechanism 310 is inserted through the shaft supporting mechanism 330 . Therefore, two opposite ends of the height adjustment hydraulic cylinder 313 are respectively connected to the first mast 311 and the shaft support mechanism 330 . For example, the shaft support mechanism 330 may include grooves 331 . The height adjustment hydraulic cylinder 313 can be inserted into the groove 331 , so that the structure formed by the lift mechanism 310 and the shaft support mechanism 330 can be more compact. The lifting mechanism 310 may include two height-adjusting hydraulic cylinders 313 opposite to each other, and the shaft support mechanism 330 may include two opposite grooves 331 , and the two height-adjusting hydraulic cylinders 313 respectively pass through the two grooves 331 . In other examples, the lifting mechanism 310 may only include a height adjusting hydraulic cylinder 313 correspondingly pierced in a groove 331 of the shaft support mechanism 330 .

貨叉320設於升降機構310上。如圖2與圖3所示，貨叉320可例如設於升降機構310之第二桅桿312上。升降機構310可驅動貨叉320沿第二方向D2，例如上下移動。第二方向D2垂直於第一方向D1。具體而言，高度調整油壓缸313作動而收縮或伸長時，會帶動第一桅桿311沿第二方向D2移動，第一桅桿311的移動又會帶動滑輪組件314來驅動第二桅桿312及其上的貨叉320沿第二方向D2移動。舉例而言，高度調整油壓缸313收縮時，第一桅桿311沿第二方向D2向下移動，而帶動滑輪組件314，滑輪組件314進一步驅動第二桅桿312及貨叉320沿第二方向D2向下移動。 The fork 320 is arranged on the lifting mechanism 310 . As shown in FIG. 2 and FIG. 3 , the fork 320 may be disposed on, for example, the second mast 312 of the lifting mechanism 310 . The lift mechanism 310 may drive the fork 320 to move in the second direction D2, eg, up and down. The second direction D2 is perpendicular to the first direction D1. Specifically, when the height adjustment hydraulic cylinder 313 is actuated to contract or extend, it will drive the first mast 311 to move in the second direction D2, and the movement of the first mast 311 will drive the pulley assembly 314 to drive the second mast 312 and its The upper fork 320 moves in the second direction D2. For example, when the height adjustment hydraulic cylinder 313 is retracted, the first mast 311 moves downward in the second direction D2, and drives the pulley assembly 314, and the pulley assembly 314 further drives the second mast 312 and the fork 320 in the second direction D2 Move Downward.

在一些例子中，如圖3所示，貨叉320可包含叉件321a~321f。叉件321a~321f並排且在第三方向D3上彼此間隔設置。每個叉件321a~321f可例如呈L型。叉件321a~321f可直接設置在第二桅桿312上。或者，貨叉320可選擇性地包含承載板322。承載板322接合於第二桅桿312上，叉件321a~321f則接合於承載板322上，如此叉件321a~321f透過承載板322與第二桅桿312間接接合。承載板322可沿第三方向D3移動。當貨車500停車位置偏移時，承載板322可沿第三方向D3移動來帶動叉件321a~321f，使叉件321a~321f可對應貨車500裝貨位置。In some examples, as shown in FIG. 3, the fork 320 may include forks 321a-321f. The forks 321a to 321f are arranged side by side and spaced apart from each other in the third direction D3. Each of the forks 321a to 321f may be, for example, L-shaped. The forks 321 a to 321 f may be directly disposed on the second mast 312 . Alternatively, the fork 320 may optionally include a carrier plate 322 . The carrier plate 322 is coupled to the second mast 312 , and the forks 321 a to 321 f are coupled to the carrier plate 322 , so that the forks 321 a to 321 f are indirectly coupled to the second mast 312 through the carrier plate 322 . The carrier plate 322 is movable along the third direction D3. When the parking position of the truck 500 is shifted, the carrier plate 322 can move along the third direction D3 to drive the forks 321 a - 321 f so that the forks 321 a - 321 f can correspond to the loading position of the truck 500 .

如圖2所示，在一些示範例子中，貨叉320更可包含接合板325與326，其中接合板325與326設置在承載板322之一側上。承載板322可沿第三方向D3移動來帶動接合板325與326。此外，叉件321a~321f可分成數個叉件組，每個叉件組包含數個叉件。舉例而言，叉件321a~321c為一組，而叉件321d~321f為另一組。一組叉件321a~321c可設置在接合板325上，另一組叉件321d ~321f可設置在接合板326上。接合板325與326可個別在承載板322上沿第三方向D3移動，藉此可分別帶動其上之叉件321a~321c與叉件321d ~321f沿第三方向D3，而調整二相鄰叉件組之間的間距。請參考圖1，當貨物101在載貨機構400上，而二相鄰貨物101可能沒有緊靠在一起時，即可透過調整二相鄰叉件組之間的間距，使各叉件組可更準確地對應載貨機構400上之貨物101的位置。As shown in FIG. 2 , in some exemplary examples, the fork 320 may further include engaging plates 325 and 326 , wherein the engaging plates 325 and 326 are disposed on one side of the carrier plate 322 . The carrier plate 322 can move along the third direction D3 to drive the engaging plates 325 and 326 . In addition, the forks 321a to 321f can be divided into several fork groups, and each fork group includes several forks. For example, the forks 321a-321c are one group, and the forks 321d-321f are another group. One set of forks 321 a ˜ 321 c may be disposed on the joint plate 325 , and another set of forks 321 d ~ 321 f may be disposed on the joint plate 326 . The engaging plates 325 and 326 can individually move on the carrier plate 322 along the third direction D3, thereby respectively driving the fork members 321a-321c and the fork members 321d-321f along the third direction D3 to adjust the two adjacent forks Spacing between groups of components. Referring to FIG. 1 , when the cargo 101 is on the cargo-carrying mechanism 400 and two adjacent cargoes 101 may not be in close contact with each other, the spacing between the two adjacent fork sets can be adjusted so that each fork set can be more It corresponds exactly to the position of the cargo 101 on the cargo carrier 400 .

另外，每個叉件組之相鄰二叉件之間的間距可依實際需求設定。舉例而言，在叉件321a~321c的組合中，叉件321b與叉件321a之間的間距、以及叉件321b與叉件321c之間的間距可依據如圖1所示在載貨機構400上之貨物101的排列方式而設定，以使貨物101可更平穩地從載貨機構400轉移到叉件321a~321f上。In addition, the distance between adjacent two fork elements of each fork element group can be set according to actual requirements. For example, in the combination of the forks 321a-321c, the distance between the fork 321b and the fork 321a, and the distance between the fork 321b and the fork 321c can be determined on the loading mechanism 400 as shown in FIG. 1 . According to the arrangement of the goods 101, the goods 101 can be more smoothly transferred from the loading mechanism 400 to the forks 321a-321f.

如圖3所示，每個叉件321a~321f包含至少一傳送帶323。在一些例子中，每個叉件321a~321f可包含二個傳送帶323，且在每個叉件321~321f中，這些傳送帶323平行設置。每個叉件321a~321f具有前端324。在一些示範例子中，前端324呈錐形。請一併參照圖1，將貨物101自叉件321a~321f卸載於貨車500的承載平面501時，錐形的前端324可縮減叉件321a~321f上之貨物101與承載平面501之間高度差，而可更平順地卸下貨物101。As shown in FIG. 3 , each of the forks 321 a to 321 f includes at least one conveyor belt 323 . In some examples, each of the forks 321a-321f may include two conveyor belts 323, and in each of the forks 321-321f, the conveyor belts 323 are arranged in parallel. Each of the forks 321 a to 321 f has a front end 324 . In some demonstrative examples, front end 324 is tapered. 1, when the cargo 101 is unloaded from the forks 321a-321f to the loading plane 501 of the truck 500, the tapered front end 324 can reduce the height difference between the cargo 101 on the forks 321a-321f and the loading plane 501 , and the cargo 101 can be unloaded more smoothly.

在一些貨物101使用棧板運輸的示範例子中，可以將貨叉320更換成常見堆高機屬具，例如鍛造扁叉。在每一次裝載二個貨物但貨物尺寸不相同的示範例子中，貨物101採橫豎堆疊放置，可於每一個叉件組設置推出裝置(未繪示)，藉此可於卸貨後，使前、後貨物101仍能有效地緊密貼合。In some illustrative examples where cargo 101 is transported using pallets, the forks 320 may be replaced with common stacker attachments, such as forged flat forks. In the example where two cargoes are loaded at a time but the sizes of the cargoes are different, the cargoes 101 are stacked horizontally and vertically, and a push-out device (not shown) can be provided on each fork group, so that the front, The rear cargo 101 can still fit effectively.

在一些例子中，如圖3所示，搬運機300更可包含基座340、數個滾輪350、旋轉軸件360、以及角度調整油壓缸370。基座340為搬運機300的承載平台，以承載其他構件。基座340可例如包含二軸件夾持部341。此二軸件夾持部341可設於同一高度，且在第三方向D3上間隔設置。第三方向D3、第一方向D1、與第二方向D2彼此垂直。In some examples, as shown in FIG. 3 , the transporter 300 may further include a base 340 , a plurality of rollers 350 , a rotating shaft 360 , and an angle adjustment hydraulic cylinder 370 . The base 340 is a carrying platform of the transporter 300 to carry other components. The base 340 may include, for example, a two-axis member clamping portion 341 . The two shaft member clamping portions 341 can be arranged at the same height and arranged at intervals in the third direction D3. The third direction D3, the first direction D1, and the second direction D2 are perpendicular to each other.

滾輪350設於基座340上。這些滾輪350可順著軌道210與220而在其上移動。在一些例子中，搬運機300包含四個滾輪350，其中二個滾輪350設於基座340的前側，另二個滾輪350則設於基座340的後側。在一些示範例子中，在基座340前側的二個滾輪350分別與馬達M接合。此二馬達M可分別驅動基座340前側的二滾輪350滾動，而進一步帶動基座340後側的二滾輪350。The roller 350 is arranged on the base 340 . These rollers 350 can move along the rails 210 and 220 thereon. In some examples, the transporter 300 includes four rollers 350 , two rollers 350 are disposed on the front side of the base 340 , and the other two rollers 350 are disposed on the rear side of the base 340 . In some exemplary examples, the two rollers 350 on the front side of the base 340 are engaged with the motors M, respectively. The two motors M can respectively drive the two rollers 350 on the front side of the base 340 to roll, and further drive the two rollers 350 on the rear side of the base 340 .

請參照圖3，旋轉軸件360穿設於基座340之二軸件夾持部341中。舉例而言，旋轉軸件360之相對二端部可分別穿過二軸件夾持部341，藉此軸件夾持部341可夾持住旋轉軸件360。旋轉軸件360之二端部更分別與軸支撐機構330之相對二側接合。Referring to FIG. 3 , the rotating shaft member 360 passes through the two shaft member clamping portions 341 of the base 340 . For example, two opposite ends of the rotating shaft member 360 can respectively pass through the two shaft member clamping portions 341 , so that the shaft member clamping portions 341 can clamp the rotating shaft member 360 . Two ends of the rotating shaft member 360 are further engaged with two opposite sides of the shaft supporting mechanism 330 respectively.

角度調整油壓缸370設於基座340之上方。如圖2與圖3所示之例子，搬運機300可包含二角度調整油壓缸370。此二角度調整油壓缸370可在第三方向D3上彼此間隔設置。每個角度調整油壓缸370之二端分別接合於基座340與軸支撐機構330上。軸支撐機構330可具有上部332與下部333，其中上部332位於下部333之上。在一些例子中，上部332與角度調整油壓缸370接合，下部333則與旋轉軸件360接合。The angle adjustment hydraulic cylinder 370 is disposed above the base 340 . In the example shown in FIG. 2 and FIG. 3 , the transporter 300 may include two angle adjustment hydraulic cylinders 370 . The two angle adjustment hydraulic cylinders 370 may be spaced apart from each other in the third direction D3. Two ends of each angle adjustment hydraulic cylinder 370 are respectively connected to the base 340 and the shaft support mechanism 330 . The shaft support mechanism 330 may have an upper portion 332 and a lower portion 333 , wherein the upper portion 332 is located on the lower portion 333 . In some examples, the upper part 332 is engaged with the angle adjustment hydraulic cylinder 370 , and the lower part 333 is engaged with the rotating shaft 360 .

由於軸支撐機構330與升降機構310連接，而軸支撐機構330又與旋轉軸件360及角度調整油壓缸370相互接合。因此，角度調整油壓缸370的作動可驅動軸支撐機構330與升降機構310繞旋轉軸件360轉動。舉例而言，請參照圖2，角度調整油壓缸370收縮時可驅使軸支撐機構330與升降機構310以逆時針方向繞旋轉軸件360轉動，藉此可使升降機構310上的貨叉320以逆時針方向抬升一角度。另一方面，角度調整油壓缸370伸長可驅使貨叉320以順時針方向傾斜一角度。Since the shaft support mechanism 330 is connected with the lift mechanism 310 , the shaft support mechanism 330 is in turn engaged with the rotating shaft member 360 and the angle adjustment hydraulic cylinder 370 . Therefore, the actuation of the angle adjustment hydraulic cylinder 370 can drive the shaft support mechanism 330 and the lift mechanism 310 to rotate around the rotating shaft member 360 . For example, referring to FIG. 2 , when the angle adjustment hydraulic cylinder 370 is retracted, the shaft supporting mechanism 330 and the lifting mechanism 310 can be driven to rotate around the rotating shaft member 360 in a counterclockwise direction, thereby enabling the fork 320 on the lifting mechanism 310 to rotate. Raise an angle counterclockwise. On the other hand, the extension of the angle adjustment hydraulic cylinder 370 can drive the fork 320 to tilt an angle in the clockwise direction.

在應用上，當貨叉320上裝載有如圖1之貨物101時，可收縮角度調整油壓缸370，以使貨叉320沿逆時針方向抬升一角度，藉此使貨叉320更穩當地承托住貨物101。而欲將貨物101自貨叉320卸下時，可伸長角度調整油壓缸370，以使貨叉320沿順時針方向前傾一角度，藉此貨物101可更順暢地自貨叉320上卸下。In application, when the fork 320 is loaded with the cargo 101 as shown in FIG. 1 , the angle adjustment hydraulic cylinder 370 can be retracted, so that the fork 320 can be raised by an angle in the counterclockwise direction, thereby making the fork 320 more stably supported Hold cargo 101. When the cargo 101 is to be unloaded from the fork 320 , the hydraulic cylinder 370 can be extended to adjust the angle, so that the fork 320 is tilted forward by an angle in the clockwise direction, so that the cargo 101 can be unloaded from the fork 320 more smoothly. Down.

根據實際應用需求，搬運機300更可包含至少二光學掃描器303a與303b以及位置感測器304。如圖2所示，光學掃描器303a與303b以及位置感測器304可設於基座340上。舉例而言，基座340可包含第一橫桿342、第二橫桿348、第一縱桿344、以及第二縱桿346。第一橫桿342與第二橫桿348彼此相對且實質平行設置，第一縱桿344與第二縱桿346彼此相對且實質平行設置。第一縱桿344之一端與第二縱桿346之一端分別和第一橫桿342之相對二端接合，第一縱桿344之另一端與第二縱桿346之另一端則分別和第二橫桿348之相對二端接合。光學掃描器303a與303b以及位置感測器304設於第一橫桿342上，其中光學掃描器303a與303b以及位置感測器304可在第三方向D3上彼此分隔，且位置感測器304可介於光學掃描器303a與303b之間。According to practical application requirements, the handling machine 300 may further include at least two optical scanners 303 a and 303 b and a position sensor 304 . As shown in FIG. 2 , the optical scanners 303 a and 303 b and the position sensor 304 can be provided on the base 340 . For example, the base 340 may include a first rail 342 , a second rail 348 , a first rail 344 , and a second rail 346 . The first horizontal bar 342 and the second horizontal bar 348 are opposite to each other and are arranged substantially parallel to each other, and the first longitudinal bar 344 and the second vertical bar 346 are opposite to each other and are arranged substantially parallel to each other. One end of the first longitudinal rod 344 and one end of the second longitudinal rod 346 are respectively engaged with the opposite ends of the first transverse rod 342 , and the other end of the first longitudinal rod 344 and the other end of the second longitudinal rod 346 are respectively connected with the second longitudinal rod 346 . Opposite ends of the crossbar 348 are engaged. The optical scanners 303a and 303b and the position sensor 304 are disposed on the first crossbar 342, wherein the optical scanners 303a and 303b and the position sensor 304 can be separated from each other in the third direction D3, and the position sensor 304 Can be between the optical scanners 303a and 303b.

請一併參照圖1與圖4，其中圖4係繪示依照本揭露之一實施方式的一種自動裝載與卸載系統之掃描貨車之承載平面上方的示意圖。光學掃描器303a與303b配置以在搬運機300移動到數個位置時，對高空平台200之軌道210與220下方之貨車500進行光學掃描，以分別取得這些位置所對應之貨車500之承載平面501上方的二維輪廓資訊。位置感測器304配置以在搬運機300於軌道210與220上移動時，感測搬運機300的位置，而分別取得對應之位置資訊。位置感測器304可例如是紅外線收發器。承載平面501上方的每個二維輪廓資訊係基於第二方向D2及第三方向D3。承載平面501上方的二維輪廓資訊包含承載平面501的輪廓資訊以及貨車500上之貨物相對承載平面。貨車500之承載平面501上方的二維輪廓資訊與搬運機300之位置資訊的搭配，可取得貨車500上所裝載之貨物101與貨車500之承載平面501之間的相對位置資訊、以及貨車500之承載平面501在滿載時的高度。Please refer to FIG. 1 and FIG. 4 together, wherein FIG. 4 is a schematic diagram above the carrying plane of a scanning truck of an automatic loading and unloading system according to an embodiment of the present disclosure. The optical scanners 303a and 303b are configured to perform optical scanning on the trucks 500 under the tracks 210 and 220 of the high-altitude platform 200 when the transporter 300 moves to several positions, so as to obtain the loading plane 501 of the trucks 500 corresponding to these positions respectively. 2D profile information above. The position sensor 304 is configured to sense the position of the transporter 300 when the transporter 300 moves on the rails 210 and 220 to obtain corresponding position information respectively. The position sensor 304 may be, for example, an infrared transceiver. Each 2D contour information above the bearing plane 501 is based on the second direction D2 and the third direction D3. The two-dimensional contour information above the carrying plane 501 includes the contour information of the carrying plane 501 and the relative carrying plane of the goods on the truck 500 . The combination of the two-dimensional contour information above the carrying plane 501 of the truck 500 and the position information of the transporter 300 can obtain the relative position information between the cargo 101 loaded on the truck 500 and the carrying plane 501 of the truck 500 , and the relative position information of the truck 500 . The height of the carrying plane 501 when fully loaded.

在本實施方式中，光學掃描器303a與303b沿第三方向D3分別設於基座340的二側，對滿載之貨車500進行掃描時，可避免掃描平面的二側被貨物101的高度遮蔽。In this embodiment, the optical scanners 303a and 303b are respectively disposed on two sides of the base 340 along the third direction D3 to avoid the two sides of the scanning plane being obscured by the height of the goods 101 when scanning the fully loaded truck 500 .

在一些例子中，如圖2與圖3所示，搬運機300更包含另一位置感測器305。位置感測器305可設置在升降機構310上。位置感測器305配置以在升降機構310移動時，感測升降機構310在第二方向D2上之數個位置，而分別取得對應之數個位置資訊。位置感測器305可例如是紅外線收發器。In some examples, as shown in FIGS. 2 and 3 , the handler 300 further includes another position sensor 305 . The position sensor 305 may be provided on the lift mechanism 310 . The position sensor 305 is configured to sense several positions of the lift mechanism 310 in the second direction D2 when the lift mechanism 310 moves, and obtain corresponding pieces of position information respectively. The position sensor 305 may be, for example, an infrared transceiver.

此外，如圖3所示，自動裝載與卸載系統100更可包含一或多個另一光學掃描器/攝像頭390。光學掃描器/攝像頭390可設於貨叉320上。在一些示範例子中，光學掃描器/攝像頭390之數量為2，且此二光學掃描器/攝像頭390在第三方向D3上彼此分隔設置。光學掃描器/攝像頭390可在升降機構310移動時，對軌道210與220下方之貨車500進行光學掃描或影像辨識，以取得貨車500之承載平面501後方之數個二維輪廓資訊或影像。承載平面501後方之二維輪廓資訊可基於第一方向D1及第三方向D3。Additionally, as shown in FIG. 3 , the automatic loading and unloading system 100 may further include one or more other optical scanners/cameras 390 . An optical scanner/camera 390 may be provided on the fork 320 . In some exemplary examples, the number of optical scanners/cameras 390 is 2, and the two optical scanners/cameras 390 are spaced apart from each other in the third direction D3. The optical scanner/camera 390 can perform optical scanning or image recognition on the truck 500 under the rails 210 and 220 when the lifting mechanism 310 moves, so as to obtain several two-dimensional contour information or images behind the carrying plane 501 of the truck 500 . The two-dimensional contour information behind the bearing plane 501 may be based on the first direction D1 and the third direction D3.

利用升降機構310的這些位置資訊及光學掃描器/攝像頭390所取得之承載平面501後方之二維輪廓資訊或影像，可建立貨車500之貨車後方三維輪廓資訊。也就是說，如圖4所示，針對已經滿載的貨車500，光學掃描器303a與303b以及位置感測器304的搭配，可取得貨物101與貨車500之承載平面501相對位置的資訊、以及貨車500之承載平面501在滿載的高度。 之後，升降機構310上的位置感測器305才可得知要下降的位置。此時，升降機構310之位置感測器305所感測到之位置資訊再搭配光學掃描器/攝像頭390所取得之承載平面501後方之二維輪廓資訊或影像，則可建立貨車後方三維輪廓資訊。Using the position information of the lift mechanism 310 and the two-dimensional contour information or image behind the carrying plane 501 obtained by the optical scanner/camera 390 , the three-dimensional contour information of the rear of the truck 500 can be established. That is to say, as shown in FIG. 4 , for a fully loaded truck 500 , the optical scanners 303 a and 303 b and the position sensor 304 can be combined to obtain the relative position information of the cargo 101 and the loading plane 501 of the truck 500 and the truck 500 . The load-bearing plane 501 of 500 is at the height of the full load. After that, the position sensor 305 on the lifting mechanism 310 can know the position to be lowered. At this time, the position information sensed by the position sensor 305 of the lifting mechanism 310 is combined with the two-dimensional contour information or image behind the carrier plane 501 obtained by the optical scanner/camera 390 to create three-dimensional contour information behind the truck.

自動裝載與卸載系統100更可包含數個防止脫軌裝置349。這些防止脫軌裝置349可設於基座340上，舉例而言，如圖3所示，基座340之第一縱桿344與第二縱桿346之外側均設有至少二個防止脫軌裝置349。每個防止脫軌裝置349從第一縱桿344或第二縱桿346之外側面沿第二方向D2延伸，並略為超過第一縱桿344或第二縱桿346之底部。基座340透過滾輪350而在軌道210與220上移動時，設於第一縱桿344與第二縱桿346之外側面的防止脫軌裝置349可防止基座340左右偏擺，亦可防止搬運機300翻覆。The automatic loading and unloading system 100 may further include several derailment prevention devices 349 . These derailment prevention devices 349 can be provided on the base 340 . For example, as shown in FIG. 3 , at least two derailment prevention devices 349 are provided on the outer sides of the first longitudinal rod 344 and the second longitudinal rod 346 of the base 340 . . Each derailment prevention device 349 extends from the outer side of the first longitudinal rod 344 or the second longitudinal rod 346 along the second direction D2 and slightly exceeds the bottom of the first longitudinal rod 344 or the second longitudinal rod 346 . When the base 340 moves on the rails 210 and 220 through the rollers 350 , the derailment prevention devices 349 provided on the outer sides of the first longitudinal rod 344 and the second longitudinal rod 346 can prevent the base 340 from swaying from side to side, and also prevent transportation Machine 300 overturned.

請參照圖5，其係繪示依照本揭露之一實施方式的一種自動裝載與卸載系統之掃描貨車後方的示意圖。在取得貨物101與貨車500之承載平面501相對位置的資訊、以及貨車500之承載平面501在滿載的高度後，升降機構310可取得下降目標並移動。當升降機構310上係設置光學掃描器390時，光學掃描器390可取得貨車500之承載平面501後方的數個二維輪廓資訊，搭配位置感測器305所取得之升降機構310的位置資訊，可建立貨車後方之三維輪廓。而當升降機構310上係設置攝像頭390時，於升降機構310下降朝目標位置移動時，攝像頭390可擷取影像並加以分析。光學掃描器/攝像頭390之目的皆為取得貨車500上貨物101沿著第三方向D3的位置資訊，例如棧板之存取孔的位置。獲得這些位置資訊後，貨叉320之叉件組依即可沿著第三方向D3移動，以進行調整並開始進行貨車500上之貨物101的卸載。自動裝載與卸載系統100的此一卸載功能，特別針對非由本系統完成裝載的貨車500，或是經過運輸的貨車500，即其上貨物101可能在運輸過程中產生偏移的貨車500。Please refer to FIG. 5 , which is a schematic diagram illustrating the rear of the scanning truck of an automatic loading and unloading system according to an embodiment of the present disclosure. After obtaining the relative position information of the cargo 101 and the loading plane 501 of the truck 500, and the height of the loading plane 501 of the truck 500 being fully loaded, the lifting mechanism 310 can obtain the lowering target and move. When the optical scanner 390 is installed on the lifting mechanism 310 , the optical scanner 390 can obtain several two-dimensional contour information behind the carrying plane 501 of the truck 500 , and the position sensor 305 obtains the position information of the lifting mechanism 310 . A three-dimensional outline of the rear of the truck can be created. When the camera 390 is installed on the lift mechanism 310 , the camera 390 can capture and analyze images when the lift mechanism 310 descends and moves toward the target position. The purpose of the optical scanner/camera 390 is to obtain the position information of the goods 101 on the truck 500 along the third direction D3, such as the position of the access hole of the pallet. After obtaining the position information, the fork assembly of the fork 320 can move along the third direction D3 to adjust and start the unloading of the cargo 101 on the truck 500 . This unloading function of the automatic loading and unloading system 100 is particularly applicable to the truck 500 that is not loaded by the system, or the truck 500 that has been transported, that is, the truck 500 on which the goods 101 may be displaced during transportation.

在一些例子中，如圖3所示，搬運機300更選擇性地包含至少一夾持機構380。舉例而言，搬運機300可包含二夾持機構380。夾持機構380可設於貨叉320之上方。夾持機構380配置以沿第二方向D2移動，藉此可與貨叉320搭配來夾持如圖1之貨物101。在一些示範例子中，如圖3所示，每個夾持機構380可包含壓制件381、支撐件382、以及油壓缸383。壓制件381可用以壓住貨叉320上的貨物101。支撐件382與貨叉320接合。油壓缸383之二端分別與壓制件381及支撐件382接合。油壓缸383收縮時可驅使壓制件381沿第二方向D2向下移動，來壓住貨物101。而油壓缸383伸長時可驅使夾持件381沿第二方向D2向上移動，而鬆開貨物101。In some examples, as shown in FIG. 3 , the handler 300 more optionally includes at least one gripping mechanism 380 . For example, the handler 300 may include two gripping mechanisms 380 . The clamping mechanism 380 may be disposed above the fork 320 . The gripping mechanism 380 is configured to move along the second direction D2, so as to cooperate with the fork 320 to grip the cargo 101 as shown in FIG. 1 . In some exemplary examples, as shown in FIG. 3 , each clamping mechanism 380 may include a pressing member 381 , a supporting member 382 , and an oil hydraulic cylinder 383 . The pressings 381 may be used to hold down the cargo 101 on the forks 320 . The support 382 is engaged with the fork 320 . Two ends of the hydraulic cylinder 383 are respectively engaged with the pressing member 381 and the supporting member 382 . When the hydraulic cylinder 383 contracts, the pressing member 381 can be driven to move downward along the second direction D2 to press the cargo 101 . When the hydraulic cylinder 383 is extended, the clamping member 381 can be driven to move upward along the second direction D2 to release the cargo 101 .

夾持機構380更可選擇性地包含滑動件384。滑動件384與壓制件381連接。在這樣的例子中，支撐件382具有導槽385，而滑動件384設於導槽385內。油壓缸383作動時，由於滑動件384可在導槽385內滑動，因此可使壓制件381更穩定且平滑地上、下移動。The clamping mechanism 380 may optionally include a slider 384 . The sliding member 384 is connected with the pressing member 381 . In such an example, the support member 382 has a guide groove 385 , and the sliding member 384 is provided in the guide groove 385 . When the hydraulic cylinder 383 is actuated, since the sliding member 384 can slide in the guide groove 385, the pressing member 381 can be moved up and down more stably and smoothly.

在一些例子中，如圖2所示，搬運機300更可包含電氣箱301與油壓系統箱302。電氣箱301設於基座340上，且可控制搬運機300之電氣系統。油壓系統箱302也設於基座340上，且可控制搬運機300之油壓系統。電氣箱301與油壓系統箱302、以及升降機構310與貨叉320可分別配置在旋轉軸件360的相對二側，藉以維持搬運機300之重心的平衡。In some examples, as shown in FIG. 2 , the handling machine 300 may further include an electrical box 301 and an oil hydraulic system box 302 . The electrical box 301 is installed on the base 340 and can control the electrical system of the transporter 300 . The hydraulic system box 302 is also arranged on the base 340 and can control the hydraulic system of the transporter 300 . The electrical box 301 and the hydraulic system box 302 , as well as the lifting mechanism 310 and the fork 320 can be respectively disposed on opposite sides of the rotating shaft 360 , so as to maintain the balance of the center of gravity of the transporter 300 .

在一些例子中，自動裝載與卸載系統100更可包含載貨機構400。載貨機構400配置以承載貨物101。載貨機構400包含傳送帶平台410。貨物101放置在傳送帶平台410上。欲將載貨機構400上之貨物101裝載到貨車500時，可先使搬運機300在軌道210與220上沿第一方向D1移動至載貨機構400之一側的上方。再利用升降機構310將貨叉320下降而使貨叉320鄰近載貨機構400。此時，貨叉320之傳送帶323與傳送帶平台410可同時運轉，而可將貨物101從傳送帶平台410傳送到叉件321。In some examples, the automatic loading and unloading system 100 may further include a loading mechanism 400 . The cargo carrier 400 is configured to carry the cargo 101 . The cargo carrier 400 includes a conveyor belt platform 410 . Goods 101 are placed on conveyor platform 410 . To load the goods 101 on the loading mechanism 400 to the truck 500 , the transporter 300 can be moved to the upper side of one side of the loading mechanism 400 along the first direction D1 on the rails 210 and 220 first. The lift mechanism 310 is then used to lower the fork 320 so that the fork 320 is adjacent to the loading mechanism 400 . At this time, the conveyor belt 323 of the fork 320 and the conveyor belt platform 410 can run simultaneously, and the goods 101 can be transferred from the conveyor belt platform 410 to the fork 321 .

使貨叉320鄰近載貨機構400時，可使貨叉320之叉件321a~321f之傳送帶323的上表面與傳送帶平台410之上表面在同一高度上，或者使傳送帶323的上表面略低於傳送帶平台410之上表面。藉此，當叉件321a~321f之傳送帶323與載貨機構400之傳送平台410沿同一循環方向，例如順時針方向，作動時，貨物101可從傳送帶平台410平順地轉移到叉件321a~321f上。When the fork 320 is adjacent to the loading mechanism 400, the upper surface of the conveyor belt 323 of the forks 321a-321f of the fork 320 can be at the same height as the upper surface of the conveyor belt platform 410, or the upper surface of the conveyor belt 323 can be slightly lower than the conveyor belt The upper surface of the platform 410 . Thereby, when the conveyor belt 323 of the forks 321a-321f and the conveying platform 410 of the loading mechanism 400 move in the same circulation direction, eg clockwise, the goods 101 can be smoothly transferred from the conveyor belt platform 410 to the forks 321a-321f .

貨物101已從傳送帶平台410轉移到叉件321a~321f上之後，可例如先利用夾持機構380壓制貨叉320上的貨物101，以在搬運過程中穩固地夾持貨物101。接著，使搬運機300在軌道210與220沿第一方向D1移動至貨車500之承載平面501的合適位置上方。再利用升降機構310將貨叉320下降至貨車500之承載平面501上，啟動貨叉320之叉件321a~321f的傳送帶323，而將貨叉320上的貨物101轉移到貨車500上之承載平面501上。After the goods 101 have been transferred from the conveyor platform 410 to the forks 321a-321f, the goods 101 on the forks 320 can be pressed by the clamping mechanism 380, for example, to firmly hold the goods 101 during the handling process. Next, the transporter 300 is moved on the rails 210 and 220 along the first direction D1 to a suitable position above the carrying plane 501 of the truck 500 . Then, the lift mechanism 310 is used to lower the fork 320 to the loading plane 501 of the truck 500 , and the conveyor belt 323 of the forks 321 a to 321 f of the fork 320 is activated to transfer the goods 101 on the fork 320 to the loading plane on the truck 500 . 501 on.

將貨物101從貨車500上卸載時，取得貨車500之承載平面501之上方與後方的三維輪廓資訊後，可利用控制器依據使用者輸入的貨物資訊及承載平面501之上方與後方的三維輪廓資訊，來控制搬運機300沿第一方向D1之移動距離、以及貨叉320沿第二方向D2與第三方向D3之移動距離。如此，可使搬運機300到達適當的裝貨與卸貨位置，並可使貨叉320降到適當的取貨與卸貨位置，而將貨物101從貨車500之承載平面501上取下並卸載於載貨機構400之傳送平台410。When the cargo 101 is unloaded from the truck 500, after obtaining the three-dimensional contour information above and behind the carrying plane 501 of the truck 500, the controller can use the controller according to the cargo information input by the user and the three-dimensional contour information above and behind the carrying plane 501 , to control the moving distance of the transporter 300 along the first direction D1 and the moving distance of the fork 320 along the second direction D2 and the third direction D3. In this way, the handling machine 300 can be brought to the proper loading and unloading positions, the forks 320 can be lowered to the proper picking and unloading positions, and the cargo 101 can be removed from the loading plane 501 of the truck 500 and unloaded onto the cargo. The transfer platform 410 of the mechanism 400 .

由上述之實施方式可知，本揭露之一優點就是因為本揭露之自動裝載與卸載系統之搬運機之基座沿橫向的二側分別設有光學掃描器，且搬運機之基座上上設有位置感測器。藉此，於掃描貨車之承載平面時可避免承載平面之二側為貨物的高度所遮蔽。因此，可針對已經滿載的貨車，取得貨物與貨車之承載平面相對位置的資訊，以及貨車之承載平面在滿載的高度。故，於卸載貨物時，可避免貨物損毀，而可大幅提升貨物卸載的效率。As can be seen from the above-mentioned embodiments, one of the advantages of the present disclosure is that the base of the automatic loading and unloading system of the present disclosure is provided with optical scanners on two lateral sides of the base, and the base of the conveyer is provided with optical scanners. position sensor. In this way, when scanning the loading plane of the truck, the two sides of the loading plane can be prevented from being obscured by the height of the cargo. Therefore, it is possible to obtain information about the relative position of the cargo and the loading plane of the truck, and the height of the loading plane of the truck at full load for a fully loaded truck. Therefore, when the cargo is unloaded, the damage of the cargo can be avoided, and the efficiency of the cargo unloading can be greatly improved.

本揭露之另一優點就是因為本揭露之自動裝載與卸載系統之貨叉上設有一或多個另一光學掃描器或攝像頭，且搬運機之升降機構上設有另一光學感測器。如此可在取得貨車之承載平面在滿載的高度資訊後，隨著貨叉的下降而利用另一光學掃描器或攝像頭取得貨車承載平面後方的二維輪廓資訊，再搭配升降機構上的位置感測器所取得之升降機構的位置資訊，建立貨車後方之三維輪廓。藉此，可驅使貨叉準確叉取貨車上的貨物，順利卸貨。Another advantage of the present disclosure is that the fork of the automatic loading and unloading system of the present disclosure is provided with one or more other optical scanners or cameras, and the lifting mechanism of the carrier is provided with another optical sensor. In this way, after obtaining the height information of the loading plane of the truck when it is fully loaded, as the fork descends, another optical scanner or camera can be used to obtain the two-dimensional contour information behind the loading plane of the truck, and then matched with the position sensing on the lifting mechanism. The position information of the lifting mechanism obtained by the device is used to establish a three-dimensional outline of the rear of the truck. In this way, the fork can be driven to pick up the goods on the truck accurately and unload the goods smoothly.

雖然本揭露已以實施例揭示如上，然其並非用以限定本揭露，任何在此技術領域中具有通常知識者，在不脫離本揭露之精神和範圍內，當可作各種之更動與潤飾，因此本揭露之保護範圍當視後附之申請專利範圍所界定者為準。Although the present disclosure has been disclosed above with examples, it is not intended to limit the present disclosure. Anyone with ordinary knowledge in this technical field can make various changes and modifications without departing from the spirit and scope of the present disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the appended patent application.

100:自動裝載與卸載系統100: Automatic loading and unloading system

101:貨物101: Cargo

102:支承件102: Supports

200:高空平台200: High Altitude Platform

210:軌道210: Orbit

220:軌道220: Orbit

240:第一端240: First End

250:第二端250: Second End

260:緩衝器260: Buffer

300:搬運機300: Transporter

301:電氣箱301: Electrical box

302:油壓系統箱302: Oil pressure system box

303a:光學掃描器303a: Optical Scanner

303b:光學掃描器303b: Optical Scanner

304:位置感測器304: Position Sensor

305:位置感測器305: Position Sensor

310:升降機構310: Lifting mechanism

311:第一桅桿311: First Mast

312:第二桅桿312: Second Mast

313:高度調整油壓缸313: Height adjustment hydraulic cylinder

314:滑輪組件314: Pulley assembly

320:貨叉320: Fork

321a:叉件321a: Fork

321b:叉件321b: Fork

321c:叉件321c: Fork

321d:叉件321d: Fork

321e:叉件321e: Fork

321f:叉件321f: Fork

322:承載板322: Carrier plate

323:傳送帶323: Conveyor Belt

324:前端324: Front End

325:接合板325: Splice plate

326:接合板326: Splice plate

330:軸支撐機構330: Shaft support mechanism

331:凹槽331: Groove

332:上部332: Upper

333:下部333: Lower

340:基座340: Pedestal

341:軸件夾持部341: Shaft clamping part

342:第一橫桿342: First crossbar

344:第一縱桿344: First Lever

346:第二縱桿346: Second Lever

348:第二橫桿348: Second crossbar

349:防止脫軌裝置349: Derailment prevention device

350:滾輪350: Roller

360:旋轉軸件360: Rotary shaft

370:角度調整油壓缸370: Angle adjustment hydraulic cylinder

380:夾持機構380: Clamping mechanism

381:壓制件381: Pressed parts

382:支撐件382: Supports

383:油壓缸383: Hydraulic cylinder

384:滑動件384: Slider

385:導槽385: Guide groove

390:光學掃描器/攝像頭390: Optical Scanner/Camera

400:載貨機構400: Cargo Carrier

410:傳送帶平台410: Conveyor Platform

500:貨車500: wagon

501:承載平面501: Bearing plane

D1:第一方向D1: first direction

D2:第二方向D2: Second direction

D3:第三方向D3: third direction

M:馬達M: motor

從以下結合所附圖式所做的詳細描述，可對本揭露之態樣有更佳的了解。需注意的是，根據業界的標準實務，各特徵並未依比例繪示。事實上，為了使討論更為清楚，各特徵的尺寸都可任意地增加或減少。 ［圖1］係繪示依照本揭露之一實施方式的一種自動裝載與卸載系統的裝置示意圖。 ［圖2］係繪示依照本揭露之一實施方式的一種自動裝載與卸載系統之搬運機的立體示意圖。 ［圖3］係繪示依照本揭露之一實施方式的一種自動裝載與卸載系統之搬運機的系統組裝圖。 ［圖4］係繪示依照本揭露之一實施方式的一種自動裝載與卸載系統之掃描貨車之承載平面上方的示意圖。 ［圖5］係繪示依照本揭露之一實施方式的一種自動裝載與卸載系統之掃描貨車後方的示意圖。 A better understanding of aspects of the present disclosure can be obtained from the following detailed description taken in conjunction with the accompanying drawings. It should be noted that, according to standard practice in the industry, various features are not drawn to scale. In fact, the dimensions of the various features may be arbitrarily increased or decreased in order to clarify the discussion. [ FIG. 1 ] is a schematic diagram of an apparatus of an automatic loading and unloading system according to an embodiment of the present disclosure. [ FIG. 2 ] is a perspective view illustrating a handling machine of an automatic loading and unloading system according to an embodiment of the present disclosure. [ FIG. 3 ] is a system assembly diagram illustrating a handling machine of an automatic loading and unloading system according to an embodiment of the present disclosure. [ FIG. 4 ] is a schematic diagram above the loading plane of a scanning truck of an automatic loading and unloading system according to an embodiment of the present disclosure. [ FIG. 5 ] is a schematic diagram illustrating the rear of a scanning truck of an automatic loading and unloading system according to an embodiment of the present disclosure.

100:自動裝載與卸載系統 100: Automatic loading and unloading system

101:貨物 101: Cargo

102:支承件 102: Supports

200:高空平台 200: High Altitude Platform

210:軌道 210: Orbit

220:軌道 220: Orbit

240:第一端 240: First End

250:第二端 250: Second End

260:緩衝器 260: Buffer

300:搬運機 300: Transporter

303b:光學掃描器 303b: Optical Scanner

304:位置感測器 304: Position Sensor

400:載貨機構 400: Cargo Carrier

410:傳送帶平台 410: Conveyor Platform

500:貨車 500: wagon

501:承載平面 501: Bearing plane

Claims (10)

一種自動裝載與卸載系統，包含：一高空平台，包含二軌道；以及一搬運機，設於該些軌道上，且配置以在該些軌道上沿一第一方向移動，其中該搬運機包含：一升降機構；一貨叉，設於該升降機構上，其中該升降機構配置以驅動該貨叉沿一第二方向移動，該貨叉包含複數個叉件，該些叉件並排且間隔設置；一基座，包含二軸件夾持部；複數個滾輪，設於該基座，且配置以在該些軌道上移動；一旋轉軸件，設於該二軸件夾持部上；一角度調整油壓缸，設於該基座之上方；一軸支撐機構，具有一上部與一下部，其中該上部與該角度調整油壓缸接合，該下部與該旋轉軸件接合，其中該軸支撐機構與該升降機構相互連接，當該角度調整油壓缸作動時，該軸支撐機構與該升降機構繞該旋轉軸件轉動，以使該貨叉沿逆時針方向抬升或沿順時針方向前傾；二光學掃描器，設於該基座之一第一橫桿上並在一第三方向上彼此分隔，且配置以在該搬運機移動時對該些軌道下方之一貨車進行一光學掃描，以取得該貨車之一承載平面上方之複數個二維輪廓資訊，其中該承載平面 上方之每一該些二維輪廓資訊係基於該第二方向及該第三方向，該第一方向、該第二方向、與該第三方向互相垂直；以及一位置感測器，設於該第一橫桿上，且配置以在該搬運機移動時感測該搬運機之複數個位置資訊，利用該搬運機之該些位置資訊及該承載平面上方之該些二維輪廓資訊形成一三維輪廓資訊。 An automatic loading and unloading system, comprising: a high-altitude platform, including two rails; and a transporter, disposed on the rails, and configured to move along a first direction on the rails, wherein the transporter includes: a lift mechanism; a fork disposed on the lift mechanism, wherein the lift mechanism is configured to drive the fork to move along a second direction, the fork includes a plurality of forks, and the forks are arranged side by side and at intervals; a base, including two-axis member clamping parts; a plurality of rollers, set on the base, and configured to move on the tracks; a rotating shaft member, set on the two-axis member clamping parts; an angle An adjustment hydraulic cylinder is arranged above the base; a shaft support mechanism has an upper part and a lower part, wherein the upper part is engaged with the angle adjustment hydraulic cylinder, and the lower part is engaged with the rotating shaft part, wherein the shaft support mechanism It is interconnected with the lifting mechanism, and when the angle adjustment hydraulic cylinder is actuated, the shaft support mechanism and the lifting mechanism rotate around the rotating shaft member, so that the fork is lifted counterclockwise or tilted forward clockwise; Two optical scanners, mounted on a first crossbar of the base and separated from each other in a third direction, are configured to perform an optical scan on a truck under the tracks when the carrier moves, to obtain A plurality of two-dimensional contour information above a carrying plane of the truck, wherein the carrying plane Each of the two-dimensional contour information above is based on the second direction and the third direction, the first direction, the second direction, and the third direction are perpendicular to each other; and a position sensor is provided on the on the first horizontal bar, and is configured to sense a plurality of position information of the transporter when the transporter moves, and form a three-dimensional Profile information. 如請求項1所述之自動裝載與卸載系統，更包含複數個防止脫軌裝置，其中該基座更包含一第一縱桿與一第二縱桿分別與該第一橫桿之相對二端接合，每一該第一縱桿與該第二縱桿之外側設有該些防止脫軌裝置之至少二者。 The automatic loading and unloading system of claim 1, further comprising a plurality of derailment prevention devices, wherein the base further comprises a first longitudinal rod and a second longitudinal rod respectively engaged with opposite ends of the first transverse rod , at least two of the derailment prevention devices are arranged on the outer sides of each of the first longitudinal rod and the second longitudinal rod. 如請求項1所述之自動裝載與卸載系統，其中該升降機構包含：一第一桅桿；一第二桅桿，設於該第一桅桿之下且與該第一桅桿平行設置，其中該貨叉設於該第二桅桿上；一高度調整油壓缸，連接該第一桅桿；以及一滑輪組件，連接該第一桅桿與該第二桅桿，其中該高度調整油壓缸作動時，該第一桅桿沿該第二方向移動，以帶動該滑輪組件驅動該第二桅桿及該貨叉沿該第二方向移動。 The automatic loading and unloading system of claim 1, wherein the lifting mechanism comprises: a first mast; a second mast disposed under and parallel to the first mast, wherein the fork is arranged on the second mast; a height adjustment hydraulic cylinder is connected to the first mast; and a pulley assembly is connected to the first mast and the second mast, wherein when the height adjustment hydraulic cylinder is actuated, the first mast The mast moves along the second direction to drive the pulley assembly to drive the second mast and the fork to move along the second direction. 如請求項1所述之自動裝載與卸載系統，其中每一該些叉件包含二傳送帶，且該些傳送帶平行設置。 The automatic loading and unloading system of claim 1, wherein each of the forks includes two conveyor belts, and the conveyor belts are arranged in parallel. 如請求項4所述之自動裝載與卸載系統，更包含一載貨機構，其中該載貨機構包含一傳送帶平台，當該貨叉靠近該載貨機構時，該些傳送帶與該傳送帶平台配置以將該載貨機構上之一貨物從該傳送帶平台傳送到該些叉件。 The automatic loading and unloading system of claim 4, further comprising a loading mechanism, wherein the loading mechanism includes a conveyor belt platform, and when the fork approaches the loading mechanism, the conveyor belts and the conveyor belt platform are configured to carry the cargo A load on the mechanism is transferred from the conveyor platform to the forks. 如請求項1所述之自動裝載與卸載系統，其中該些叉件分成複數個叉件組，該些叉件組可個別沿該第三方向移動，以調整該些叉件組之間的間距，且該些叉件組亦可一起沿該第三方向移動。 The automatic loading and unloading system as claimed in claim 1, wherein the forks are divided into a plurality of fork groups, and the fork groups are individually movable along the third direction to adjust the spacing between the fork groups , and the fork component groups can also move along the third direction together. 如請求項1所述之自動裝載與卸載系統，其中該搬運機更包含另一位置感測器，該另一位置感測器設於該升降機構上，且配置以在該升降機構移動時感測該升降機構在該第二方向上之複數個位置之對應之複數個位置資訊。 The automatic loading and unloading system of claim 1, wherein the handling machine further comprises another position sensor, the another position sensor is disposed on the lifting mechanism and configured to sense when the lifting mechanism moves A plurality of position information corresponding to a plurality of positions of the lifting mechanism in the second direction are measured. 如請求項7所述之自動裝載與卸載系統，更包含至少一另一光學掃描器或至少一攝像頭設於該貨叉上，其中該至少一另一光學掃描器或該至少一攝像頭配置以在 該升降機構移動時，對該些軌道下方之該貨車進行光學掃描或影像辨識，以取得該貨車之該承載平面後方之複數個二維輪廓資訊或影像，其中該承載平面後方之該些二維輪廓資訊係基於該第一方向及該第三方向，利用該升降機構之該些位置資訊與該承載平面後方之該些二維輪廓資訊或影像建立一貨車後方之三維輪廓資訊。 The automatic loading and unloading system of claim 7, further comprising at least one other optical scanner or at least one camera disposed on the fork, wherein the at least one other optical scanner or the at least one camera is configured to When the lifting mechanism moves, optical scanning or image recognition is performed on the truck under the tracks to obtain a plurality of two-dimensional contour information or images behind the carrying plane of the truck, wherein the two-dimensional contour information behind the carrying plane The contour information is based on the first direction and the third direction, using the position information of the lifting mechanism and the two-dimensional contour information or images behind the carrying plane to establish three-dimensional contour information behind the truck. 如請求項8所述之自動裝載與卸載系統，其中該至少一另一光學掃描器或該至少一攝像頭之數量為2，且該些另一光學掃描器或該些攝像頭在該第三方向上分隔設置。 The automatic loading and unloading system of claim 8, wherein the number of the at least one other optical scanner or the at least one camera is 2, and the other optical scanners or the cameras are separated in the third direction set up. 如請求項1所述之自動裝載與卸載系統，其中該搬運機更包含至少一夾持機構，設於該貨叉之上方，且配置以沿該第二方向移動以與該貨叉搭配來夾持一貨物。The automatic loading and unloading system of claim 1, wherein the carrier further comprises at least one clamping mechanism disposed above the fork and configured to move along the second direction to cooperate with the fork to clamp hold a cargo.

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