TWM637696U

TWM637696U - Delivery control device

Info

Publication number: TWM637696U
Application number: TW111211516U
Authority: TW
Inventors: 俊龍吳
Original assignee: 俊龍吳
Priority date: 2022-10-21
Filing date: 2022-10-21
Publication date: 2023-02-11

Abstract

一種配送管制裝置，包括軌道模組、搬運車及匯流管制組；軌道模組有軌道及匯流軌道，軌道位於匯流軌道兩側，匯流軌道的兩端分別為分流區與合流區並分別連接軌道；搬運車由外部控制器命令行駛軌道模組，搬運車有感測器及內部控制器並電性連接，感測器感應前方搬運車以致內部控制器限制搬運車行駛；匯流管制組有管制控制器、光閘與限制感測器，管制控制器分別與光閘、限制感測器電性連接；光閘位於軌道並與合流區間隔有閃避距離，限制感測器位軌道旁並鄰近分流區。透過光閘、限制感測器控管在匯流軌道及靠近匯流軌道運行的搬運車，避免發生碰撞事故，縮短此處擁擠現象。A distribution control device, including a track module, a transport vehicle and a confluence control group; the track module has a track and a confluence track, the tracks are located on both sides of the confluence track, and the two ends of the confluence track are respectively a diversion area and a confluence area and are respectively connected to the tracks; The transport vehicle is commanded by the external controller to drive the track module. The transport vehicle has a sensor and an internal controller and is electrically connected. The sensor senses the front transport vehicle so that the internal controller restricts the movement of the transport vehicle; the confluence control group has a control controller , light gate and limit sensor, the control controller is electrically connected to the light gate and limit sensor respectively; the light gate is located on the track and has a dodge distance from the confluence area, and the limit sensor is located next to the track and adjacent to the diversion area. Through light gates and limit sensors, the transport vehicles running on and near the confluence track are controlled to avoid collision accidents and shorten the congestion here.

Description

配送管制裝置distribution control device

本創作是與自動化配送有關，特別是指搬運車在自動運行下，進行管制通行的啟動與限制。This creation is related to automatic distribution, especially refers to the activation and restriction of controlled traffic under the automatic operation of the truck.

製造加工業隨著科技以及機具的高度發展下，越來越多投入自動化設備並配合軟體計算，大幅提高生產效率。而自動化生產的主要因素有機台自動化、加工排程以及搬運自動化。因自動化減少相關人員的勞力付出只需遠端監控，在發生狀況時及時排除。With the rapid development of technology and machine tools in the manufacturing and processing industry, more and more automation equipment and software computing are invested to greatly improve production efficiency. The main factors of automated production include machine automation, processing scheduling, and handling automation. Due to the reduction of labor of relevant personnel due to automation, only remote monitoring is required, and timely elimination of situations occurs.

上述搬運自動化例如無人搬運車，可以配合多種不同功能的生產設備，甚至可以應用於倉儲物流系統。而當中高架運送主要是將軌道設置在廠房高空位置，搬運車可以在軌道上運行，搬運物料於各加工區或暫存區儲放，可以有效利用廠房空間，不會佔據地面通道，而加工機可以更有效率、密集配置，也不會影響相關人員的行走動線。The above-mentioned handling automation, such as unmanned vans, can be used with a variety of production equipment with different functions, and can even be applied to warehousing and logistics systems. Among them, the overhead transportation is mainly to set the track at the high-altitude position of the factory building. The truck can run on the track, and the material is transported and stored in each processing area or temporary storage area, which can effectively use the factory space and will not occupy the ground passage, while the processing machine It can be configured more efficiently and intensively without affecting the walking line of relevant personnel.

前述搬運車在實際運作時透過AI軟體預測、分析計算下，進行派遣、調度、路線規劃等優化下，可以縮短等待時間、迅速移動運行，但軌道匯流處仍免不了發生碰撞、堵塞現象。During the actual operation, the above-mentioned trucks can shorten the waiting time and move quickly through the optimization of dispatching, dispatching, and route planning through AI software prediction, analysis and calculation, but collisions and blockages will still inevitably occur at the confluence of tracks.

本創作提供一種配送管制裝置，其包括：軌道模組，包括有軌道以及匯流軌道，該軌道位於該匯流軌道的兩側，且該匯流軌道的兩端分別為分流區與合流區並分別連接該軌道；搬運車，其由外部控制器命令行駛於該軌道模組，該搬運車包括有感測器以及內部控制器；該感測器與該內部控制器電性連接；該感測器係感應前方該搬運車(行駛方向)，以致該內部控制器限制該搬運車行駛；及匯流管制組，其包括有管制控制器、光閘與限制感測器，該管制控制器分別與該光閘、該限制感測器電性連接；該光閘配置位於該軌道並與該合流區間隔有閃避距離，而該限制感測器位於該軌道旁並鄰近該分流區。This creation provides a distribution control device, which includes: a track module, including a track and a converging track, the track is located on both sides of the converging track, and the two ends of the converging track are respectively a diversion area and a confluence area and are respectively connected to the Track; transport vehicle, which is commanded by an external controller to travel on the track module, the transport vehicle includes a sensor and an internal controller; the sensor is electrically connected to the internal controller; the sensor is an induction The transport vehicle ahead (traveling direction), so that the internal controller restricts the movement of the transport vehicle; The limit sensor is electrically connected; the shutter is located on the track and has a dodge distance from the confluence area, and the limit sensor is located beside the track and adjacent to the diversion area.

本創作實際運作時，透過光閘、限制感測器運作時，可以進一步在匯流軌道以及靠近匯流軌道運行的搬運車有效控管，避免搬運車在此處發生碰撞事故外，更能有效縮短搬運車在此處的擁擠、阻塞現象，據以達成本創作之目的與功效。In the actual operation of this creation, when operating through the light gate and the limit sensor, it can further effectively control the transport vehicles running on the confluence track and close to the confluence track, avoiding collision accidents of the transport vehicles here, and can effectively shorten the transportation. The crowding and blocking phenomenon of cars here is used to achieve the purpose and effect of this creation.

請參閱第一至四圖所示，圖中揭示一種配送管制裝置100，其包括：軌道模組200，包括有軌道210以及匯流軌道220，該軌道210位於該匯流軌道220的兩側，且該匯流軌道220的兩端分別為分流區221與合流區222並分別連接該軌道210；搬運車300，其由外部控制器400命令行駛於該軌道模組200，該搬運車300包括有感測器310以及內部控制器320；該感測器310與該內部控制器320電性連接；該感測器310係感應前方該搬運車300 (行駛方向)，以致該內部控制器320限制該搬運車300行駛，前述限制搬運車300行駛包括有減速、減速至停止，直到未感測到搬運車300後續行；及匯流管制組500，其包括有管制控制器510、光閘520與限制感測器530，該管制控制器510分別與該光閘520、該限制感測器530電性連接；該光閘520配置位於該軌道210並與該合流區222間隔有閃避距離，而該限制感測器530位於該軌道210旁並鄰近該分流區221。Please refer to the first to fourth figures, which disclose a distribution control device 100, which includes: a track module 200, including a track 210 and a confluence track 220, the track 210 is located on both sides of the confluence track 220, and the The two ends of the converging track 220 are the diverging area 221 and the converging area 222 respectively and are respectively connected to the track 210; the transport vehicle 300 is commanded by the external controller 400 to drive on the track module 200, and the transport vehicle 300 includes a sensor 310 and an internal controller 320; the sensor 310 is electrically connected to the internal controller 320; the sensor 310 senses the transport vehicle 300 ahead (traveling direction), so that the internal controller 320 limits the transport vehicle 300 Traveling, the aforesaid restrictions on the travel of the transport vehicle 300 include deceleration, deceleration to a stop, until no subsequent movement of the transport vehicle 300 is sensed; , the control controller 510 is electrically connected to the shutter 520 and the limit sensor 530 respectively; Located beside the track 210 and adjacent to the splitting area 221 .

本創作透過光閘520、限制感測器530運作時，可以進一步在匯流軌道220以及靠近匯流軌道220運行的搬運車300有效控管，避免搬運車300在此處發生碰撞事故外，更能有效縮短搬運車300在此處的擁擠、阻塞現象，據以達成本創作之目的與功效。When this creation operates through the light gate 520 and the limit sensor 530, it can further effectively control the confluence track 220 and the transport vehicle 300 running close to the confluence track 220, so as to avoid the collision accident of the transport vehicle 300 here, which is more effective. Shorten the crowding and blocking phenomenon of the truck 300 here, so as to achieve the purpose and effect of this creation.

值得一提的是前述閃避距離，可以依據使用情況調整長度，舉例而言，可以是最少一台搬運車300的長度尺寸，甚至數台以上的搬運車300的總和長度尺寸。It is worth mentioning that the aforementioned dodging distance can be adjusted according to the usage conditions. For example, it can be the length of at least one truck 300 , or even the total length of several trucks 300 .

為了清楚說明本創作運作情形，請搭配第五至十圖所示，在此係以單一個匯流軌道220連接於兩側平行的軌道210為例，而實際情況可能會有多個匯流軌道220連接於軌道210。行駛於圖式右側軌道210初步上行的搬運車300圖式上以字母R配合出場順序編碼如R1~R6，而行駛於圖式左側軌道210初步下行的搬運車300以字母L配合出場順序編碼如L1~L3，當行駛於右側軌道210的搬運車300經過匯流軌道220來到左側軌道210的搬運車300，仍維持當初編碼以利行進判斷。In order to clearly illustrate the operation of this creation, please refer to Figures 5 to 10. Here, a single confluence rail 220 is connected to two parallel rails 210 on both sides as an example, but in reality there may be multiple confluence rails 220 connected. on track 210. The transport vehicles 300 traveling on the right side track 210 of the drawing initially ascending are coded with the letter R in conjunction with the order of appearance, such as R1~R6, and the transport vehicles 300 traveling on the left track 210 of the drawing initially descending are coded with the letter L in accordance with the order of appearance, such as L1-L3, when the transport vehicle 300 traveling on the right track 210 passes through the converging track 220 and arrives at the transport vehicle 300 on the left track 210, the original code is still maintained for the convenience of traveling judgment.

前述搬運車300係具有向升降機構並用以抓取與釋放箱體，如第十一圖所示。搬運車300的前方配置有感測器310，且感測器310用以偵測前方障礙，如第十二、十三圖所示，例如其他搬運車300、路徑內的障礙物，一旦偵測到障礙物(搬運車300)則減速直到停止，避免碰撞到障礙物，由於必須包煞車距離因此其感測範圍遠超過單一搬運車300的長度方向，且感測器310感應偵測寬度必須大於搬運車300寬度，以免搬運車300的兩側受到障礙物的側向撞擊。The aforesaid transport vehicle 300 has a lifting mechanism and is used to grab and release the box, as shown in the eleventh figure. The front of the transport vehicle 300 is equipped with a sensor 310, and the sensor 310 is used to detect obstacles ahead, as shown in the twelfth and thirteenth figures, such as other transport vehicles 300, obstacles in the path, once detected When an obstacle (truck 300) is reached, it will slow down until it stops, so as to avoid hitting an obstacle. Since the braking distance must be included, its sensing range far exceeds the length direction of a single truck 300, and the detection width of the sensor 310 must be greater than The width of the truck 300 is wide enough to prevent the sides of the truck 300 from being impacted laterally by obstacles.

當單向(左側)行駛於該軌道210的該搬運車300(L1)其該感測器310感測到經分流區221通過該合流區222的該搬運車300(R1、R2)時發出停駛訊號，令單向行駛的該搬運車300(L1)停駛；如第五至七圖所示，前述搬運車300(L1)偵測到搬運車300(R1)煞車減速直到完全停止以免發生碰撞，而搬運車300(R3)則依據外部控制器400的指派，通過未運作的限制感測器530位置，持續沿右側軌道210續行。When the sensor 310 of the transport vehicle 300 (L1) traveling in one direction (left side) on the track 210 senses the transport vehicle 300 (R1, R2) passing through the merge area 222 through the diversion area 221, a stop signal is issued. driving signal to make the one-way traveling truck 300 (L1) stop; as shown in the fifth to seventh figures, the aforementioned truck 300 (L1) detects that the truck 300 (R1) brakes and decelerates until it comes to a complete stop to avoid collision, and the transport vehicle 300 ( R3 ) continues to travel along the right track 210 according to the assignment of the external controller 400 through the position of the limit sensor 530 that is not in operation.

前述搬運車(L1)停駛並遮蔽該光閘520達到預定時間後，該光閘520發出光閘遮蔽訊號至該管制控制器510，該管制控制器510令該限制感測器530運作(發出限制光束)並被即將抵達該分流區221的該搬運車300(R4)之該感測器310感應下，該感測器310發送停車訊號至該內部控制器320，該內部控制器320令該搬運車300(R4)停車，如第七、八圖，藉以限制右側上行搬運車300(R4)，暫時停止右側軌道210所運行搬運車300(R4)通往匯流軌道220位置，位於搬運車300(R4)後方的搬運車300(R5)則感測到前方搬運車(R4)已經減速至停車避免碰撞；原本上行的搬運車300(R3)則未受影響持續行駛；而下行於左側軌道的搬運車300(L2)則感測到前方搬運車300(L1)避免碰撞而減速至停駛。After the aforesaid transport vehicle (L1) stops driving and covers the shutter 520 for a predetermined time, the shutter 520 sends a shutter shielding signal to the control controller 510, and the control controller 510 makes the limit sensor 530 operate (send limited light beam) and is sensed by the sensor 310 of the transport vehicle 300 (R4) that is about to arrive at the diversion area 221, the sensor 310 sends a stop signal to the internal controller 320, and the internal controller 320 makes the The transport vehicle 300 (R4) stops, as shown in the seventh and eighth figures, in order to limit the right upward transport vehicle 300 (R4), and temporarily stop the transport vehicle 300 (R4) running on the right track 210 to lead to the converging track 220 position, located at the transport vehicle 300 (R4) the truck 300 (R5) at the rear then senses that the truck in front (R4) has slowed down to stop and avoid collisions; The transport vehicle 300 (L2) senses that the front transport vehicle 300 (L1) avoids a collision and decelerates to a stop.

直到停駛的該搬運車300(L1)未感測到通過該合流區222的該搬運車300於預定時間後，得以再度啟動行駛；如第八圖，得以先提供從合流區222行駛至左側軌道210的搬運車300(R1、R2)駛離搬運車300(L1)感測範圍，搬運車300(L1)得以於左側軌道210繼續向下續行，而後續的搬運車300L2直到未感測到搬運車300L1同樣可以再度行駛。The transport vehicle 300 (L1) which is stopped until it does not sense the transport vehicle 300 passing through the confluence area 222 after a predetermined period of time, can start running again; The transport vehicles 300 (R1, R2) on the track 210 leave the sensing range of the transport vehicles 300 (L1), and the transport vehicles 300 (L1) can continue to move downward on the left track 210, and the subsequent transport vehicles 300L2 do not detect The truck 300L1 can also be driven again.

而未有該搬運車300遮蔽該光閘520達到預定時間後，該管制控制器510令限制感測器530停止運作(停止發出限制光束)，以致停車狀態的該搬運車300(R4)未感測到限制光束後得以再度行駛；如第九、十圖所示。And after the light gate 520 has not been covered by the transport vehicle 300 for a predetermined time, the control controller 510 will stop the operation of the limit sensor 530 (stop sending out the limit light beam), so that the transport vehicle 300 (R4) in the parked state does not sense. It can travel again after detecting the restricted light beam; as shown in the ninth and tenth figures.

透過上述詳細說明本裝置的運作下，確實可以避免搬運車300在軌道210、匯流軌道220之間的切換移動過程中發生碰撞事故，並協助外部控制器400適度調節搬運車300的行駛優先順序，得以提供更有效、安全配送搬運車300上的物品，並降低過往配送過程發生撞車危險以及配送阻塞不順暢的缺陷。Through the above detailed description of the operation of the device, it is indeed possible to avoid the collision accident of the transport vehicle 300 during the switching movement between the track 210 and the confluence track 220, and assist the external controller 400 to moderately adjust the driving priority of the transport vehicle 300, It is possible to provide more effective and safe delivery of the items on the transport vehicle 300, and reduce the risk of collisions in the past delivery process and the defects of unsmooth delivery blockage.

進一步詳細說明本創作細部特徵以及彼此運作關係。Further detail the detailed features of this creation and the relationship between them.

本實施例中，該匯流管制組500進一步包括有光閘燈號521並電性連接該管制控制器510與該光閘520。在此光閘燈號521配置於該光閘520上，因此當光閘520運作時光閘燈號521亮起，提供相關人員判斷出目前搬運車300是呈遮蔽光閘520的停駛狀態。In this embodiment, the bus control group 500 further includes a light switch indicator 521 and is electrically connected to the control controller 510 and the light switch 520 . Here, the light gate signal 521 is arranged on the light gate 520 , so when the light gate 520 is in operation, the light gate light 521 lights up, providing relevant personnel to judge that the transport vehicle 300 is in a stop state covering the light gate 520 .

本實施例中，該匯流管制組500進一步包括有限制燈號531並電性連接該管制控制器510與該限制感測器530。在此限制燈號531配置於該限制感測器530上，因此當限制感測器530運作時限制燈號531亮起，提供相關人員判斷目前搬運車300是受到限制感測器530的光束下，搬運車300處於停車狀態。In this embodiment, the confluence control group 500 further includes a limit light 531 electrically connected to the control controller 510 and the limit sensor 530 . Here, the limit light 531 is arranged on the limit sensor 530, so when the limit sensor 530 operates, the limit light 531 lights up, providing relevant personnel to judge whether the current transport vehicle 300 is under the light beam of the limit sensor 530 , the transport vehicle 300 is in a parked state.

本實施例中，該光閘520包括有發射端與接收端且分別位於該軌道210的兩側。In this embodiment, the shutter 520 includes a transmitting end and a receiving end, which are respectively located on two sides of the track 210 .

本實施例中，該匯流軌道220係呈彎弧狀構件。In this embodiment, the confluence track 220 is a curved member.

100:配送管制裝置 200:軌道模組 210:軌道 220:匯流軌道 221:分流區 222:合流區 300:搬運車 310:感測器 320:內部控制器 400:外部控制器 500:匯流管制組 510:管制控制器 520:光閘 521:光閘燈號 530:限制感測器 531:限制燈號 100: distribution control device 200: Track Module 210: track 220: Confluence track 221: diversion area 222: Confluence area 300: truck 310: sensor 320: internal controller 400: External controller 500: confluence control group 510: Regulatory Controller 520: Shutter 521: Shutter light number 530: limit sensor 531: Limit light number

第一圖係本創作配送管制裝置方塊示意圖。第二圖係外部控制器以無線方式命令搬運車方塊示意圖。第三圖係匯流管制組方塊示意圖。第四圖係本創作運作方塊示意圖。第五至十圖係本創作運作平面示意圖。第十一圖係搬運車具有升降機構示意圖。第十二圖係搬運車偵測前方是否有障礙物示意圖。第十三圖係本創作配送管制裝置立體示意圖。 The first picture is a schematic block diagram of the distribution control device of this creation. The second figure is a schematic block diagram of an external controller commanding a truck in a wireless manner. The third figure is a block diagram of the confluence control group. The fourth picture is a schematic diagram of the creative operation block. Figures 5 to 10 are schematic diagrams of the creation and operation of this work. Figure 11 is a schematic diagram of a lifting mechanism for a transport vehicle. The twelfth figure is a schematic diagram of whether there is an obstacle in front of the truck detection. The thirteenth picture is a three-dimensional schematic diagram of the distribution control device of this creation.

100:配送管制裝置 100: distribution control device

200:軌道模組 200: Track Module

300:搬運車 300: truck

500:匯流管制組 500: confluence control group

Claims

一種配送管制裝置，其包括：軌道模組，包括有軌道以及匯流軌道，該軌道位於該匯流軌道的兩側，且該匯流軌道的兩端分別為分流區與合流區並分別連接該軌道；搬運車，其由外部控制器命令行駛於該軌道模組，該搬運車包括有感測器以及內部控制器；該感測器與該內部控制器電性連接；該感測器係感應前方該搬運車，以致該內部控制器限制該搬運車行駛；及匯流管制組，其包括有管制控制器、光閘與限制感測器，該管制控制器分別與該光閘、該限制感測器電性連接；該光閘配置位於該軌道並與該合流區間隔有閃避距離，而該限制感測器位於該軌道旁並鄰近該分流區。 A delivery control device, comprising: The track module includes a track and a confluence track, the track is located on both sides of the confluence track, and the two ends of the confluence track are respectively a diversion area and a confluence area and are respectively connected to the track; The transport vehicle is commanded by an external controller to travel on the track module. The transport vehicle includes a sensor and an internal controller; the sensor is electrically connected to the internal controller; the sensor senses the front truck, so that the internal controller restricts the truck to travel; and a confluence control group, which includes a control controller, a light gate and a limit sensor, and the control controller is electrically connected to the light gate and the limit sensor respectively; the light gate is arranged on the track and merged with the Sections are separated by a dodge distance, and the restriction sensor is located beside the track and adjacent to the diversion section.

如請求項1所述之配送管制裝置，其中：當單向行駛於該軌道的該搬運車其該感測器感測到經分流區通過該合流區的該搬運車時發出停駛訊號，令單向行駛的該搬運車停駛；前述搬運車停駛並遮蔽該光閘達到預定時間後，該光閘發出光閘遮蔽訊號至該管制控制器，該管制控制器令該限制感測器運作並被即將抵達該分流區的該搬運車之該感測器感應下，該感測器發送停車訊號至該內部控制器，該內部控制器令該搬運車停車；直到停駛的該搬運車未感測到通過該合流區的該搬運車於預定時間後，得以再度啟動行駛；而未有該搬運車遮蔽該光閘達到預定時間後，該管制控制器令限制感測器停止運作，以致停車狀態的該搬運車未感測到限制光束後得以再度行駛。 The distribution control device as described in Claim 1, wherein: When the sensor of the transport vehicle traveling in one direction on the track detects the transport vehicle passing through the merge area through the diversion area, a stop signal is issued to stop the transport vehicle traveling in one direction; After the above-mentioned transport vehicle stops and covers the light gate for a predetermined time, the light gate sends a light gate shielding signal to the control controller, and the control controller makes the limit sensor operate and is transported by the transport vehicle that is about to arrive at the diversion area. When the sensor of the vehicle is detected, the sensor sends a stop signal to the internal controller, and the internal controller stops the truck; Until the stopped vehicle does not sense the vehicle passing through the merge area for a predetermined time, it can start running again; And after the light gate has not been covered by the transport vehicle for a predetermined time, the control controller stops the operation of the limit sensor, so that the transport vehicle in the parked state can drive again without sensing the limit light beam.

如請求項1所述之配送管制裝置，其中該匯流管制組進一步包括有光閘燈號並電性連接該管制控制器與該光閘。The distribution control device as described in Claim 1, wherein the confluence control group further includes a light switch light signal and is electrically connected to the control controller and the light switch.

如請求項1所述之配送管制裝置，其中該匯流管制組進一步包括有限制燈號並電性連接該管制控制器與該限制感測器。The distribution control device as claimed in claim 1, wherein the confluence control group further includes a limit light and is electrically connected to the control controller and the limit sensor.

如請求項1所述之配送管制裝置，其中該光閘包括有發射端與接收端且分別位於該軌道的兩側。The distribution control device as claimed in item 1, wherein the light gate includes a transmitting end and a receiving end respectively located on two sides of the track.

如請求項1所述之配送管制裝置，其中該匯流軌道係呈彎弧狀構件。The distribution control device as described in Claim 1, wherein the confluence track is a curved member.