CN114380244A - Material rack carrying system and method thereof - Google Patents
Material rack carrying system and method thereof Download PDFInfo
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- CN114380244A CN114380244A CN202011134664.9A CN202011134664A CN114380244A CN 114380244 A CN114380244 A CN 114380244A CN 202011134664 A CN202011134664 A CN 202011134664A CN 114380244 A CN114380244 A CN 114380244A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention provides a material rack carrying system and a method thereof, which is characterized in that a portal frame provided with a lifting mechanism is arranged in front of a body of an automatic carrying forklift, a pallet fork is arranged on the portal frame, when the pallet fork of the automatic carrying forklift carries a material rack, the automatic carrying forklift can be guided to run to a preparation position through a first obstacle avoidance sensor above the body, the distance and the angle of the pallet fork on an XY direction plane are positioned through a second obstacle avoidance sensor in the middle of the front of the portal frame, the position sensor on the side edge of the portal frame judges the lifting height of the pallet fork in a Z axis direction, the automatic carrying forklift moves towards a bearing device, the distance and the angle of the pallet fork are corrected while inserting, the material rack is placed on a bearing table of the bearing device, and then the automatic carrying forklift moves away from the bearing device, the automatic carrying forklift can reduce the labor hour and the cost consumed in the process of carrying, loading and unloading a yarn rack by manually operating an electric forklift, and has the effects of high automation, improved production efficiency and simplified labor cost.
Description
Technical Field
The invention relates to a material rack carrying system and a method thereof, in particular to an automatic carrying forklift which can be guided to run to a preparation position by a first obstacle avoidance sensor, and carries out secondary positioning of a pallet fork by a second obstacle avoidance sensor, wherein the position sensor carries out judgment on lifting height, so that the pallet fork can be inserted while being compensated, and the material rack carrying, loading and unloading actions can be completed.
Background
In recent years, due to the continuous upgrading of the specifications of electronic and communication products, the circuit board is developed towards light and thin directions, and electronic grade glass fiber cloth is used as the main raw material of the copper foil substrate to provide the quality requirements of strength, dimensional stability, electrical property and the like required by the copper foil substrate, and along with the wide application of the circuit board in the circuit board raw material requirements of information, consumer electronics, communication equipment, electric vehicles and other high-tech electronic products, the technical process of the glass fiber industry needs to be continuously researched, developed and produced in an advanced and automatic manner, so that the upgrading requirement of an application end can be met.
The Glass fiber cloth is produced by crushing fine silica sand, crushed Glass, limestone, soda ash, kaolin and the like, melting the crushed Glass at high temperature in a kiln to produce Glass paste, spinning, winding, twisting and the like to produce Glass fiber Yarn, and then processing the Glass fiber Yarn into Glass fiber cloth through Yarn finishing, Yarn sizing, weaving, desizing and the like, wherein the Yarn finishing process utilizes a Yarn finishing machine to arrange a certain number of warps according to the width and the structure requirements of cloth firstly, and then warping and winding the warps on a beam to prepare the Glass fiber cloth before subsequent sizing.
However, in the conventional yarn arranging process, a field operator needs to operate the electric forklift to move the full bobbin carriage and transport the full bobbin carriage to the side of the yarn arranging machine, so that the empty bobbins on the yarn arranging machine can be firstly taken down and hung on the empty bobbin carriage in a manual mode, the full bobbins on the full bobbin carriage are then taken down and hung on the yarn arranging machine to complete the replacement operation, the field operator can operate the electric forklift to transport the empty bobbin carriage back to the warehouse area or the work station position for yarn supplementing operation, and the bobbins need to be replaced and supplemented timely to meet the requirements of the production line.
Therefore, in the era of automated production in unmanned factories, along with diversified processing of glass fiber cloth manufacturing processes, the needs of production line automation and process design need to be considered, and an unmanned carrying vehicle and a mechanical arm are matched to accelerate the production line speed and improve the production efficiency, so that how to design an automated carrying device capable of reducing the operations of carrying, loading and unloading the creel vehicle by field operators to meet the needs of production line automation and process design is the direction in which the manufacturers are eagerly required to research and improve.
Disclosure of Invention
Therefore, in view of the above-mentioned shortcomings, the present inventors have collected relevant data, and through many evaluations and considerations, and continued trial and modification with years of research and development experience accumulated in the industry, invented patents that begin to design such a rack handling system and method thereof were developed.
In order to achieve the purpose, the invention adopts the technical scheme that:
a rack handling system characterized in that: the automatic carrying forklift comprises an automatic carrying forklift, wherein the automatic carrying forklift is provided with a forklift body which can move according to a set running path, a portal frame of a hoisting mechanism is arranged in front of the forklift body, a pallet fork which is arranged on the portal frame and used for taking and placing a material rack along with the lifting of the portal frame in the Z-axis direction is arranged on the portal frame, a first obstacle avoidance sensor used for guiding and positioning the automatic carrying forklift to and fro to a preparation position is arranged above the forklift body, a second obstacle avoidance sensor used for judging the distance and angle secondary positioning of the pallet fork on an XY-direction plane is arranged in the middle of the front of the portal frame, and a position sensor used for judging the lifting height of the pallet fork in the Z-axis direction is arranged on the side edge of the portal frame.
The rack handling system, wherein: and the third obstacle avoidance sensors are arranged at two sides of the rear part of the forklift body respectively and are infrared, laser obstacle avoidance sensors or ultrasonic obstacle avoidance sensors for measuring the distance between the automatic carrying forklift and surrounding obstacles.
The rack handling system, wherein: and a distance sensor used for judging the inserting distance of the pallet fork in the Y-axis direction is further arranged on the side edge of the gantry of the lifting mechanism, and the distance sensor is an infrared or ultrasonic distance sensor.
The rack handling system, wherein: the fork of the lifting mechanism comprises an upper fork part extending from the left side and the right side of an installation frame towards the front in the same direction, and a bottom fork part fixed at the left side and the right side of the bottom of the portal frame and extending towards the front in the same direction, and two fork wheels are respectively arranged in front of the two bottom fork parts.
The rack handling system, wherein: the lifting mechanism is also provided with a distance sensor on the side edge of the portal frame, the distance sensor is an infrared or ultrasonic distance sensor and is used for judging the inserting distance of the two bottom fork parts of the fork in the Y-axis direction, and guiding parts are respectively arranged at the outer sides in front of the two bottom fork parts of the fork and are used for guiding the fork to be inserted to be positioned.
The rack handling system, wherein: the first obstacle avoidance sensor and the second obstacle avoidance sensor are infrared, laser obstacle avoidance sensors or ultrasonic obstacle avoidance sensors, and distance and angle data of an obstacle is obtained by rotating or moving a measuring beam or ultrasonic waves on a plane in the XY directions.
The rack handling system, wherein: the second obstacle avoidance sensor is also provided with a depth camera in an integrated mode, and the depth camera is used for superposing distance data measured by the second obstacle avoidance sensor and images obtained by the depth camera when the second obstacle avoidance sensor shoots an obstacle so as to calculate the distance and the size of the obstacle.
The rack handling system, wherein: the position sensor is a stay wire type encoder, one end of the stay wire pulled out is connected to the gantry, and the number of steps of each circle of the stay wire pulled out along with the lifting of the gantry is measured through the encoder so as to calculate the height of the lifting displacement of the pallet fork in the Z-axis direction.
A material rack carrying system is characterized by comprising the material rack carrying system and a bearing device, wherein the bearing device is provided with a bearing table, positioning parts for placing a material rack on the transverse surface of the upper part of the material rack by a fork of an automatic carrying forklift are arranged at the left side and the right side of the bearing table, and an accommodating space for the fork to descend into is formed between the two positioning parts.
The rack handling system, wherein: the transverse surfaces above the two positioning parts of the bearing table are respectively convexly provided with a baffle plate for the base frame bottom of the material rack to be placed on the two positioning parts along the baffle plate, and the inner sides of the baffle plates are respectively provided with a limiting groove for the idler wheel at the base frame bottom to be clamped in the limiting groove.
The rack handling system, wherein: the fork of the automatic carrying forklift comprises an upper fork part which lifts in the Z-axis direction to pick and place the material rack, and a bottom fork part which is fixed at the bottom of the portal, wherein the carrying device is provided with a body, the bottom of the body is provided with an aligning part which is positioned at a distance below the carrying table, and an inserting space for inserting the bottom fork part into the positioning is formed in the aligning part from the end face of the body in a concave manner.
A material rack carrying method is suitable for a material rack carrying system, the material rack carrying system carries a material rack by using an automatic carrying forklift and places the material rack on a bearing table of a bearing device, and the material rack carrying method is characterized by comprising the following implementation steps:
(A) the automatic carrying forklift carries the material rack by using a pallet fork of a lifting mechanism and guides the material rack to run to a preparation position through a first obstacle avoidance sensor;
(B) the automatic carrying forklift carries out distance and angle positioning of the pallet fork on a plane in the XY direction through a second obstacle avoidance sensor, and a position sensor judges the lifting height of the pallet fork in the Z-axis direction;
(C) the automatic carrying forklift moves towards the bearing device;
(D) the automatic transport forklift corrects the distance and the angle of the pallet fork through the second obstacle avoidance sensor and performs insertion movement at the same time;
(E) the fork of the automatic carrying forklift finishes the process of placing the material rack on the bearing table of the bearing device and retreats from the bearing device.
A method for handling a rack, suitable for a rack handling system, which uses an automatic handling forklift to travel to a preparation position and take off a rack placed on a carrier, comprising the following steps:
(A) the automatic transport forklift is guided by a first obstacle avoidance sensor to travel to the preparation position;
(B) the automatic carrying forklift carries out distance and angle positioning of the pallet fork on a plane in the XY direction through a second obstacle avoidance sensor, and a position sensor judges the lifting height of the pallet fork in the Z-axis direction;
(C) the automatic carrying forklift moves towards the bearing device;
(D) the automatic transport forklift corrects the distance and the angle of the pallet fork through the second obstacle avoidance sensor and performs insertion movement at the same time;
(E) after the fork of the automatic carrying forklift finishes taking off the material rack placed on the bearing table by the bearing device, the fork retreats from the bearing device.
The main advantages of the invention are that the front of the body of the automatic transporting forklift is provided with a portal frame provided with a hoisting mechanism, the portal frame is provided with a fork which can pick and place a material rack along with the lifting of the portal frame in the Z-axis direction, the upper part of the body is provided with a first obstacle-avoiding sensor used for guiding and positioning the automatic transporting forklift to and fro to a preparation position, the middle of the front of the portal frame is provided with a second obstacle-avoiding sensor used for secondarily positioning the distance and the angle of the fork on the XY-direction plane, the side edge of the portal frame is provided with a position sensor used for judging the lifting height of the fork in the Z-axis direction, so that the automatic transporting forklift can be used for carrying out the flow of placing the full yarn rack vehicle or taking the empty yarn rack vehicle, and move towards the bearing device, and carry out the insertion action while correcting the distance and the angle of the fork, so as to finish the placing the full yarn rack vehicle on the bearing platform of the bearing device, or the empty creeper truck is taken down from the bearing platform, the automatic carrying forklift does not need a field operator to operate the electric forklift, can reduce the working hours and the cost consumed in the process of carrying, loading and unloading the creeper truck by manually operating the electric forklift, and has the effects of high automation, improved production efficiency and simplified labor cost.
The invention has the secondary advantages that the left side and the right side of the bearing platform of the bearing device are provided with positioning parts and containing spaces formed between the two positioning parts, when a fork of an automatic carrying forklift carries a material rack (such as a full-yarn rack truck) to move towards the bearing device, the material rack can be lifted to a distance above the bearing platform by using the upper fork part of the fork, after the upper fork part is inserted to be positioned, the upper fork part is descended and displaced to enter the containing space between the two positioning parts, so that the bottom of the base frame of the material rack is stably placed on the transverse surface above the two positioning parts, the bottom of the body of the bearing device can be further provided with an opposite part with an inserting space, the distance and the angle between the bottom fork part and the opposite part of the fork are corrected while the automatic carrying forklift is inserted into the opposite part, the guide part of the bottom fork part and the distance sensor can be smoothly inserted into the inserting space to be positioned by using the guide part of the bottom fork part and the distance sensor, the material rack can be placed on the bearing table by the aid of the fork, and overall operation is safer.
Another advantage of the present invention is that when the automatic transfer forklift performs a full-creel truck placing process, the automatic transfer forklift can use the fork of the lifting mechanism to carry the rack and guide the automatic transfer forklift to a preparation position close to the carrying device (such as an unmanned transfer trolley without a creel truck placed thereon) through the first obstacle avoidance sensor, the second obstacle avoidance sensor can perform distance and angle positioning of the fork on the XY-direction plane, the position sensor can perform determination of the elevation height of the fork in the Z-axis direction, and then move the automatic transfer forklift toward the carrying device while correcting the distance and angle of the fork, and perform insertion, so as to quickly complete the placing of the rack on the carrying device, and the automatic transfer forklift can retreat from the carrying device (such as an unmanned transfer trolley) to the preparation position according to the set traveling path.
The present invention has another advantage that when the automatic transfer forklift performs the empty rack unloading process, the automatic transfer forklift is substantially the same as the full rack loading process, and the main difference is that the automatic transfer forklift does not first perform the rack unloading operation, directly travels to the preparation position by the guidance of the first obstacle avoidance sensor, the second obstacle avoidance sensor performs the fork distance and angle positioning, and the position sensor performs the elevation height determination, and then moves toward the position of the carrying device (such as an unmanned transfer trolley on which an empty rack truck is placed), and performs the fork distance and angle correction while performing the insertion operation, so that the fork can rapidly complete the rack unloading operation, and then retreats from the carrying device to the preparation position according to the set travel path.
Drawings
Fig. 1 is a perspective view of an automatic transfer forklift of the present invention.
Fig. 2 is a flow chart of the steps of the rack carrying method of the invention in placing the full-yarn rack vehicle.
Fig. 3 is a schematic view of the automatic transfer forklift truck of the present invention when the full-yarn carrier vehicle travels to the standby position.
Fig. 4 is a schematic diagram of the automatic transfer forklift of the present invention using the obstacle avoidance sensor for secondary positioning and the position sensor for determining the height of the fork.
Fig. 5 is a schematic view showing the insertion operation of the forks of the automatic transfer forklift in the direction of the unmanned transfer carriage while correcting the forks.
Fig. 6 is a schematic view of the fork of the automatic transfer forklift truck according to the present invention before the full-length creel truck is placed on the unmanned transfer carriage.
Fig. 7 is a schematic view of the fork of the automatic transfer forklift of the present invention after the full-length creel truck is placed on the unmanned transfer carriage.
Fig. 8 is a schematic view of the automatic transfer forklift retreating from the unmanned transfer carriage according to the present invention.
Fig. 9 is a flow chart of the steps of the rack carrying method for removing the empty yarn rack vehicle according to the present invention.
Fig. 10 is a schematic view of the automatic transfer forklift of the present invention traveling to the preparation position to remove the empty yarn carrier vehicle on which the unmanned transfer carriage is placed.
Description of reference numerals: 1-automatic handling forklift; 11-a vehicle body; 12-a hoisting mechanism; 121-a gantry; 122-a fork; 122 a-a mounting frame; 1221-upper fork; 1222-a bottom fork; 1223-fork wheels; 1224-a guide; 13-a first obstacle avoidance sensor; 14-a second obstacle avoidance sensor; 14 a-a depth camera; 15-a third obstacle avoidance sensor; 16-a position sensor; 17-a distance sensor; 2-a carrier device; 21-body; 210-an insertion space; 211-an alignment portion; 2111-a guide surface; 22-a carrier table; 220-a containing space; 221-a positioning section; 2211-baffle; 2212-limit groove; 222-a steering mechanism; 2221-refining wheel; 2222-refining; 223-a motor; 23-a robotic arm; 231-a pick-and-place part; 2311-electric clamping jaw; 3-a material rack; 31-a base frame; 311-yarn hanging rod; 312-a roller; 313-a foot bar; 4-full bobbin; 5-empty bobbin.
Detailed Description
To achieve the above objects and advantages, the present invention provides a novel and improved method for manufacturing a semiconductor device, which comprises a substrate, a first substrate, a second substrate, a third substrate, a fourth substrate, and a fourth substrate.
Referring to fig. 1 to 3, which are a perspective view of an automatic carrying forklift, a flow chart of a method for carrying a rack of the present invention in steps of placing a full rack truck, and a schematic view of the automatic carrying forklift carrying the full rack truck to a ready position, respectively, it can be clearly seen from the drawings that the system for carrying a rack of the present invention comprises an automatic carrying forklift 1 and a carrying device 2, wherein:
the automatic carrying forklift 1 comprises a forklift body 11, a transmission device, a steering system, a hydraulic device, a drive control system and the like are arranged on a frame of the forklift body 11, a portal 121 of a hoisting mechanism 12 is arranged in front of the frame, the portal 121 comprises an inner portal and an outer portal, a fork 122 is arranged on the inner side of the inner portal through a carriage, and a hoisting oil cylinder of the hydraulic device is arranged between the inner portal and the outer portal to form an electric forklift, wheels at the bottom of the forklift body 11 are driven by the drive control system through the transmission device, the forklift body 11 is controlled by the steering system to move according to a set running path, the inner portal is driven by the hoisting oil cylinder of the hydraulic device, a hoisting chain wheel drive chain drives the carriage to ascend or descend along the inner portal, and the fork 122 can ascend or descend along with the carriage, but the electric forklift has a plurality of types and types, the basic components and structural design are different depending on the application mode, and the design can be selected or changed according to the actual application, such as manual operation rod, pedal, etc., so the following description will be explained together.
In the embodiment, the fork 122 of the hoisting mechanism 12 includes a mounting frame 122a mounted on the carriage inside the gantry 121, an upper fork portion 1221 extending forward and backward from the left and right sides of the mounting frame 122a, and a bottom fork portion 1222 fixed at the bottom of the outer gantry and extending forward and backward, and two fork wheels 1223 of a seesaw type are respectively mounted in front of the two bottom fork portions 1222 to support on the ground to improve the stability of the upper fork portion 1221 during transportation, and the two bottom fork portions 1222 are respectively provided with a guiding portion 1224 at the front outer sides thereof, such as at least one guiding wheel respectively mounted by a telescopic adjusting element, but not limited thereto, the structural design of the bottom fork portion 1222 may also be omitted, and the guiding portions are respectively provided at the front outer sides of the fork 122 directly.
In addition, the automatic carrying forklift 1 is provided with a first obstacle avoidance sensor 13 above the body 11 or the mast 121 of the lifting mechanism 12, a second obstacle avoidance sensor 14 in the middle of the two bottom forks 1222 of the fork 122 in front of the mast 121, third obstacle avoidance sensors 15 symmetrically distributed at the two sides of the rear of the body 11, and a position sensor 16 on the outer mast side of the mast 121, and each of the obstacle avoidance sensors 13, 14, 15 is preferably implemented as an obstacle avoidance sensor such as a radar (LiDAR) sensor using an infrared ray or a laser light source, which measures the distance between the infrared ray or the laser obstacle avoidance sensor and the obstacle based on the Time of Flight (ToF) of light, but not limited thereto, each of the obstacle avoidance sensors may also be an ultrasonic obstacle avoidance sensor based on measuring a beam or an ultrasonic wave by rotating or moving the beam or the ultrasonic wave in the XY direction plane, so as to obtain the distance and angle (theta) data of the obstacle, and a distance above the second obstacle avoidance sensor 14 can be further integrated with a depth camera 14a, so that the distance data measured by the obstacle avoidance sensor 14 can be superimposed with the image taken by the depth camera 14a, and the distance and size of the obstacle can be more accurately calculated; in addition, the position sensor 16 is preferably implemented as a pull-wire type encoder, and after one end of the pull-wire is connected to the inner gantry or the carriage of the gantry 121, the encoder can measure the number of steps per cycle of the pull-wire pulled out along with the lifting of the inner gantry or the carriage, so as to calculate the height of the fork 122 along with the lifting of the carriage in the Z-axis direction.
In the embodiment, the hoisting mechanism 12 is further provided with a distance sensor 17, including an infrared or ultrasonic distance sensor, on the outer gantry side of the gantry 121 near the position sensor 16, preferably measuring the distance between the sensor and the obstacle based on the flight time of light, and each of the obstacle avoidance sensors 13, 14, 15, the depth camera 14a, the position sensor 16 and the distance sensor 17 can be connected to a controller of the drive control system through a transmission line or a data bus, respectively, and the controller receives and stores the data of the sensors to control and operate the automatic transport forklift 1, wherein the first obstacle avoidance sensor 13 is used for guiding and positioning the automatic transport forklift 1 to move to and from the preparation position (from point a to point B); the second obstacle avoidance sensor 14 is used for determining the secondary positioning of the fork 122 of the hoisting mechanism 12 on the XY direction plane; the third obstacle avoidance sensor 15 is used for detecting the distance between the automatic carrying forklift 1 and surrounding obstacles so as to enlarge the surrounding detection range; the position sensor 16 is used for determining the lifting height of the pallet fork 122 in the Z-axis direction; and the distance sensor 17 is used for determining the insertion distance of the fork 122 in the Y-axis direction, but the principles and applications of the obstacle avoidance sensor, the position sensor and the distance sensor are only related to this part, and the controller of the driving control system receives the data transmitted by the sensor to perform the related control and operation of the electric forklift, and the like.
The carrying device 2 has a body 21, and an electromagnetic or optical automatic guiding device is provided on the body 21, so that a driving control system can drive wheels at the bottom of the body 21 to move according to a set driving path through a transmission device, so as to form an unmanned carrying vehicle, an intelligent guiding transport vehicle or other unmanned carrying vehicle, but not limited thereto, the body 21 can also be a fixed or movable goods shelf, a material shelf, etc., the front and rear sides of the body 21 are respectively provided with a carrying platform 22 and a mechanical arm 23, the left and right sides of the carrying platform 22 are provided with positioning parts 221 protruding upwards, a containing space 220 penetrating from front to back is formed between the two positioning parts 221, the transverse surfaces above the two positioning parts 221 are respectively provided with inclined baffles 2211 facing from left to right, the inner sides of the baffles 2211 are provided with concave limiting grooves 2212, the bottom of the carrying platform 22 is connected with a steering mechanism 222 including a refining wheel 2221 and a refining bar 2222, the motor 223 drives the steering mechanism 222 to rotate the platform 22 to different directions, and the bottom of the body 21 or a distance below the platform 22 is provided with an aligning portion 211, and the aligning portion 211 is recessed from the end surface of the body 21 toward the robot arm 23 to form a U-shaped insertion space 210, and two sides of the opening of the insertion space 210 are respectively provided with a guide surface 2111 facing outward.
The robot arm 23 may be a joint type robot arm or other robot arm with multi-axis movement, picking and placing or transporting functions, and is connected to the electric system of the unmanned transfer trolley through a power system, and a controller drives and controls the motor of each degree of freedom of the servo mechanism, so that the robot arm can perform multi-axis movement in a plane or three-dimensional space, and the picking and placing unit 231 is provided on the end of the robot arm 23, so that the controller can drive and control the electric clamping jaws 2311 of the picking and placing unit 231 to perform picking and placing actions.
In this embodiment, the automatic carrying forklift 1 can use the fork 122 of the lifting mechanism 12 to fork a rack 3 for carrying, stacking and short-distance transportation, wherein the rack 3 is preferably implemented as a creel truck, but not limited thereto, and can also be a pallet, a warehouse cage, a layer rack or other various racks, if the rack 3 is described as a full creel truck, a plurality of rows of yarn hanging rods 311 are arranged on the base frame 31, each yarn hanging rod 311 is respectively hung with a full bobbin 4 in a sleeved manner, each full bobbin 4 is uniformly wound with glass fiber yarn on the bobbin, and a plurality of rollers 312 and foot rods 313 are arranged at the periphery of the bottom of the base frame 31.
As shown in fig. 2, the process of placing the full-yarn rack car in the rack carrying method of the present invention includes the following implementation steps:
(S101) the automatic transfer forklift 1 carries the material rack 3 by using the fork 122 of the lifting mechanism 12, and is guided to travel to the standby position by the first obstacle avoidance sensor 13.
(S102) the automatic carrying forklift 1 performs the distance and angle positioning of the fork 122 on the XY-direction plane by the second obstacle avoidance sensor 14, and the determination of the elevation height of the fork 122 in the Z-axis direction by the position sensor 16.
(S103) the automatic transfer forklift 1 moves toward the carriage 2.
(S104) the automatic transport forklift 1 inserts the pallet fork 122 while correcting the distance and angle of the pallet fork by the second obstacle avoidance sensor 14.
(S105) the forks 122 of the automatic carrying forklift 1 complete the placement of the rack 3 on the carrier table 22 of the carrier 2 and then retreat from the carrier 2.
Please refer to fig. 4 to 8, which are schematic diagrams of the automatic transfer forklift of the present invention for performing secondary positioning and determining a height of a fork by using an obstacle avoidance sensor, when the fork of the automatic transfer forklift performs an insertion operation while being corrected in a direction of the unmanned transfer trolley, before the fork of the automatic transfer forklift places the creel truck on the unmanned transfer trolley, after the creel truck is placed on the unmanned transfer trolley, and when the automatic transfer forklift retreats from the unmanned transfer trolley to a standby position, as can be clearly seen from the diagrams, the carrying device 2 in the present embodiment is described as an unmanned transfer trolley, and after the unmanned transfer trolley receives a task instruction issued by the main control platform, the unmanned transfer trolley without the creel truck on the carrying platform 22 can be driven to an initial position first, and when the automatic transfer trolley 1 carries out a transfer of a material rack 3, for example, a full bobbin carriage truck with a plurality of full bobbins 4 can be used for a field operator to stand on a pedal of the truck body 11, and the automatic transport forklift 1 is controlled by a manual control lever in a manual mode, or after the automatic transport forklift 1 receives a task instruction from a main control console, the automatic transport forklift is driven to a warehouse area or a designated station position (such as point a) in an automatic mode, and a fork 122 of the lifting mechanism 12 is used for forking a rack 3 with a plurality of full bobbins 4 to complete the movement of the rack, and then the automatic transport forklift 1 can be automatically guided to drive to a preparation position (such as point B) by the first obstacle avoidance sensor 13.
When the automatic transfer forklift 1 transfers the rack 3 to the preparation position, the second obstacle avoidance sensor 14 first performs the distance and angle positioning between the fork 122 and the unmanned transfer trolley on the XY-direction plane, and the position sensor 16 determines the elevation height of the fork 122 in the Z-axis direction, and the upper fork 1221 of the fork 122 lifts the rack 3 to a height higher than the height of the carrier 22, and then moves toward the unmanned transfer trolley position, and during the movement of the automatic transfer forklift 1, the second obstacle avoidance sensor 14 performs the correction of the distance and angle between the bottom fork 1222 of the fork 122 and the positioning portion 211 of the body 21, performs the insertion operation into the positioning portion 211, and uses the guide wheel in front of the bottom fork 1222 to smoothly insert into the insertion space 210 along the guide surface 2111 to be positioned, and simultaneously causes the upper fork 1221 of the fork 122 to transfer the rack 3 to a distance above the carrier 22, the upper fork 1221 is lowered and displaced into the accommodating space 220 between the two positioning portions 221, so that the bottom of the base frame 31 of the rack 3 is placed on the lateral surfaces of the two positioning portions 221 along the guiding surfaces of the inner sides of the left and right baffle 2211, the rollers 312 at the two sides of the middle of the bottom of the base frame 31 are respectively clamped in the limiting grooves 2212 corresponding to the two positioning portions 221, and the foot bars 313 are respectively abutted against the front and rear side wall surfaces of the two positioning portions 221, so that the rack 3 can be rapidly placed on the carrying platform 22, the automatic carrying forklift 1 can be retreated from the unmanned carrying trolley to return to the preparation position according to the set driving path, and then driven to the original warehouse or work station position to carry out the subsequent carrying operation of another full-rack trolley, or can be driven to the position of another unmanned trolley to carry out the taking-off operation of an empty-rack trolley, and then returned to the designated position.
In addition, when the unmanned transfer trolley with the full bobbin carriages is driven to the end position of the side of the bobbin creel table, the mechanical arm 23 can sequentially clamp and take the full bobbins 4 hung on the bobbin creels 3 in the first yarn hanging area, and the full bobbins 4 are respectively placed on the bobbin creel table, then the empty bobbins 5 hung on the bobbin creel table are placed at the original positions in the first yarn hanging area, until the full bobbins 4 are all replaced on the bobbin creel table, the motor 223 can drive the steering mechanism 222 to enable the bobbin creels 3 placed on the bearing table 22 to rotate, so that the second yarn hanging area can steer to face the mechanical arm 23, and after the full bobbins 4 in the second yarn hanging area are all replaced on the bobbin creel table by the mechanical arm 23, the unmanned transfer trolley carries the empty bobbin carriages with a plurality of empty bobbins 5 hung thereon to drive to the initial position.
Referring to fig. 9 to 10, which are a flow chart of the steps of removing an empty yarn carrier vehicle and a schematic diagram of an automatic transfer forklift driving to a preparation position to remove an empty yarn carrier vehicle placed on an unmanned transfer trolley according to the present invention, it can be clearly seen from the diagrams that the flow of removing an empty yarn carrier vehicle according to the present invention comprises the following implementation steps:
(S201) the automatic carrying forklift 1 is guided to travel to the standby position by the first obstacle avoidance sensor 13.
(S202) the automatic carrying forklift 1 performs the distance and angle positioning of the fork 122 on the XY-direction plane by the second obstacle avoidance sensor 14, and the determination of the elevation height of the fork 122 in the Z-axis direction by the position sensor 16.
(S203) the automatic transfer forklift 1 moves toward the carriage 2.
(S204) the automatic transport forklift 1 inserts the pallet fork 122 while correcting the distance and angle of the pallet fork by the second obstacle avoidance sensor 14.
(S205) after the forks 122 of the automatic carrying forklift 1 have taken off the stacks 3 placed on the carrier table 22 by the carrier device 2, the automatic carrying forklift is retreated from the carrier device 2.
As can be seen from the above steps, the flow of removing the empty carrier vehicle by the automatic transport forklift 1 of the present invention is substantially the same as the flow of placing the full carrier vehicle, and the main difference is that the unmanned transfer forklift 1 having the empty carrier vehicle placed thereon travels to the initial position in advance, and the automatic transport forklift 1 in the step (S201) does not carry out the material taking rack 3 first, and can directly travel to the preliminary position by the guidance of the first obstacle avoidance sensor 13, and then the second obstacle avoidance sensor 14 positions the distance and the angle of the fork 122 on the XY-direction plane, and after the position sensor 16 determines the elevation height of the fork 122 in the Z-axis direction, the automatic transport forklift 1 can move toward the position of the carrier 2, and insert the fork 122 while correcting the distance and the angle of the fork 122 by the second obstacle avoidance sensor 14, and the automatic transport forklift 1 in the step (S205) finishes the removal of the material rack 3 placed on the carrier table 22 by the fork 122, for example, an empty creel truck on which a plurality of empty bobbins 5 are loaded is withdrawn from the unmanned transfer carriage according to a set travel path and returned to a standby position, and the automatic transfer forklift 1 can reduce the man-hours and costs consumed in the process of manually operating the electric forklift to transfer and load and unload the creel truck without the need for a field operator to operate the electric forklift to transfer, load and unload the creel truck, and has the effects of high automation, improved production efficiency, and reduced labor cost.
The foregoing description is intended to be illustrative rather than limiting, and it will be appreciated by those skilled in the art that many modifications, variations or equivalents may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (13)
1. A rack handling system characterized in that: the automatic carrying forklift comprises an automatic carrying forklift, wherein the automatic carrying forklift is provided with a forklift body which can move according to a set running path, a portal frame of a hoisting mechanism is arranged in front of the forklift body, a pallet fork which is arranged on the portal frame and used for taking and placing a material rack along with the lifting of the portal frame in the Z-axis direction is arranged on the portal frame, a first obstacle avoidance sensor used for guiding and positioning the automatic carrying forklift to and fro to a preparation position is arranged above the forklift body, a second obstacle avoidance sensor used for judging the distance and angle secondary positioning of the pallet fork on an XY-direction plane is arranged in the middle of the front of the portal frame, and a position sensor used for judging the lifting height of the pallet fork in the Z-axis direction is arranged on the side edge of the portal frame.
2. The rack handling system of claim 1, wherein: and the third obstacle avoidance sensors are arranged at two sides of the rear part of the forklift body respectively and are infrared, laser obstacle avoidance sensors or ultrasonic obstacle avoidance sensors for measuring the distance between the automatic carrying forklift and surrounding obstacles.
3. The rack handling system of claim 1, wherein: and a distance sensor used for judging the inserting distance of the pallet fork in the Y-axis direction is further arranged on the side edge of the gantry of the lifting mechanism, and the distance sensor is an infrared or ultrasonic distance sensor.
4. The rack handling system of claim 1, wherein: the fork of the lifting mechanism comprises an upper fork part extending from the left side and the right side of an installation frame towards the front in the same direction, and a bottom fork part fixed at the left side and the right side of the bottom of the portal frame and extending towards the front in the same direction, and two fork wheels are respectively arranged in front of the two bottom fork parts.
5. The rack handling system of claim 4, wherein: the lifting mechanism is also provided with a distance sensor on the side edge of the portal frame, the distance sensor is an infrared or ultrasonic distance sensor and is used for judging the inserting distance of the two bottom fork parts of the fork in the Y-axis direction, and guiding parts are respectively arranged at the outer sides in front of the two bottom fork parts of the fork and are used for guiding the fork to be inserted to be positioned.
6. The rack handling system of claim 1, wherein: the first obstacle avoidance sensor and the second obstacle avoidance sensor are infrared, laser obstacle avoidance sensors or ultrasonic obstacle avoidance sensors, and distance and angle data of an obstacle is obtained by rotating or moving a measuring beam or ultrasonic waves on a plane in the XY directions.
7. The rack handling system of claim 1, wherein: the second obstacle avoidance sensor is also provided with a depth camera in an integrated mode, and the depth camera is used for superposing distance data measured by the second obstacle avoidance sensor and images obtained by the depth camera when the second obstacle avoidance sensor shoots an obstacle so as to calculate the distance and the size of the obstacle.
8. The rack handling system of claim 1, wherein: the position sensor is a stay wire type encoder, one end of the stay wire pulled out is connected to the gantry, and the number of steps of each circle of the stay wire pulled out along with the lifting of the gantry is measured through the encoder so as to calculate the height of the lifting displacement of the pallet fork in the Z-axis direction.
9. A rack handling system, comprising the rack handling system according to any one of claims 1 to 8 and a carrying device, wherein the carrying device has a carrying platform, and positioning portions are provided at left and right sides of the carrying platform for placing the rack on a lateral surface of the automatic handling forklift, and an accommodating space for the fork to descend into is formed between the two positioning portions.
10. The rack handling system of claim 9, wherein: the transverse surfaces above the two positioning parts of the bearing table are respectively convexly provided with a baffle plate for the base frame bottom of the material rack to be placed on the two positioning parts along the baffle plate, and the inner sides of the baffle plates are respectively provided with a limiting groove for the idler wheel at the base frame bottom to be clamped in the limiting groove.
11. The rack handling system of claim 9, wherein: the fork of the automatic carrying forklift comprises an upper fork part which lifts in the Z-axis direction to pick and place the material rack, and a bottom fork part which is fixed at the bottom of the portal, wherein the carrying device is provided with a body, the bottom of the body is provided with an aligning part which is positioned at a distance below the carrying table, and an inserting space for inserting the bottom fork part into the positioning is formed in the aligning part from the end face of the body in a concave manner.
12. A material rack carrying method is suitable for a material rack carrying system, the material rack carrying system carries a material rack by using an automatic carrying forklift and places the material rack on a bearing table of a bearing device, and the material rack carrying method is characterized by comprising the following implementation steps:
(A) the automatic carrying forklift carries the material rack by using a pallet fork of a lifting mechanism and guides the material rack to run to a preparation position through a first obstacle avoidance sensor;
(B) the automatic carrying forklift carries out distance and angle positioning of the pallet fork on a plane in the XY direction through a second obstacle avoidance sensor, and a position sensor judges the lifting height of the pallet fork in the Z-axis direction;
(C) the automatic carrying forklift moves towards the bearing device;
(D) the automatic transport forklift corrects the distance and the angle of the pallet fork through the second obstacle avoidance sensor and performs insertion movement at the same time;
(E) the fork of the automatic carrying forklift finishes the process of placing the material rack on the bearing table of the bearing device and retreats from the bearing device.
13. A method for handling a rack, suitable for a rack handling system, which uses an automatic handling forklift to travel to a preparation position and take off a rack placed on a carrier, comprising the following steps:
(A) the automatic transport forklift is guided by a first obstacle avoidance sensor to travel to the preparation position;
(B) the automatic carrying forklift carries out distance and angle positioning of the pallet fork on a plane in the XY direction through a second obstacle avoidance sensor, and a position sensor judges the lifting height of the pallet fork in the Z-axis direction;
(C) the automatic carrying forklift moves towards the bearing device;
(D) the automatic transport forklift corrects the distance and the angle of the pallet fork through the second obstacle avoidance sensor and performs insertion movement at the same time;
(E) after the fork of the automatic carrying forklift finishes taking off the material rack placed on the bearing table by the bearing device, the fork retreats from the bearing device.
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| CN202011134664.9A CN114380244B (en) | 2020-10-21 | 2020-10-21 | Material rack carrying system and method thereof |
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| IT202200014716A1 (en) * | 2022-07-13 | 2024-01-13 | System Ceramics S P A | Operator vehicle with safety sensor |
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