CN114380244A - Material rack carrying system and method thereof - Google Patents

Abstract

The present invention provides a material rack handling system and a method thereof, wherein a gantry is provided with a lifting mechanism in front of the body of an automatic handling forklift, and a fork is installed on the gantry. When carrying a material rack, it can be guided by the first obstacle avoidance sensor on the top of the car body to the preparatory position, and the second obstacle avoidance sensor in the middle of the front of the gantry will carry out the fork on the XY direction plane. The distance and angle are positioned, and the position sensor on the side of the gantry judges the height of the fork in the Z-axis direction, and then moves toward the carrying device, while correcting the distance and angle of the fork, and performing the insertion action , the material rack is placed on the bearing platform of the bearing device, and then withdrawn from the bearing device. This kind of automatic handling forklift can reduce the man-hour and cost spent in the manual operation of the electric forklift for the handling, loading and unloading of the creel, and has the advantages of The effect of high automation, improved production efficiency and reduced labor costs.

Description

Shelf handling system and method therefor

technical field

The invention relates to a material rack handling system and a method thereof, in particular, an automatic handling forklift can be guided by a first obstacle avoidance sensor to travel to a preparatory position, and the second obstacle avoidance sensor can perform secondary positioning of the fork , The position sensor determines the height of the lifting and lowering, so that the fork can be inserted while compensating, so as to complete the movement of the material rack and loading and unloading.

Background technique

In recent years, due to the continuous upgrading of the specifications of electronic and communication products, the circuit boards have been developed in the direction of lightness and thinness, and electronic-grade glass fiber cloth is used as the main raw material of the copper foil substrate to provide the strength, dimensional stability, electrical and electronic properties required by the copper foil substrate. As the circuit boards are widely used in information, consumer electronics, communication equipment, electric vehicles, and other high-tech electronic products, the demand for circuit board raw materials requires continuous research and development in the technological process of the glass fiber industry. And automated production, in order to meet the upgrade needs of the application side.

The main source of glass fiber cloth is glass fiber yarn (Glass Yarn). , winding, twisting and other processes to make glass fiber yarn, and then through the whole yarn, sizing, warping, weaving, desizing and other processes to make glass fiber cloth. A certain number of warp yarns are arranged according to the fabric width and weave requirements, and then the warp yarns are warped and wound on the warp beam as preparation before subsequent sizing.

However, in the traditional yarn finishing process, the on-site operator needs to operate an electric forklift to carry the full creel car and transport the full creel car to the side of the yarn finishing machine. The empty bobbins are taken off and mounted on the empty creel, and then the full bobbins on the full creel are taken off and mounted on the yarn finishing machine to complete the replacement operation, and the field operator can operate the electric forklift to The empty creel is transported back to the warehouse area or station for yarn patching, and each bobbin needs to be replaced and patched in time to meet the needs of the production line.

Therefore, in the era of automated production in unmanned factories, with the diversified processing of glass fiber cloth processes, it is necessary to consider the needs of production line automation and process design, and cooperate with unmanned transport vehicles and robotic arms to make the production line. Speeding up the speed and improving the efficiency of production, so how should the industry design an automatic handling device that can reduce the number of field operators operating electric forklifts for handling, loading and unloading of creel vehicles, so as to meet the needs of production line automation and process design, that is, to engage in This is where industry players are eager to study and improve.

SUMMARY OF THE INVENTION

Therefore, in view of the above deficiencies, the present inventor collects relevant information, conducts multiple evaluations and considerations, and continues to experiment and revise with years of R&D experience accumulated in this industry, before designing such a material rack handling system and it. The invention patent of the method is born.

For achieving the above object, the technical scheme adopted in the present invention is:

A material rack handling system is characterized in that it includes an automatic handling forklift, the automatic handling forklift has a vehicle body that can move according to a set travel path, and a gantry with a lifting mechanism is arranged in front of the vehicle body, and A fork that is installed on the gantry to pick up and place a material rack with the gantry rising and falling in the Z-axis direction, and a first obstacle avoidance for guiding and positioning the automatic handling forklift to and from the preparatory position is arranged above the vehicle body sensor, and a second obstacle avoidance sensor for determining the distance and angle of the fork on the XY direction plane is arranged in the middle of the front of the gantry, and the side of the gantry is provided with a sensor for A position sensor for determining the height of the fork in the Z-axis direction.

The material rack handling system, wherein: the rear two sides of the vehicle body are respectively provided with a third obstacle avoidance sensor, the third obstacle avoidance sensor is infrared, laser obstacle avoidance sensor or ultrasonic obstacle avoidance sensor The measuring device is used to measure the distance between the automatic handling forklift and surrounding obstacles.

The material rack handling system, wherein: the side of the gantry of the hoisting mechanism is also provided with a distance sensor for judging the insertion distance of the fork in the Y-axis direction, and the distance sensor is infrared or ultrasonic distance sensors.

The material rack handling system, wherein: the fork of the hoisting mechanism includes an upper fork portion extending from the left and right sides of a mounting frame to the front in the same direction, and the left and right sides fixed on the bottom of the gantry extending in the same direction to the front and two fork wheels are respectively installed in front of the two bottom forks.

The material rack handling system, wherein: the hoisting mechanism is also provided with a distance sensor on the side of the gantry, and the distance sensor is an infrared or ultrasonic distance sensor, which is used for the two sides of the fork. For the determination of the insertion distance of the bottom fork in the Y-axis direction, guide parts are respectively provided at the front and two outer sides of the two bottom forks of the fork to guide the fork to be inserted to the positioning.

The material rack handling system, wherein: the first obstacle avoidance sensor and the second obstacle avoidance sensor are infrared, laser obstacle avoidance sensor or ultrasonic obstacle avoidance sensor, based on the plane passing through the XY direction Rotate or move the measuring beam or ultrasonic wave up to obtain the distance and angle information of the obstacle.

The material rack handling system, wherein: the second obstacle avoidance sensor is further integrated with a depth camera, which is used for the distance data measured by the second obstacle avoidance sensor and the depth camera obtained by shooting obstacles. The images are superimposed to calculate the distance and size of the obstacle.

Said material rack handling system, wherein: the position sensor is a pull wire type encoder, and is connected to the gantry by one end pulled out of a pull wire, and then uses an encoder to measure the position of the pull wire along with the lifting of the gantry. The number of steps per lap pulled out to calculate the height of the fork's lifting displacement in the Z-axis direction.

A material rack handling system, which is characterized in that it includes the material rack handling system and a bearing device, the bearing device has a bearing platform, and the left and right sides of the bearing platform are provided with goods for the automatic forklift truck. The fork is placed on the positioning portion of the upper lateral surface of the material rack, and an accommodating space for the fork to descend into is formed between the two positioning portions.

The material rack handling system, wherein: the upper lateral surfaces of the two positioning parts of the carrying platform are respectively protruded with baffles along which the bottom of the base frame of the material rack is placed on the two positioning parts, and the baffles are placed on the two positioning parts. The inner side of the plate is respectively provided with limit grooves for the rollers at the bottom of the base frame to be respectively clamped into the limiting grooves.

The material rack handling system, wherein: the forks of the automatic handling forklift include an upper fork part that lifts and lowers the material rack in the Z-axis direction, and a bottom fork part fixed at the bottom of the gantry, and is mounted on the load The device has a main body, and the bottom of the main body is provided with a positioning part located at a distance below the bearing platform, and then the positioning part is recessed from the end face of the main body to form an insertion space for the bottom fork part to be inserted into the positioning .

A material rack handling method, suitable for a material rack handling system, the material rack handling system uses an automatic handling forklift to transport a material rack, and the material rack is placed on a bearing platform of a bearing device, characterized in that the material rack is The rack handling method includes the following implementation steps:

(A) The automatic handling forklift uses the fork of a lifting mechanism to carry the material rack, and is guided to travel to the preparatory position by a first obstacle avoidance sensor;

(B) The automatic handling forklift uses a second obstacle avoidance sensor to perform distance and angle positioning of the fork on the XY direction plane, and a position sensor to determine the lifting height of the fork in the Z-axis direction;

(C) the automatic handling forklift is moved towards the carrying device;

(D) The automatic transport forklift performs the insertion action while correcting the distance and angle of the fork through the second obstacle avoidance sensor;

(E) The forks of the automatic handling forklift complete placing the material rack on the carrying platform of the carrying device, and then withdraw from the carrying device.

A material rack handling method is suitable for a material rack handling system, the material rack handling system uses an automatic handling forklift to drive to a preparatory position, and removes a material rack placed on a bearing platform by a carrying device, and is characterized in that , the material rack handling method includes the following implementation steps:

(A) The automatic handling forklift is guided by a first obstacle avoidance sensor to travel to the preparatory position;

(B) The automatic handling forklift uses a second obstacle avoidance sensor to perform distance and angle positioning of the fork on the XY direction plane, and a position sensor to determine the lifting height of the fork in the Z-axis direction;

(C) the automatic handling forklift is moved towards the carrying device;

(D) The automatic transport forklift performs the insertion action while correcting the distance and angle of the fork through the second obstacle avoidance sensor;

(E) After the fork of the automatic handling forklift completes removing the material rack placed by the carrying device on the carrying platform, it retreats from the carrying device.

The main advantage of the present invention is that the front of the body of the automatic handling forklift is a gantry provided with a lifting mechanism, and a fork that can pick up and place a material rack is installed on the gantry along with the lifting and lowering in the Z-axis direction. The top of the car body is provided with a first obstacle avoidance sensor for guiding and positioning the automatic handling forklift to and from the preparatory position, and a secondary positioning of the distance and angle of the fork on the XY plane is provided in the middle of the front of the gantry. The second obstacle avoidance sensor is provided, and the side of the gantry is provided with a position sensor for the determination of the lifting height of the fork in the Z-axis direction. The process of the creel car, and move towards the carrier, while correcting the distance and angle of the fork while inserting the action, to complete the placement of the full creel car on the platform of the carrier device, or the empty creel car. The action of removing from the self-supporting platform, this kind of automatic handling forklift does not require the on-site operator to operate the electric forklift, which can reduce the man-hour and cost in the manual operation of the electric forklift for the handling and loading and unloading of the creel. Production efficiency and the effect of reducing labor costs.

The secondary advantage of the present invention is that the left and right sides of the carrying platform of the carrying device are provided with a positioning portion and an accommodating space formed between the two positioning portions. When the trolley moves toward the bearing device, the upper fork part of the fork can be used to lift the material rack to a distance above the bearing platform, and after the upper fork part is inserted into the position, the upper fork part can be lowered and displaced to the second position In the accommodating space between the parts, the bottom of the base frame of the material rack can be stably placed on the lateral surface above the two positioning parts, and the bottom of the main body of the carrying device can also be further provided with a positioning part with an insertion space, and automatically The handling forklift is inserted into the alignment portion while correcting the distance and angle between the bottom fork portion and the alignment portion of the fork. Insert it into the insertion space until it is positioned to ensure that the fork can place the material rack on the carrying platform, and the overall operation is also safer.

Another advantage of the present invention is that when the automatic transport forklift performs the process of placing the full creel, the fork of the hoisting mechanism can be used to pick up the material rack, and guided by the first obstacle avoidance sensor to travel close to the carrying device (For example, the unmanned transfer trolley without the creel car is placed in the preparatory position, the second obstacle avoidance sensor performs the distance and angle positioning of the fork on the XY direction plane, and the position sensor performs the fork positioning in the XY direction. Judgment of the lifting height in the Z-axis direction, and then move toward the carrying device to correct the distance and angle of the fork, and perform the insertion action, the action of placing the material rack on the carrying platform can be quickly completed, and the automatic handling forklift can be Retire from the carrier device (such as an unmanned transfer trolley) according to the set travel path and return to the preparatory position.

Another advantage of the present invention is that when the automatic handling forklift performs the process of removing the empty creel car, it is roughly the same as the process of placing the full creel car. Drive directly to the preparatory position through the guidance of the first obstacle avoidance sensor, the second obstacle avoidance sensor performs fork distance and angle positioning, and the position sensor determines the lifting height, and then moves toward the position of the carrying device ( For example, the unmanned transfer trolley with empty creel car) moves, and while correcting the distance and angle of the fork, the insertion action is performed, so that the fork can quickly complete the transfer of the material rack placed on the carrier (such as The empty creel car) is removed, and then retreats from the carrier device according to the set travel path and returns to the preparatory position.

Description of drawings

Fig. 1 is a perspective external view of an automatic transport forklift of the present invention.

Fig. 2 is a flow chart of the steps of placing a full creel car in the material rack handling method of the present invention.

Fig. 3 is a schematic diagram of the present invention when the automatic transport forklift transports the full creel vehicle and travels to the preparatory position.

4 is a schematic diagram of the automatic handling forklift of the present invention using the obstacle avoidance sensor for secondary positioning and the position sensor for fork height determination.

FIG. 5 is a schematic diagram of the fork of the automatic transfer forklift of the present invention, when the fork is inserted in the direction of the unmanned transfer trolley while being corrected.

Fig. 6 is a schematic diagram of the forks of the automatic handling forklift of the present invention placing the full creel before the unmanned transfer trolley.

Fig. 7 is a schematic diagram of the fork of the automatic transport forklift of the present invention after placing the full creel on the unmanned transfer trolley.

FIG. 8 is a schematic diagram of the automatic transport forklift of the present invention retreating from the unmanned transfer trolley.

Fig. 9 is a flow chart showing the steps of removing the empty creel car in the material rack handling method of the present invention.

FIG. 10 is a schematic diagram of the automatic transport forklift of the present invention traveling to a preparatory position to remove the empty creel car placed on the unmanned transfer trolley.

Description of reference numerals: 1-automatic handling forklift; 11-body; 12-lifting mechanism; 121-gantry; 122-fork; 122a-mounting frame; 1221-upper fork; 1222-bottom fork; 1223 - fork wheel; 1224 - guide; 13 - first obstacle avoidance sensor; 14 - second obstacle avoidance sensor; 14a - depth camera; 15 - third obstacle avoidance sensor; 16 - position sensing 17-distance sensor; 2-carrying device; 21-body; 210-insertion space; 211-alignment part; 2111-guide surface; 22-carrying platform; 220-accommodating space; 221- Positioning part; 2211-baffle plate; 2212-limiting groove; 222-steering mechanism; 2221-chaining wheel; 2222-chaining bar; 223-motor; 23-robot arm; 3-material rack; 31-base frame; 311-yarn hanging rod; 312-roller; 313-foot rod; 4-full yarn tube; 5-empty yarn tube.

Detailed ways

In order to achieve the above objectives and effects, the technical means and structures adopted by the present invention are described in detail in the drawings on the preferred embodiments of the present invention. The structures and functions are as follows, so as to facilitate complete understanding.

Please refer to Figures 1 to 3, which are respectively the three-dimensional appearance diagram of the automatic handling forklift of the present invention, the flow chart of the steps of placing the full creel in the material rack handling method, and the automatic transport forklift moving the full creel to the preparatory position. It can be clearly seen from the figure that the material rack handling system of the present invention includes an automatic handling forklift 1 and a carrying device 2, wherein:

The automatic transport forklift 1 has a vehicle body 11, and a transmission device, a steering system, a hydraulic device, a drive control system, etc. are installed on the frame of the vehicle body 11, and a gantry 121 of the hoisting mechanism 12 is arranged in front of the vehicle frame. The gantry 121 includes an inner gantry and an outer gantry, and a fork 122 is installed on the inner side of the inner gantry through a carriage, and a lifting cylinder of a hydraulic device is installed between the inner gantry and the outer gantry to form An electric forklift can use the drive control system to drive the wheels at the bottom of the car body 11 through the transmission device, and the steering system controls the car body 11 to move according to the set travel path, and can drive the inner wheel through the lifting cylinder of the hydraulic device. The gantry is used for the hoisting sprocket to drive the chain to drive the carriage to ascend or descend along the inner gantry, so that the forks 122 can ascend or descend with the carriage. However, there are many types and types of electric forklifts. The basic composition and structural design vary with the application method, and can be selected or changed according to the actual application, such as manual control levers, pedals, etc. Explain together, together to Chen Ming.

In this embodiment, the fork 122 of the hoisting mechanism 12 includes a mounting bracket 122a mounted on the carriage inside the gantry 121, an upper fork portion 1221 extending forward in the same direction on the left and right sides of the mounting bracket 122a, and an outer fork portion 1221 fixed on the outside The bottom fork portion 1222 extends forward in the same direction on the left and right sides of the bottom of the gantry, and two seesaw-type fork wheels 1223 are respectively installed in front of the two bottom fork portions 1222 for supporting the upper fork portion 1221 against the ground. For the stability during transportation, guide parts 1224 are respectively provided at the front and two outer sides of the two bottom fork parts 1222. For example, at least one guide wheel can be installed respectively through a telescopic adjustment element, but it is not limited to this, it can also be The structural design of the bottom fork portion 1222 is omitted, and guide portions are directly provided at the front and two outer sides of the fork 122 respectively.

In addition, the automatic handling forklift 1 is provided with a first obstacle avoidance sensor 13 above the vehicle body 11 or the gantry 121 of the hoisting mechanism 12 , and a fork 122 in front of the gantry 121 is provided in the middle of the second bottom fork 1222 The second obstacle avoidance sensor 14 is provided with symmetrically distributed third obstacle avoidance sensors 15 at the rear two sides of the vehicle body 11 , and a position sensor is provided on the side of the outer gantry of the gantry 121 16, and each obstacle avoidance sensor 13, 14, 15 is preferably implemented as an obstacle avoidance sensor such as a radar (LiDAR) sensor using an infrared or laser light source, respectively, based on the time of flight (Time of flight) of light. Flight, ToF) to measure the distance between infrared and laser obstacle avoidance sensors and obstacles, but not limited to this, each obstacle avoidance sensor can also be an ultrasonic obstacle avoidance sensor. Based on obtaining the distance and angle (θ) data of the obstacle by rotating or moving the measuring beam or ultrasonic wave on the XY direction plane, and a depth camera 14a can be further integrated and disposed at a distance above the second obstacle avoidance sensor 14, The distance data measured by the obstacle avoidance sensor 14 and the image captured by the depth camera 14a can be superimposed, so that the distance and size of the obstacle can be calculated more accurately; in addition, the position sensor 16 is preferably implemented as A pull-wire encoder, and after connecting the pull-out end of the pull-wire to the inner gantry or carriage of the gantry 121, the encoder can be used to measure each turn of the pull-out wire as the inner gantry or carriage rises and falls. The number of steps is used to calculate the height of the delivery fork 122 in the Z-axis direction along with the lifting and lowering of the carriage.

In this embodiment, the hoisting mechanism 12 is further provided with a distance sensor 17 on the side of the outer gantry of the gantry 121 close to the position sensor 16, including an infrared or ultrasonic distance sensor. The distance between the sensor and the obstacle is measured based on the time of flight of light, and each obstacle avoidance sensor 13, 14, 15, depth camera 14a, position sensor 16 and distance sensor 17 can are respectively connected to the controller of the drive control system through transmission lines or data bus bars, and the controller receives and stores the data of the sensor to control and operate the automatic handling forklift 1, wherein the first obstacle avoidance sensor 13 It is used for guiding and positioning the automatic transport forklift 1 to and from the preparatory position (moving from point A to point B); the second obstacle avoidance sensor 14 is used for the secondary positioning of the fork 122 of the lifting mechanism 12 on the XY direction plane. Determine; the third obstacle avoidance sensor 15 is used to detect the distance between the automatic handling forklift 1 and the surrounding obstacles, so as to expand the range of surrounding detection; and the distance sensor 17 is used for the determination of the insertion distance of the fork 122 in the Y-axis direction, but this part is related to the principle and application of the obstacle avoidance sensor, the position sensor and the distance sensor, and is driven by The controller of the control system receives the data transmitted by the sensor to carry out the control and operation related to the electric forklift, etc., which is the scope of the prior art. All other equal changes and modifications completed without departing from the technical spirit disclosed in the present invention, All should be included in the patent scope covered by the present invention.

The carrying device 2 has a main body 21, and an electromagnetic or optical automatic guiding device is arranged on the main body 21, so that the drive control system can drive the wheels at the bottom of the main body 21 to move according to the set travel path through the transmission device, so as to form a non- People handling vehicles, intelligent guided transport vehicles or other unmanned transfer trolleys, but not limited to this, the main body 21 can also be fixed or mobile shelves, material racks, etc. Then, a carrying table 22 and a mechanical arm 23 are respectively provided, and positioning portions 221 are arranged on the left and right sides of the carrying table 22 with upwardly protruding positioning portions 221 . The lateral surfaces above the two positioning portions 221 are respectively protruded with left and right opposite inclined baffle plates 2211 , and the inner side of each baffle plate 2211 is provided with a concave limit groove 2212 , and the bottom of the support table 22 is connected with a chain wheel 2221 and The steering mechanism 222 of the chain bar 2222 is driven by the motor 223 so that the bearing platform 22 can be rotated to different directions, and the bottom of the frame of the main body 21 or a distance below the bearing platform 22 is provided with an alignment portion 211, and A U-shaped insertion space 210 is concavely formed in the alignment portion 211 from the end surface of the main body 21 toward the robot arm 23 , and guide surfaces 2111 are respectively formed at two sides of the opening of the insertion space 210 facing outward.

The manipulator 23 can be an articulated manipulator or other manipulators with multi-axis motion, pick-and-place or handling functions, connected to the power system on the unmanned transfer trolley through the power system, and driven by the controller The motor that controls each degree of freedom of the servo mechanism enables the robotic arm to perform multi-axis motion in a plane or three-dimensional space, and the end of the robotic arm 23 is provided with a pick-and-place portion 231, which can be driven and controlled by the controller. The electric gripper 2311 of 231 is used for gripping and placing action.

In this embodiment, the automatic handling forklift 1 can use the forks 122 of the hoisting mechanism 12 to lift a material rack 3 for carrying, stacking and short-distance transportation operations, wherein the material rack 3 is preferably implemented as a yarn The frame car, but not limited to this, can also be a pallet, a warehouse cage, a stacking rack or other various shelves. A plurality of yarn hanging rods 311 are arranged in multiple rows, and each full yarn bobbin 4 is mounted on each yarn hanging rod 311 in a socketed manner, and each full yarn bobbin 4 is evenly wound with glass fiber yarn on the yarn bobbin. , and a plurality of rollers 312 and a foot rod 313 are arranged at the periphery of the bottom of the base frame 31 .

As shown in Figure 2, the above-mentioned material rack handling method of the present invention includes the following implementation steps in the process of placing the full creel car:

( S101 ) The automatic transport forklift 1 uses the forks 122 of the hoisting mechanism 12 to carry the material rack 3 , and is guided by the first obstacle avoidance sensor 13 to travel to the ready position.

(S102) The automatic transport forklift 1 uses the second obstacle avoidance sensor 14 to locate the distance and angle of the fork 122 on the XY direction plane, and the position sensor 16 determines the height of the fork 122 in the Z-axis direction.

( S103 ) The automatic transfer forklift 1 moves toward the carrying device 2 .

( S104 ) The automatic transport forklift 1 performs the insertion operation while correcting the distance and angle of the fork 122 by the second obstacle avoidance sensor 14 .

( S105 ) The fork 122 of the automatic transport forklift 1 completes placing the material rack 3 on the carrying platform 22 of the carrying device 2 , and then withdraws from the carrying device 2 .

Please refer to Figure 4 to Figure 8 , which are schematic diagrams of the automatic handling forklift using the obstacle avoidance sensor for secondary positioning and the position sensor for fork height determination, respectively, and the forks of the automatic handling forklift are facing no Schematic diagram of the insertion action while correcting the direction of the human transfer trolley, the schematic diagram of placing the creel on the unmanned transfer trolley by the forks of the automatic forklift, the creel placed on the unmanned transfer trolley The schematic diagram of the back on the vehicle and the schematic diagram of the automatic transport forklift leaving the unmanned transfer trolley and returning to the preparatory position. It can be clearly seen from the figures that the carrying device 2 in this embodiment is an unmanned transfer platform. The car is for illustration, and after the unmanned transfer trolley receives the task command issued by the main console, the unmanned transfer trolley without the creel car placed on the loading platform 22 can be driven to the starting position first. When the forklift 1 is carrying the material rack 3, for example, a full creel car with a plurality of full yarn bobbins 4 is mounted, and the field operator can stand on the pedal of the car body 11 and be controlled by the manual control lever in the manual mode The automatic handling forklift 1, or the automatic handling forklift 1, after receiving the task instruction issued by the main console, drives to the warehouse area or the designated station position (such as point A) in automatic mode, and uses the forks of the hoisting mechanism 12. 122 to fork up the material rack 3 on which a plurality of full yarn bobbins 4 are mounted to complete the carrying action, and then through the first obstacle avoidance sensor 13, the automatic transport forklift 1 can be automatically guided to travel to the preparatory position ( such as point B).

When the automatic transport forklift 1 transports the material rack 3 to the ready position, the distance and angle positioning between the fork 122 and the unmanned transfer trolley on the XY direction plane can be performed first through the second obstacle avoidance sensor 14 , and The position sensor 16 determines the lifting height of the fork 122 in the Z-axis direction, and makes the upper fork 1221 of the fork 122 lift the material rack 3 to a height higher than the height of the carrying platform 22, and then face the unmanned The position of the transfer trolley moves, and during the movement of the automatic forklift 1, the distance and angle between the bottom fork portion 1222 of the fork 122 and the alignment portion 211 of the main body 21 can be measured by the second obstacle avoidance sensor 14. For correction, while inserting into the positioning part 211, the front guide wheel of the bottom fork part 1222 can be smoothly inserted into the insertion space 210 along the guide surface 2111 to be positioned, and at the same time make the fork 122 The upper fork portion 1221 transports the material rack 3 to a distance above the bearing platform 22, and the upper fork portion 1221 descends and displaces into the accommodating space 220 between the two positioning portions 221, so that the bottom edge of the base frame 31 of the material rack 3 can be moved. The guide surfaces on the inner sides of the left and right baffles 2211 are placed on the lateral surfaces of the two positioning portions 221, and the rollers 312 at the middle two sides of the bottom of the base frame 31 are respectively clamped into the limiting grooves 2212 corresponding to the two positioning portions 221, and Each leg bar 313 abuts against the front and rear side walls of the two positioning portions 221 respectively, so that the action of placing the material rack 3 on the bearing platform 22 can be quickly completed, so that the automatic transport forklift 1 can retreat from the set travel path. The unmanned transfer trolley returns to the preparatory position, and then travels to the original warehouse area or station location for the subsequent handling of another full creel vehicle, or can be driven to another unmanned transfer first Remove the empty creel car from the trolley position, and then return to the originally designated position.

In addition, when the unmanned transfer trolley on which the full creel car is placed travels to the end position on the side of the creel table, the full yarn bobbins mounted on the rack 3 in the first yarn hanging area can be picked up by the robot arm 23 in sequence. 4, and place them on the creel table respectively, and then place the empty bobbin 5 mounted on the creel table at the original position in the first yarn hanging area, until the full bobbin 4 is replaced on the creel table, the motor 223 will The steering mechanism 222 will be driven to rotate the material rack 3 placed on the carrying platform 22, so that the second yarn hanging area is turned to face the robot arm 23, and the robot arm 23 will transfer the full yarn bobbin 4 in the second yarn hanging area. After they are all replaced on the creel table, the empty creel vehicle with a plurality of empty bobbins 5 mounted thereon is carried by the unmanned transfer platform and travels to the starting position.

Please refer to Figures 9 to 10, which are the flow chart of the steps of removing the empty creel in the material rack handling method of the present invention and the automatic transport forklift moving to the preparatory position to remove the empty yarn placed by the unmanned transfer trolley. The schematic diagram of the frame car, it can be clearly seen from the figure that the above-mentioned material rack handling method of the present invention includes the following implementation steps in the process of removing the empty creel car:

( S201 ) The automatic transport forklift 1 is guided to the preparatory position by the first obstacle avoidance sensor 13 .

(S202) The automatic handling forklift 1 uses the second obstacle avoidance sensor 14 to locate the distance and angle of the fork 122 on the XY direction plane, and the position sensor 16 determines the lifting height of the fork 122 in the Z-axis direction.

( S203 ) The automatic transfer forklift 1 moves toward the carrying device 2 .

( S204 ) The automatic transport forklift 1 performs the insertion operation while correcting the distance and angle of the fork 122 by the second obstacle avoidance sensor 14 .

( S205 ) After the forks 122 of the automatic transport forklift 1 have finished taking off the material rack 3 placed on the carrying platform 22 by the carrying device 2 , they are then withdrawn from the carrying device 2 .

It can be known from the above steps that the process of removing the empty creel car in the automatic handling forklift 1 of the present invention is roughly the same as the process of placing the full creel car, and the main difference lies in the unmanned transfer of the empty creel car. The trolley travels to the starting position in advance, and the automatic forklift 1 in step (S201) does not carry the material rack 3 first, and can directly travel to the ready position through the guidance of the first obstacle avoidance sensor 13 , and then use the second obstacle avoidance sensor 14 to locate the distance and angle of the fork 122 on the XY direction plane, and the position sensor 16 to determine the lifting height of the fork 122 in the Z-axis direction, and then the load can be moved toward the bearing The position of the device 2 is moved, and through the second obstacle avoidance sensor 14, the distance and angle of the fork 122 are corrected and the insertion is performed, and the automatic transport forklift 1 in this step (S205) completes the retrieval through the fork 122. The material rack 3 placed on the lower loading platform 22, such as an empty creel car with a plurality of empty bobbins 5 mounted thereon, then retreats from the unmanned transfer car according to the set travel path and returns to the preparatory position. The automatic handling forklift 1 does not require on-site operators to operate the electric forklift for handling, loading and unloading of the creel, which can reduce the man-hour and cost in the process of manually operating the electric forklift for the handling, loading and unloading of the creel. The effect of improving production efficiency and reducing labor costs.

The above description is only illustrative rather than restrictive for the present invention. Those skilled in the art understand that many modifications, changes or equivalents can be made without departing from the spirit and scope defined by the claims. All will fall within the protection scope of the present invention.

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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