TWI790519B - Intelligent carrier system - Google Patents

Abstract

In intelligent carrier system includes a control device, an ascend device, a transmission device, and a grab device. When the grab device grabs an object at a position in a fetching area, the transmission device idles, and the control device records a first height position. Next, when the grab device moves the object to the unloading area for unloading the object, the transmission device idles again, and the control device records a second height position. Next, the control device controls the ascend device to restore back to the fetching area at a third height position, wherein the third height position is lower than the initial height of the ascend device and higher than the first height position. Next, according to the second height position, the control device sequentially moves other objects in the fetching area to the unloading area. Thus, an automatic object moving function is achieved.

Description

Intelligent handling system

The invention relates to an intelligent handling system, which can automatically complete the handling of goods, thereby saving manpower.

There are electric moving machines on the market for people to carry goods, such as the handling of loading and unloading goods in factories, or the transfer and handling of other different work production lines, etc.

However, although the traditional electric transfer machine eliminates a large amount of manpower handling operations, the electric transfer machine still requires operators to perform stand-alone operations, and cannot truly eliminate manual operations. With the development of Industry 4.0 and the trend of focusing on automation and saving manpower How to truly realize the cargo handling of automated operations to meet the needs of all walks of life is one of the goals that the present invention wants to pursue.

In order to solve the above problems, the present invention discloses an intelligent handling system, the lifting height position of the lifting device can be recorded in the control device, so that the gripping device can perform automatic handling operations according to the recorded lifting height position, eliminating manpower and saving Porting time.

In order to achieve the above purpose, an intelligent handling system is provided in an embodiment of the present invention, which is used to carry a plurality of stacked objects. The intelligent handling system includes a control device, a lifting device, a transmission device. The control device is arranged on a body; the lifting device is arranged on the body; the transmission device is arranged on the body and electrically connected to the control device, and the control device drives the transmission device to make the lifting device move relative to the body along the Y-axis direction; and the clamping device is arranged on the lifting device. The device is electrically connected to the control device, and the gripping device can move relative to the body along the X-axis direction; when the gripping device grabs an object in a pick-up area, the transmission device generates idling, and the control device records a The first height position, then when the gripping device moves the object to a discharge area for unloading, the transmission device will idle again, and the control device will record a second height position, and then the control device will make the lifting device return to the pick-up area and Located at a third height position, the third height position is less than the initial height position of the lifting device and greater than the first height position, and then the control device sequentially transports other objects in the pick-up area to the discharge area according to the second height position to uninstall.

Thereby, the present invention can intelligently judge the height position of the lifting device, so that the clamping position can be transported according to the height position, thereby achieving automatic operation and eliminating the need for manpower.

100: Intelligent handling system

10: Body

11: base

12: stand

13: Wheels

14: handle

15: The third sensor

20: Control device

21: Control module

22:Record module

30: Lifting device

31: base

32: sliding part

33: Power department

40: Transmission

41: Drive motor

42: Drive belt

43:Gear box

44: Lower runner

45: Upper runner

50:Clamping device

51: Buckle part

52: Solenoid valve

53: Proximity switch

54: The first sensor

60: Cargo device

70: Encoder

80: unloading shelf

81:Second sensor

82: Conveyor belt

200: Object

A1: Retrieval area

A2: Unloading area

H: initial height position

H1: first height position

H2: second height position

H3: third height position

[Fig. 1] is a schematic block diagram of the control framework of the intelligent handling system of the present invention.

[Fig. 2] is a schematic diagram of the structure appearance of the intelligent handling system of the present invention.

[Fig. 3] is a schematic diagram of the body of the intelligent handling system of the present invention.

[ Fig. 4 ] is a structural schematic diagram of the clamping device of the intelligent handling system of the present invention.

[Figure 5] is a schematic diagram of the operation of the intelligent handling system of the present invention, showing that the gripping device is located at the initial height position and moves down to the first height position to grip objects.

[Fig. 6] is a schematic diagram of the operation of the intelligent handling system of the present invention, showing that the gripping device moves the object to the unloading area and is located at the second height.

[ Fig. 7 ] is a schematic diagram of the operation of the intelligent handling system of the present invention, showing that the gripping device abdicates to the pick-up area and is located at the third height position.

Exemplary embodiments of the present invention are described in detail below with reference to the accompanying drawings, and it is not intended to limit the technical principles of the present invention to specific disclosed embodiments, but the scope of the present invention is only limited by the scope of the patent application, covering substitutions, modifications and equivalent.

Please refer to Figs. 1 to 7, the present invention is an intelligent handling system 100, which is used to carry a plurality of stacked objects 200. The intelligent handling system 100 includes a body 10, a control device 20, and a lifting device 30 , a transmission device 40 , and a clamping device 50 .

The body 10 has a base 11 and a stand 12 fixed on the base 11 . The base 11 is provided with wheels 13, and the back side of the stand 12 is provided with a handle 14, so that the staff can operate the machine body 10 to move to a desired working area. Wherein, the front side of the body 10 has a pick-up area A1, and the pick-up area A1 can be located within the range of the base 11, and the base 11 is detachably connected to a loading device 60, and the loading device 60 is used to carry a plurality of stacked objects 200. The object 200 is a storage basket for carrying goods, and the heights of the storage baskets can be the same or different.

The control device 20 is disposed on the machine body 10 , and the control device 20 has a control module 21 and a coupled recording module 22 .

The lifting device 30 is disposed on the machine body 10 and is capable of lifting and lowering along the stand 12 .

The transmission device 40 is arranged on the machine body 10 and is electrically connected to the control device 20 . The control device 20 drives the transmission device 40 to displace the lifting device 30 relative to the machine body 10 along the Y-axis direction. In the embodiment of the present invention, the transmission device 40 includes a driving motor 41 and a transmission belt 42 connected to the driving motor 41 , and the transmission belt 42 is connected to the lifting device 30 . The control device 20 can control whether the drive motor 41 is running or not, and drives the lifting device 30 to generate a lifting action during operation.

The present invention further includes an encoder 70, which is electrically connected to the control device 20, and the encoder 70 is connected to the transmission belt 42, that is, arranged on the moving path of the transmission belt 42, to sense the displacement of the transmission belt 42, and to A displacement signal is generated and sent to the control device 20, so that the control device 20 records the height position according to the displacement signal.

In addition, in the embodiment of the present invention, the transmission device 40 further includes a gear box 43, a lower runner 44 and an upper runner 45 oppositely arranged. The driving motor 41 is connected to the gear box 43 with power, and the lower runner 44 is arranged on the stand One end of 12 is connected to the gear box 43 for power, the upper runner 45 is arranged at the other end of the stand 12, and the transmission belt 42 is wound around the lower runner 44 and the upper runner 45.

In one embodiment of the present invention, the lifting device 30 includes a base 31, a sliding part 32 and a power part 33, the base 31 is connected with the transmission belt 42, the sliding part 32 is slidably arranged on the base 31, and the power part 33 is fixed on the The base part 31 is used to drive the sliding part 32 to displace along the X-axis direction, and the clamping device 50 is connected to the sliding part 32 to move with it. Wherein, the power part 33 is electrically connected to the control device 20 and is a geared motor.

The clamping device 50 is disposed on the sliding portion 32 of the lifting device 30 and is electrically connected to the control device 20 . The clamping device 50 can be displaced relative to the machine body 10 along the X-axis direction. Wherein, the clamping device 50 can be used to clamp the object 200 in the picking area A1, so as to transport the object 200 to a discharge area A2 for unloading.

In the embodiment of the present invention, the clamping device 50 includes a pair of clamping parts 51 and two solenoid valves 52. The two clamping parts 51 are separated and arranged on both sides of the sliding part 32, and the two clamping parts 51 can be moved from top to bottom. The object 200 is automatically buckled and grasped. The two solenoid valves 52 are respectively electrically connected to the control device 20 to make the two clamping parts 51 open to unload the object 200 . Wherein, one side of each clip part 51 is provided with a proximity switch 53 electrically connected to the control device 20, and the two proximity switches 53 are used to detect the position of each clip part 51 in the opened state to determine whether it is fully released. Open object 200.

In one embodiment of the present invention, the clamping device 50 further has a first sensor 54 electrically connected to the control device 20, and the first sensor 54 is used to detect whether the clamping portion 51 of the clamping device 50 is The object 200 has been clamped, and the unloading area A2 has an unloading rack 80, the unloading rack 80 has a second sensor 81 electrically connected to the control device 20, and the second sensor 81 is used to detect whether the object 200 has been Be located on unloading shelf 80. And the unloading rack 80 has a conveyor belt 82 for transporting the object 200 . The loading device 60 is a transport vehicle with wheels, which has a third sensor 61 electrically connected to the control device 20, and the third sensor 61 is used to detect whether the object 200 is completely removed from the loading device. 60. Each of the first sensor 54 , the second sensor 81 and the third sensor 61 is a photoelectric switch.

Please refer to FIG. 5 to FIG. 7 (with reference to FIG. 1 , FIG. 2 and FIG. 4 ) to describe the action of the object to be transported 200 of the present invention and the description of the operation of each component. Wherein, in FIG. 5 , the intelligent handling system 100 is set in the working factory area, and the body 10 corresponds to the picking area A1 and the unloading area A2. At this time, the lifting device 30 is located at an initial height position H, so that the gripping device 50 is located Above 200; the control device 20 controls the displacement of the lifting device 30 towards the object 200 on the uppermost layer of the picking area A1, so that the clip part 51 of the clamping device 50 can automatically buckle after touching the object 200 during the downward displacement. At the positions on both sides of the object 200, the object 200 is clamped at this time, and the transmission device 40 produces idling. At this time, the encoder 70 senses that the position has not changed, and the driving motor 41 still has current (idling), and the control device 20 records a first a high position H1 and temporarily store it in the recording module 22 of the control device 20 . Wherein, the idling of the driving motor 41 can prevent the lifting device 30 from further downward displacement.

As shown in Figure 6, then the first sensor 54 detects that the clamping portion 51 has clamped the object 200, at this moment, the lifting device 30 starts to pick up the object 200 and rises, and then passes through the clamping device 50 along the X-axis direction toward Move away from the direction of the stand 12, so that the object 200 is moved above the unloading area A2, and then perform a descending action to unload the object 200 subsequently; when the lifting device 30 descends, the object 200 is gradually placed on the conveyor belt of the unloading rack 80 82 and the subsequent output, and by the second sensor 81 detecting that the object 200 has been positioned on the unloading rack 80, the driving motor 41 of the transmission device 40 is idle again to prevent the lifting device 30 from moving down again, and then the control device 20 records a first The second height position H2 is temporarily stored in the recording module 22. The control device 20 controls the electromagnetic valve 52 to open the clasp 51 so as to let go of the object 200. When the clasp 51 senses displacement through the proximity switch 53, it means The clip part 51 has completely released the object 200 to be unloaded.

As shown in FIG. 7 , following the aforementioned operation, after confirming that the clamping portion 51 has been unloaded, the control device 20 makes the elevating device 30 rise, and the clamping device 50 abdicates, so that the elevating device 30 and the clamping device 50 are displaced to a third position. The height position H3 (which is also temporarily stored in the recording module 22), wherein the third height position H3 is smaller than the initial height position H and greater than the first height position H1, so that the lifting device 30 and the clamping device 50 clamp another object 200 again , it is not necessary to abdicate to the initial height position H, thereby saving transportation time, and the third height position H3 is greater than the first height position H1 to prevent the clamping device 50 from colliding with the object 200 by mistake.

Thereby, according to the foregoing operation and principle description, the lifting device 30 and the gripping device 50 can automatically transport the objects 200 in the picking area A1 to the unloading rack 80 in the unloading area A2 for unloading until the third sensing When the device 61 detects that the object 200 is completely removed from the loading device 60, the lifting device 30 and the gripping device 50 return to the initial height position H and stop.

Thereby, the control device 20 of the present invention can record the height position of the elevating device 30, so that the clamping device 50 can perform automatic conveying operations according to the recorded elevating height position, thereby eliminating manual work and saving conveying time.

Furthermore, the present invention can automatically detect the height position and judge whether to clamp or unload the object 200 without complex electronic devices or mechanical structures, and has the advantage of cost competitiveness.

Above, although the present invention is described with a preferred embodiment, those skilled in the art can make various changes without departing from the spirit and scope of the present invention. The aforementioned embodiments are only used to illustrate the present invention, and are not intended to limit the scope of the present invention. All modifications or changes that do not violate the spirit of the present invention belong to the patent scope of the present invention.

100: Intelligent handling system

10: Body

15: The third sensor

20: Control device

21: Control module

22:Record module

30: Lifting device

33: Power department

40: Transmission

41: Drive motor

50:Clamping device

52: Solenoid valve

53: Proximity switch

54: The first sensor

70: Encoder

80: unloading shelf

81:Second sensor

Claims (9)

An intelligent conveying system, which is used to convey a plurality of stacked objects, the intelligent conveying system includes: a control device, which is arranged on a body; a lifting device, which is arranged on the body; a transmission device, which is arranged on the body And electrically connected to the control device, the control device drives the transmission device to make the lifting device move relative to the body along the Y-axis direction, the transmission device includes a drive motor and a drive belt connected to the drive motor, and the The transmission belt is connected to the lifting device; an encoder, which is electrically connected to the control device and connected to the transmission belt, is used to sense the displacement of the transmission belt to generate a displacement signal and send it to the control device, make the control device record the height position according to the displacement signal; and a clamping device is arranged on the lifting device and electrically connected to the control device, the clamping device can be displaced along the X-axis relative to the body; when When the clamping device clamps an object at a pick-up area, the drive motor rotates idly, and the control device records a first height position, and then the clamping device moves the object to a discharge area for further processing. When unloading, the driving motor generates idling again, and the control device records a second height position, and then the control device resets the lifting device to the pick-up area and is located at a third height position, the third height position is lower than the An initial height position of the lifting device is greater than the first height position, and then the control device sequentially transports other objects in the pick-up area to the discharge area for unloading according to the second height position. The intelligent handling system as described in claim 1, wherein, the control device has a control module and a coupled recording module, and the recording module is used to temporarily store the first height position, the second height position and The third height position. The intelligent handling system as described in claim 1, wherein the transmission device further includes a gear box, a lower runner and a relatively arranged upper runner, the body has a stand, and the drive motor is connected to the gear box. The lower runner is set at one end of the stand and is power connected to the gear box, the upper runner is set at the other end of the stand, and the transmission belt is wound around the lower runner and the upper runner and connected to the lift device. The intelligent handling system as described in claim 3, wherein the lifting device includes a base, a sliding part and a power part, the base is connected with the transmission belt, the sliding part is slid on the base, and the power part is fixed The base is used to drive the sliding part to displace along the X-axis direction, and the clamping device is connected to the sliding part. The intelligent handling system as described in claim 1, wherein, the clamping device has a first sensor electrically connected to the control device, and the first sensor is used to detect whether the clamping device has clamped the For the object, the unloading area has an unloading rack, and the unloading rack has a second sensor electrically connected to the control device, and the second sensor is used to detect whether the object has been placed on the unloading rack. The intelligent handling system as described in claim 5 further includes a loading device for stacking and carrying the objects described above, the loading device is connected to the machine body and has a third sensor electrically connected to the control device, The third sensor is used to detect whether the object is completely removed from the loading device. The intelligent transportation system according to claim 6, wherein each of the first sensor, the second sensor and the third sensor is a photoelectric switch. The intelligent handling system as described in Claim 1, wherein, the clamping device includes a pair of clamping parts and two electromagnetic valves, the two clamping parts can be automatically clamped on the object from top to bottom, and the two electromagnetic valves The valves are respectively electrically connected to the control device, and are used to make the two clamping parts open to unload the objects. The intelligent handling system as described in claim 8, wherein, one side of each clip part is provided with a proximity switch electrically connected to the control device, and the two proximity switches are used to detect that each clip part is in an open state s position.

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