本文的主要目的在為一紡織廠研製一套智慧型自動物料搬運系統,期望能取代人工操作將紡錘從輸送帶搬運至紗架車上。為了驗證系統的可行性,本文根據現場的紡紗流程製作了一台縮小版的智慧型自動物料搬運系統。系統架構可分為三個部分,分別為自動導引車、五自由度多軸輸送平台、以及Arduino控制器。自動導引車用來將系統載運至適當的輸送帶位置;五自由度多軸輸送平台負責從輸送帶上抓取紡錘,並將其置放至紗架車上;Arduino控制器則透過Zigbee無線通訊及各種感測器來整合控制自動物料搬運系統。 實驗顯示,本系統可平順的完成複雜的搬運動作,預期此系統將可有效的減輕工作人員的體力負擔及降低職災傷害的機率。
In this paper, an intelligent automated material handling system (IAMHS) is developed for a textile mill in order to transfer yarn-spindles from conveyer to yarn-rack precisely. The prototype of proposed system consists of an automated guided vehicle (AGV) for approach control and a 5D XYZ table for spindle transferring. Furthermore, an Arduino series microprocessor is employed to perform the locating algorithm required for IAMHS and to manage the whole systems by the Zigbee(wireless communication protocol). The experimental results showed that the developed IAMHS can deliver the yarn spindles smoothly in variety of processing conditions by cooperating with several sensors. It also can lighten the load of the mill laborers and to avoid the occupational injuries dramatically.