CN117654950A - Cleaning robot applied to AMHS (automated mechanical transmission) system and control method - Google Patents

Abstract

The invention relates to the technical field of semiconductor equipment, and provides a cleaning robot applied to an AMHS (automated mechanical transmission) system and a control method. The cleaning maintenance of the track on the guide rail of the AMHS system by the operation of the automatic robot is realized, and different cleaning modes can be selected according to the user instruction; the vacuum scraping component is arranged at the rear side of the second maintenance part to treat the surface of the roller wiper of the second maintenance part, so that the long-term adhesion of impurities on the roller wiper is avoided, and the wiping effect is reduced. The problem that conventional equipment suitable for cleaning the ground track is limited on an AMHS and cannot effectively clean the track, and is also mainly dependent on manual operation is solved.

Description

Cleaning robot applied to AMHS (automated mechanical transmission) system and control method

Technical Field

The invention relates to the technical field of semiconductor equipment, in particular to a cleaning robot applied to an AMHS and a control method.

Background

In the production and manufacture of semiconductor products, there is a high demand for cleanliness of the production environment. In order to meet the need for cleanliness, AMHS systems are often used to transfer and transport materials during their production and manufacture.

AMHS (Automatic Material Handling System) is an automatic material conveying system, also called as crown block system, which is a carrier conveying system capable of conveying loaded wafers between production devices according to the process flow rapidly and accurately. The method can reduce the idle time of wafers, improve the space utilization rate of a clean room, improve the product yield, reduce personnel misoperation, reduce labor cost and the like, and is widely applied to semiconductor silicon wafer factories, chip manufacturing factories, chip packaging factories and the like.

The AMHS system is composed of a hardware system and a software system, wherein the hardware system mainly comprises: an unmanned carrier OHT (Overhead Hoist Transport), a track, power supply equipment, etc. which are suspended in the air.

Wherein the OHT walks along a predetermined path guided by the overhead rail. The material transfer platform is positioned below the guide rail and corresponds to the preset path. The material handling vehicle moves to a position corresponding to the material transfer platform, so that the material is lifted and moved, and the material is transferred between the material handling vehicle and the material transfer platform.

Cleaning of the guideway is a necessary task because the running wheels of the OHT rub against the guideway during running on the guideway, thereby generating dust (as shown in fig. 6). The cleaning of the rails in an AMHS system is different from the floor rail because the rails in an AMHS system are formed by combining two parallel rails (as shown in fig. 1), and the cross section of the rails is also greatly different from that of the floor rail (one side of the rails is suspended by a baffle), so that the conventional equipment suitable for cleaning the floor rail can suffer from great limiting factors such as the width and height of the whole machine, the cleaning speed, the cleaning angle, the impurity collection and the like on the AMHS. Therefore, the existing cleaning of the guide rail also mainly depends on manual operation, but the manual operation brings a plurality of problems, such as: the production efficiency is affected, the cleanliness is poor, secondary pollution is easy to cause, potential safety hazards exist in high-altitude operation, and the like.

Disclosure of Invention

The invention aims to provide a cleaning robot applied to an AMHS and a control method thereof, which solve the problems that the cleaning of a guide rail in the prior art mainly depends on manual operation, but the manual operation brings about a plurality of problems, such as: the production efficiency is affected, the cleanliness is poor, secondary pollution is easy to cause, potential safety hazards exist in high-altitude operation, and the like.

In a first aspect, an embodiment of the present invention provides a cleaning robot applied to an AMHS system, including:

the carrier is internally provided with a hollow accommodating chamber;

the running driving assembly is used for driving the carrier to run along the extending direction of the track path of the clean conveying system, and is arranged in the bottom area of the carrier;

the guide wheels are respectively arranged at two sides of the bottom area of the carrier and are abutted against the side walls of the track;

the cleaning assembly comprises a first maintenance part, a second maintenance part and a collection part, wherein the first maintenance part is positioned at two sides of the carrier and is used for gathering large-particle impurities on a track, the first maintenance part is movably arranged in the bottom area of the carrier through an angle adjusting assembly, and the first maintenance part is at least partially positioned in a containing cavity of the carrier;

one end of the angle adjusting component is connected with the carrier, the other end of the angle adjusting component is hinged with the first maintenance part, and the angle adjusting component can adjust the cutting-in included angle of the first maintenance part relative to the travelling surface;

the collecting part is arranged in the carrier accommodating cavity, the inlets of the collecting part are respectively positioned at two sides of the carrier in the width direction, and the first maintenance part can collect impurities on the track and the inlets;

and the controller is respectively electrically or wirelessly connected with the first maintenance part, the second maintenance part, the acquisition part and the driving assembly.

Preferably, the first maintenance part comprises a driving motor, a rotating disc is detachably arranged at the output end of the driving motor, bristles are uniformly arranged on the periphery of the rotating disc, and an included angle is formed between the bristles and the rotating disc.

Preferably, the radius of the rotating disc is r, a distance h exists between the lowest point of the rotating disc and the travelling surface, the length of the bristles is L, an included angle a exists between the bristles and the travelling surface, h is smaller than the length of L, h at least satisfies h < L, and the rotating disc at least satisfies 0 ° < a <90 °.

Preferably, the collecting part comprises a collecting box positioned in the carrier accommodating cavity and a negative pressure generating device arranged at one side of the collecting box, and a filtering device is arranged between the collecting box and the negative pressure generating device to prevent impurities from being sucked into the negative pressure generating device; the two sides of the collecting box are provided with a first suction inlet and a second suction inlet which are communicated with the outside;

the first suction inlet and the second suction inlet are connected with a suction head assembly through a guide pipe, a gap exists between the suction end position of the suction head assembly and the track advancing surface, and the guide inlet of the suction head assembly is opened towards the advancing surface;

under the action of the negative pressure generating device, negative pressure is formed among the suction head component, the guide pipe and the collecting box, and impurity particles on the guide rail surface are adsorbed.

Preferably, the filter device is in particular a filter grid.

Preferably, the second maintenance part comprises a roller wiper and a driving motor for driving the roller wiper to rotate, the roller wiper is tangential to the track travelling surface, the steering direction of the roller wiper is opposite to the steering direction of the travelling wheel, and the roller wiper is driven by the driving motor to roll up impurities on the travelling surface upwards;

preferably, the outside of the roller wiper is provided with a hollow scraping component, the scraping component is embedded in one side of the carrier, the scraping component is communicated with the collecting box, one side of the scraping component is provided with a protruding portion, the protruding portion is abutted to the outer edge of the roller wiper, when the roller wiper rotates, the protruding portion can scrape impurities on the roller wiper, and the scraped impurity particles are sucked into the collecting box through the hollow scraping component.

In a second aspect, embodiments of the present invention provide a control method for a cleaning robot applied to an AMHS system,

the cleaning robot is implemented based on the right, and the method comprises the following steps:

receiving working instruction information in real time;

analyzing the work instruction information to determine whether the sub-function information of the second maintenance part participating in auxiliary cleaning is contained;

when the work instruction information is determined to contain sub-function information of the second maintenance part participating in auxiliary cleaning, determining a cleaning mode associated with the work instruction information, wherein the cleaning mode comprises a first-stage cleaning mode and a second-stage cleaning mode;

when the cleaning mode is a primary cleaning mode, the first maintenance part participates in cleaning;

when the cleaning mode is a secondary cleaning mode, the first maintenance part and the second maintenance part are both involved in cleaning.

In a third aspect, an embodiment of the present invention provides a control system for a cleaning robot applied to an AMHS system, including

And a receiving module: the system is used for receiving the working instruction information in real time;

and an analysis module: the work instruction information is analyzed to determine whether the sub-function information of the second maintenance part participating in auxiliary cleaning is contained;

and a determination module: the method comprises the steps of determining a cleaning mode associated with work instruction information when the work instruction information contains sub-function information of a second maintenance part participating in auxiliary cleaning, wherein the cleaning mode comprises a primary cleaning mode and a secondary cleaning mode;

a first generation module: the cleaning device is used for generating a control signal and sending the control signal to the controller to drive the first maintenance part and the acquisition part to execute cleaning operation when the cleaning mode is a primary cleaning mode;

and a second generation module: and the cleaning device is used for generating a control signal and sending the control signal to the controller to drive the first maintenance part, the second maintenance part and the acquisition part to execute cleaning operation when the cleaning mode is a secondary cleaning mode.

Finally, a controller is provided, comprising a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute the control method applied to the cleaning robot provided by the AMHS.

The embodiment of the invention has at least the following technical effects:

the design provides a cleaning robot applied to an AMHS and a control method, the cleaning robot can run on a guide rail of the AMHS to clean and maintain a track, meanwhile, the design can select different cleaning modes according to user instructions, for example, when only daily cleaning and maintenance are required to be carried out on the track in the AMHS, only the first maintenance part and the acquisition part are started to clean the travelling surface of the guide rail, impurity particles on the travelling surface of the track are cleaned through a sweeping brush and are adsorbed by matching with negative pressure generated by the acquisition part, larger impurity particles can be processed, the effect of daily maintenance is realized, in order to achieve better cleaning effect on the track, the cleaning angle of the first maintenance part of the design can be adjusted, the cleaning effective area is increased, and consumable loss is reduced; when the track needs to be maintained in a deeper step, the second maintenance part further wipes the part of the first maintenance part after cleaning, small impurity particles which cannot be treated by the first maintenance part or missing large impurity particles are treated, and meanwhile, in order to prevent impurities at the wiping part from adhering to the wiping surface to reduce the wiping effect, a vacuum scraping assembly is arranged at the rear side of the roller wiper to treat the surface of the roller wiper, so that the wiping effect of the roller wiper is maintained, and the automatic and efficient guide rail cleaning is realized.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an AMHS transport configuration;

FIG. 2 is a schematic top view of an AMHS transport structure;

FIG. 3 is a schematic view of the curve portion of FIG. 2;

FIG. 4 is a schematic diagram of the axial structure of FIG. 3;

FIG. 5 is a schematic diagram of an AMHS system transport contamination architecture;

FIG. 6 is a schematic diagram of an AMHS transport configuration;

FIG. 7 is a schematic diagram of the structure of the present invention;

FIG. 8 is a schematic top view of the portion of FIG. 7;

FIG. 9 is a schematic diagram of a side view portion of FIG. 7;

FIG. 10 is a schematic view of a first maintenance module structure;

FIG. 11 is a schematic diagram of the working structure of the first maintenance module;

FIG. 12 is a schematic view of a first module cut angle status structure;

FIG. 13 is a schematic view of the working state structure of the first maintenance module;

FIG. 14 is an enlarged schematic view of the structure of FIG. 13A;

FIG. 15 is an enlarged schematic view of the structure of FIG. 9B;

FIG. 16 is an enlarged schematic view of FIG. 9C;

FIG. 17 is a schematic diagram of a control method according to the present invention;

FIG. 18 is a schematic diagram of a control system according to the present invention.

Icon: 1-a track system; 101-straight rail portions; 102-bending a rail part; 103-connecting beams; 104-track; 1041-a track support surface; 1042—track side walls; 1043-track side panels; 1044-a travel surface; 2-a cleaning robot; 210-a carrier; 220-guide wheels; 230-collection bin 240-handle portion; 300-cleaning assembly; 310-a first maintenance part; 311-cleaning brush; 312-rotating a disc; 313-drive motor; 320-a second maintenance part; 321-roller wiping; 322-a roller wiper driving motor; 323-a scraping assembly; 3231—a boss; 330-an acquisition part; 331-a collection box; 332-a negative pressure generating device; 333-a filtration device; 334-a tip assembly; 400-a travel drive assembly; 410-a travel drive motor; 420-a driving wheel; 5-an angle adjustment assembly; 510-mounting a base; 520-mounting a cover bowl; 530-a connection base; 540-adjusting screws; 550-connecting rods; 6-a controller.

Description of the embodiments

The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.

Cleaning of the guideway is a necessary task because the running wheels of the OHT rub against the guideway during running on the guideway, thereby generating dust (as shown in fig. 5). The cleaning of the rails in an AMHS system is different from the cleaning of the floor rails, because the rails in the AMHS system are formed by combining two parallel rails (as shown in fig. 1 to 4), and the cross section of the rails is also very different from that of the floor rails (one side of the rails is suspended by a baffle, as shown in fig. 5), so that the conventional equipment suitable for cleaning the floor rails can suffer from very large limiting factors on the AMHS, such as the width and height of the whole machine, the cleaning speed, the cleaning angle, and the impurity collection. Therefore, the existing cleaning of the guide rail also mainly depends on manual operation, but the manual operation brings a plurality of problems, such as: the production efficiency is affected, the cleanliness is poor, secondary pollution is easy to cause, and potential safety hazards exist in high-altitude operation.

In order to solve the above-mentioned problems, embodiments of the present application provide a cleaning robot applied to an AMHS system, and a control method thereof.

Referring to fig. 1-4, the track system of the AMHS is a travel path formed by a pair of parallel tracks 104 connected by a connecting beam, the path may include a straight track portion 101 and a curved track portion 102, and the OHT responsible for transporting materials may move on the travel path set by the tracks 104.

In a first aspect, an embodiment of the present invention provides a cleaning robot 2 applied to an AMHS system, where the design invention includes a carrier 210 for mounting components as a device body, the carrier 210 has a hollow accommodating chamber therein, and a collection bin 230 is detachably mounted at the bottom of the carrier 210, so that when the cleaning robot 2 cleans impurities on a track 104, a part of the impurities can be cleaned into the collection bin, and pollution caused by the impurities falling onto a semiconductor processing machine equipment below after the impurities are separated from the track 104 is avoided;

meanwhile, the driving assembly 400 is disposed at the bottom area of the carrier 210, the driving assembly 400 includes a driving motor 410 and a driving wheel 420, and the driving motor 410 is controlled to drive the driving wheel 420 to rotate, so as to drive the carrier 210 to travel along the extending direction of the path of the clean conveying system 1;

the guide wheels 200, at least one pair of guide wheels 200 are respectively installed at two sides of the bottom area of the carrier 210 and are abutted with the track side walls 1042;

the cleaning assembly 300 comprises a first maintenance part 310, a second maintenance part 320 and an acquisition part 330, wherein the first maintenance part 310 is positioned at two sides of the carrier 210 and is used for gathering large-particle impurities on the track 104, the first maintenance part 310 is movably arranged in the bottom area of the carrier 210 through the angle adjusting assembly 500, and the first maintenance part 310 is at least partially positioned in a containing cavity of the carrier 210;

one end of the angle adjusting component 500 is connected with the carrier 210, the other end is hinged with the first maintenance part 310, and the angle adjusting component 500 can adjust the cutting-in included angle of the first maintenance part 310 relative to the travelling surface 1044;

the collecting part 330 is disposed in the accommodating cavity of the carrier 210, and the inlets of the collecting part 330 are respectively located at two sides of the carrier 210 in the width direction, and the first maintenance part 310 can collect the impurities on the track 104 and the inlet;

the controller 6 is electrically or wirelessly connected to the first maintenance unit 310, the second maintenance unit 320, the collection unit 330, and the travel drive motor 410 in the travel drive unit 400, respectively.

Preferably, the first maintenance part comprises a cleaning driving motor, a rotating disc is detachably arranged at the output end of the cleaning driving motor, bristles are uniformly arranged on the periphery of the rotating disc, and an included angle is formed between the bristles and the rotating disc.

The controller 6 is configured to receive a use command from a user and control the driving assembly 400 to drive the carrier 210 to perform on a road section where a job is required. The guide wheels 220 are disposed on two sides of the bottom of the carrier 210, and the guide wheels 220 can be abutted against the track side walls 1042, so that when the driving assembly 400 drives the carrier 210 to turn at the curve 102, the motion balance of the carrier 210 can be maintained all the time, and the carrier 210 is prevented from being collided with the track 104 due to the offset generated by the difference of the inner radius and the outer radius.

And the cleaning assembly 300 is disposed on the carrier 210 to achieve the most basic track cleaning action. Specific: the cleaning assembly 300 is divided into a first maintenance part 310 for collecting and gathering foreign particles, a second maintenance part 320 for wiping surface foreign particles, and a collection part 330 having an adsorption effect. Under the control of the controller 6, the first maintenance part 310, the second maintenance part 320 and the collection part 330 can be controlled respectively, and when daily maintenance is required (i.e. the pollution impurities existing in the track 104 are not much), the controller 6 can control the driving part 400, the first maintenance part 310 and the collection part 330 to operate, so that the cleaning function while moving is realized, specifically: the controller 6 can control the cleaning driving motor to drive the brush hair to rotate, the impurities on two sides of the travelling surface 1044 are folded inwards and pulled to the collecting position, the collecting part 330 can suck the impurities into the inner cavity under the action of negative pressure, the diffusion of dust can be reduced, and the pollutants on the track 104 are reduced; when the deep maintenance is needed (i.e. there are a lot of contaminants and impurities on both sides of the running surface 1044), the controller 6 can control the driving portion 400, the first maintenance portion 310, the second maintenance portion 320 and the collecting portion 330 to perform the operation together, so as to realize a more careful wiping and cleaning function, specifically: the controller 6 can control the cleaning driving motor 410 to drive the brush hair to rotate, the impurities on two sides of the travelling surface 1044 are folded inwards and pulled to the collecting port, the collecting part 330 can suck the impurities into the inner cavity under the action of negative pressure, and the pollutants on the track 104 are reduced; while the second maintenance portion 320 can intervene in the cleaning operation to further wipe the rail 104. Performing the secondary operation on the surface after the operation of the first maintenance portion 310 can greatly reduce the residue of the contaminant on the rail 104 and achieve the effect of deep cleaning.

Please refer to fig. 10: preferably, the radius of the rotating disc 312 is r, a distance h exists between the lowest point of the rotating disc 312 and the travelling surface, the bristle length of the cleaning brush 311 is l, an included angle a exists between the cleaning brush 311 and the travelling surface 1044, h is smaller than l, h at least satisfies h < l·sina, the included angle a at least satisfies 0 ° < a <90 °, at this time, a is the largest angle, that is, the contact surface between the cleaning brush 311 and the travelling surface 1044 is the smallest, and the travelling surface 1044 behind the included angle a cannot be touched by the cleaning brush 311, so that the cleaning area is too small.

Because the AMHS track system 1 is two track routes with mirror images and a wider interval, an included angle a exists between the cleaning brush 311 and the traveling surface 1044, when the included angle a is greater than 90 degrees, the relationship among the rotating disk, the brush hair and the traveling surface 1044 is shown in fig. 12, and in this state, the cleaning brush 311 cannot effectively contact the traveling surface 1044; when the included angle a is equal to 90 °, that is, when the rotating disc 312 is parallel to the traveling surface 1044, the cleaning brush 311 may contact with the traveling surface 1044, and the distance h between the rotating disc 312 and the traveling surface 1044 and the bristle length l of the cleaning brush 311 affect the cleaning effect, please refer to fig. 11: when h is smaller, the carding is bent on the travelling surface, so that the contact area between the bristles and the travelling surface 1044 is increased, and the effective operation range of the cleaning brush 311 is larger;

as shown in fig. 12, 13 and 14, the cutting angle of the cleaning brush 311 is also required to be higher, when the cutting angle is too small, the bristles of the cleaning brush 311 are extruded and bent by the inner wall 1042 of the track, when the bristles rotate away from the inner wall 1042 in the rotating disc 312, the excessive bending deformation of the bristles of the cleaning brush 311 ejects the impurities on the travelling surface 1044 to the track side plate 1043 at the moment of restoration, and at the moment, the impurities are far away from the effective cleaning range of the bristles, so that the impurity accumulation at the inner included angle is generated and cannot be cleaned;

please refer to fig. 15: in order to better adjust the cleaning angle, the first maintenance part 310 is movably hinged to the bottom of the carrier 210 through the angle adjusting component 500, the angle adjusting component 500 of the design comprises a mounting base 510 connected with the carrier 210 and a detachable mounting cover bowl 520 with an opening, which are buckled to form a spherical hollow hinged base, the spherical connecting base 530 is arranged at the hollow part, the connecting base 530 is connected with the cleaning driving motor 313 on the first maintenance part 310 through a connecting rod 550, the large-angle adjusting range of the first maintenance part 310 is realized, the adjustment of cleaning cutting angles of different tracks is more adapted, and the bending loss of bristles is reduced.

Referring to fig. 15, in one possible embodiment, the tightness of the adjusting screw 540 is rotated to reduce the locking force of the adjusting screw 540 to the spherical connecting seat 530, so that the spherical connecting seat 530 can drive the first maintenance portion 310 to rotate by an adjusting angle to meet a proper cleaning angle, and then the tightness of the adjusting screw 540 is reversely rotated to increase the locking force of the adjusting screw 540 to the spherical connecting seat 530, so as to fix the angle of the spherical connecting seat 530, thereby avoiding the change of the use angle of the first maintenance portion 310 in the working process.

Preferably, the collecting part 330 includes a collecting box 331 located in the accommodating cavity of the carrier 210 and a negative pressure generating device 332 disposed at one side of the collecting box 331, and a filtering device 333 is disposed between the collecting box 331 and the negative pressure generating device 332 to prevent impurities from being sucked into the negative pressure generating device 332; the first suction port 3311 and the second suction port 3312 communicating with the outside are provided at both sides of the collection box 331;

the suction head assembly 334 is connected to the first suction port 3311 and the second suction port 3312 through the guide pipe 3322, a gap exists between the suction end position of the suction head assembly 334 and the running surface 1044, the inlet of the suction head assembly 3321 is opened towards the running surface 1044, the pressure difference range of the suction ports is increased, and impurities on the running surface 1044 can be adsorbed better;

referring to fig. 9, in order to further improve the cleaning capability and meet the requirements of different pollution level situations, it is preferable that the second maintenance portion 320 includes a roller wiper 321 and a roller wiper driving motor 322 for driving the roller wiper 321 to rotate, the roller wiper 321 is tangential to the running surface 1044, the direction of rotation of the roller wiper 1044 is opposite to the direction of rotation of the running wheel 410 in the running driving assembly 400, the roller wiper 321 is driven by the roller wiper driving motor 322 to wind up the impurities on the running surface 1044, the surface main cleaned by the first maintenance portion 310 is wiped secondarily, and in order to increase the wiping effect, the direction of rotation of the roller wiper 321 is reversed, that is, the roller wiper 321 can wind up the impurity particles on the running surface 1044 upwards, so as to avoid the impurities from being pushed down by the roller wiper 321 and then being cleaned incompletely on the running surface 1044.

Referring to fig. 16, hollow scraping assemblies 323 are disposed on both sides of the roller wiper 321, the scraping assemblies 323 are embedded in one side of the carrier 210, the scraping assemblies 323 are connected with the collecting box 331 (the inner cavity of the scraping assemblies 323 is negative pressure), a protruding portion 3231 is disposed on one side of the scraping assemblies 323, the protruding portion 3231 abuts against the outer edge of the roller wiper 321, when the roller wiper 321 rotates, the protruding portion 3231 can scrape impurities on the roller 321, and the scraped impurity particles are sucked into the collecting box 331 through the hollow scraping assemblies 323, so that the cleaning effect on the roller wiper 321 is achieved, and the reduction of the cleaning capability of the roller wiper 321 caused by the adhesion of the impurity particles on the roller wiper 321 is avoided.

Under the action of the negative pressure generating device 332, negative pressure is formed among the suction head assembly 334, the guide pipe 3322, the collecting box 331 and the scraping assembly 323, and impurity particles on the travelling surface 1044 and the roller wiper 321 are adsorbed, so that the impurity particles are separated from the track 104, and the track 104 is cleaned.

Preferably, the filtering device 333 is specifically a filtering grid, the negative pressure generating device 332 is a brushless turbofan, the filtering grid can isolate the collecting box from the brushless turbofan, only air is allowed to pass through the collecting box, and impurities are prevented from being sucked into the brushless turbofan when the movement of air flow is not affected, so that the negative pressure extraction efficiency of the collecting box is reduced, and the service life of equipment is prolonged.

In a second aspect, embodiments of the present invention provide a control method for a cleaning robot applied to an AMHS system,

the cleaning robot is implemented based on the weight, and the method comprises the following steps:

s1, receiving working instruction information in real time; the types of the work instruction information are various, such as daily maintenance, deep maintenance and the like.

The work instruction information is sent by the operation user through the user side and received by the controller of the machine body. The user side herein includes, but is not limited to, a machine control panel, a smart phone, a tablet, a PC, or the like.

S2, analyzing the work instruction information to determine whether the sub-function information of the second maintenance part participating in auxiliary cleaning is contained;

s3, when the work instruction information contains sub-function information of the second maintenance part participating in auxiliary cleaning, determining a cleaning mode associated with the work instruction information, wherein the cleaning mode comprises a first-stage cleaning mode and a second-stage cleaning mode;

s4, when the cleaning mode is a primary cleaning mode, the first maintenance part participates in cleaning;

and S5, when the cleaning mode is a secondary cleaning mode, the first maintenance part and the second maintenance part are both involved in cleaning.

In a third aspect, an embodiment of the present invention provides a control system for a cleaning robot applied to an AMHS system, including

And a receiving module: the system is used for receiving the working instruction information in real time;

and an analysis module: the work instruction information is analyzed to determine whether the sub-function information of the second maintenance part participating in auxiliary cleaning is contained;

and a determination module: the cleaning mode is used for determining a cleaning mode associated with the working instruction information when the working instruction information contains sub-function information of the second maintenance part participating in auxiliary cleaning, wherein the cleaning mode comprises a primary cleaning mode and a secondary cleaning mode;

a first generation module: when the cleaning mode is a primary cleaning mode, generating a control signal and sending the control signal to the controller to drive the first maintenance part and the acquisition part to execute cleaning operation;

and a second generation module: and the cleaning device is used for generating a control signal and sending the control signal to the controller to drive the first maintenance part, the second maintenance part and the acquisition part to execute cleaning operation when the cleaning mode is a secondary cleaning mode.

In another aspect, a controller is provided, including a memory and a processor, where the memory stores a computer program that can be loaded by the processor and execute the control method applied to the cleaning robot given by the AMHS system.

Those of skill in the art will appreciate that the various operations, methods, steps in the flow, acts, schemes, and alternatives discussed in the present invention may be alternated, altered, combined, or eliminated. Further, other steps, means, or steps in a process having various operations, methods, or procedures discussed herein may be alternated, altered, rearranged, disassembled, combined, or eliminated. Further, steps, measures, schemes in the prior art with various operations, methods, flows disclosed in the present invention may also be alternated, altered, rearranged, decomposed, combined, or deleted.

In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meanings of the above terms in the present invention can be understood in specific situations by those of ordinary skill in the art.

In the description of the present specification, a particular feature, structure, material, or characteristic may be combined in any suitable manner in one or more embodiments or examples.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (10)

1. A cleaning robot for an AMHS system, comprising: the machine body 2 comprises a machine body,

a carrier 210, wherein the interior 210 of the carrier is a hollow accommodating chamber, and a collection bin 230 is detachably arranged at the bottom of the carrier 210;

the driving assembly 400 is used for driving the carrier 210 to travel along the extending direction of the track 104 of the clean transportation system 1, and the driving assembly 400 is arranged at the bottom area of the carrier 210;

guide wheels 220, at least one pair of guide wheels 220 are respectively installed at two sides of the bottom area of the carrier 210 and are abutted against the track side walls 1042;

the cleaning assembly 300, the cleaning assembly 300 includes a first maintenance part 310, a second maintenance part 320 and a collection part 330, the first maintenance part 310 is located at two sides of the carrier 210 and is used for collecting large particle impurities on the travelling surface 1044, the first maintenance part 310 is movably disposed in a bottom area of the carrier 210 through the angle adjusting assembly 5, and the first maintenance part 300 is at least partially located in a containing cavity of the carrier 210;

one end of the angle adjusting component 5 is connected with the carrier 210, the other end is hinged with the first maintenance part 310, and the angle adjusting component 5 can adjust the cutting-in included angle of the first maintenance part 310 relative to the travelling surface 1044;

the collecting portion 330 is disposed in the accommodating cavity of the carrier 210, and the inlets of the collecting portion 330 are respectively located at two sides of the width direction of the carrier 330, and the first maintenance portion 310 may collect impurities on the travelling surface 1044 and at the inlet of the collecting portion 330;

and a controller 6, wherein the controller 6 is electrically or wirelessly connected to the first maintenance unit 310, the second maintenance unit 320, the collection unit 330, and the travel drive unit 400, respectively.

2. A cleaning robot for use with an AMHS system according to claim 1, wherein: the first maintenance part 310 comprises a driving motor 313, a rotating disc 312 is detachably mounted at the output end of the driving motor 313, bristles 311 are uniformly arranged on the periphery of the rotating disc 312, and an included angle is formed between the bristles 311 and the rotating disc 312.

3. A cleaning robot for use with an AMHS system according to claim 2, wherein: the radius of the rotating disc 312 is r, a distance h exists between the lowest point of the rotating disc 312 and the traveling surface 1044, the length l of the bristles 311 exists, an included angle a exists between the bristles 311 and the traveling surface 1044, the distance h is smaller than the length l of the bristles 311 and at least satisfies h < l×sina, and the rotating disc 312 at least satisfies 0 ° < a <90 °.

4. A cleaning robot for use in an AMHS system according to claim 3 wherein: the collection part 330 includes a collection box 331 located in the accommodating cavity of the carrier 210 and a negative pressure generating device 332 disposed on one side of the collection box 331, and a filtering device 333 is disposed between the collection box 331 and the negative pressure generating device 332 to prevent impurities from being sucked into the negative pressure generating device 332; a first suction port 3311 and a second suction port 3312 communicating with the outside are provided at both sides of the collection box 331;

the first suction port 3311 and the second suction port 3312 are both connected with a suction head assembly 334 through a conduit 3322, a gap exists between a suction end position of the suction head assembly 334 and a traveling surface 1044, and an inlet of the suction head assembly 3321 is opened towards the traveling surface 1044;

under the action of the negative pressure generating device 332, a negative pressure is formed among the suction head assembly 334, the conduit 3322 and the collection box 331, so as to adsorb the impurity particles on the running surface 1044.

5. A cleaning robot for use with an AMHS system according to claim 4, wherein: the filter 331 is specifically a filter grid, and the negative pressure generating device 332 is specifically a brushless turbo fan.

6. A cleaning robot for use with an AMHS system according to claim 1, wherein:

the second protection part 320 includes, the second protection part 320 includes a roller wiper 321 and a roller wiper driving motor 322 for driving the roller wiper to rotate, the roller wiper 321 is tangential to the running surface 1044, the direction of the roller wiper 1044 is opposite to the direction of the running wheel 410 in the running driving assembly 400, and the roller wiper 321 rolls up the impurity on the running surface 1044 under the driving of the roller wiper driving motor 322.

7. A cleaning robot for use with an AMHS system according to claim 6, wherein: the outside of the roller wiper 321 is provided with a hollow scraping component 323, the scraping component 323 is embedded in one side of the carrier 210, the scraping component 323 is communicated with the collecting box 331, one side of the scraping component 323 facing the roller wiper 321 is provided with a protruding portion 3231 communicated with the outside, the protruding portion 3231 is abutted to the outer edge of the roller wiper 321, when the roller wiper 321 rotates, the protruding portion 3231 can scrape impurities on the roller wiper 321, and the peeled impurities are sucked into the collecting box 331 through the hollow scraping component 323.

8. The control method of the cleaning robot applied to the AMHS is characterized in that:

implemented on the basis of a cleaning robot according to any one of claims 1-7, the method comprising:

s1, receiving working instruction information in real time;

s2, analyzing the work instruction information to determine whether the sub-function information of the second maintenance part participating in auxiliary cleaning is contained;

s3, when the work instruction information contains sub-function information of the second maintenance part participating in auxiliary cleaning, determining a cleaning mode associated with the work instruction information, wherein the cleaning mode comprises a first-stage cleaning mode and a second-stage cleaning mode;

s4, when the cleaning mode is the primary cleaning mode, the first maintenance part participates in cleaning;

and S5, when the cleaning mode is a secondary cleaning mode, the first maintenance part and the second maintenance part are both involved in cleaning.

9. A control system for a cleaning robot for an AMHS system, characterized in that:

the device comprises a receiving module: the system is used for receiving the working instruction information in real time;

and an analysis module: the work instruction information is analyzed to determine whether the sub-function information of the second maintenance part participating in auxiliary cleaning is contained;

and a determination module: the method comprises the steps of determining a cleaning mode associated with work instruction information when the work instruction information contains sub-function information of a second maintenance part participating in auxiliary cleaning, wherein the cleaning mode comprises a primary cleaning mode and a secondary cleaning mode;

a first generation module: the cleaning device is used for generating a control signal and sending the control signal to the controller to drive the first maintenance part and the acquisition part to execute cleaning operation when the cleaning mode is a primary cleaning mode;

and a second generation module: and the cleaning device is used for generating a control signal and sending the control signal to the controller to drive the first maintenance part, the second maintenance part and the acquisition part to execute cleaning operation when the cleaning mode is a secondary cleaning mode.

10. A controller, characterized by:

comprising a memory and a processor, said memory having stored thereon a computer program capable of being loaded by the processor and executing the control method of a cleaning robot applied to an AMHS system according to claim 8.