CN215933552U

CN215933552U - Transverse transfer device, air transportation equipment and automatic material handling system

Info

Publication number: CN215933552U
Application number: CN202122405944.5U
Authority: CN
Inventors: 杜宝宝; 缪峰
Original assignee: Mi Fei Industrial Shanghai Co ltd
Current assignee: Mifei Technology Shanghai Co ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-03-01
Anticipated expiration: 2031-09-30

Abstract

The utility model provides a transverse transfer device, air transportation equipment and an automatic material handling system, which are applied to the technical field of automatic control, wherein the transverse transfer device comprises: the goods taking and fixing mechanism is fixedly connected below a walking base plate of the air transport vehicle; the horizontal adjusting mechanism is arranged on the lower surface of the goods taking and fixing mechanism; the horizontal adjusting mechanism comprises a synchronous adjusting mechanism and a sliding mechanism, wherein the synchronous adjusting mechanism is respectively arranged on the side surface of the sliding mechanism and is used for adjusting the sliding mechanism to a preset horizontal position in a sliding manner relative to the walking base plate in a first direction, the first direction is a horizontal direction vertical to the side surface, and the preset horizontal position is an aerial position above a target object to be conveyed. Through horizontal adjustment mechanism, can be fast, accurately with parts adjustment to treating the transport object directly over the spatial position in the transport vechicle, can improve the production efficiency of product, dock the mill demand better.

Description

Transverse transfer device, air transportation equipment and automatic material handling system

Technical Field

The utility model belongs to the technical field of automatic control, and particularly relates to semiconductor manufacturing equipment, in particular to a transverse transfer device, air transportation equipment and an automatic material conveying system.

Background

In recent years, the semiconductor industry has been vigorously developed, and the rapid development of semiconductor chip production technology has also made higher demands on semiconductor foundry (abbreviated as Fab, etc.).

At present, a wafer factory may adopt an Automatic Material Handling System (AMHS) on a large scale to quickly and accurately carry a Carrier (Carrier) loaded with a wafer Material to a destination based on the AMHS, so as to reduce idle time (idle time) of the wafer, reduce misoperations (miss operations), and improve production efficiency.

Based on the above, the present application provides a technical solution to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

The utility model provides a transverse transfer device, an air transportation device and an automatic material conveying system, which form the air transportation device by a simpler and more accurate design structure, realize a lighter vehicle body, are safer and more stable in transportation, improve the universality of the air transportation device, and better meet the requirements of a wafer factory so as to be quickly deployed and applied in the wafer factory.

The technical scheme provided by the utility model is as follows:

the utility model provides a transverse transfer device, which is applied to an air transport vehicle and comprises:

the goods taking and fixing mechanism is fixedly connected below a walking base plate of the air transport vehicle;

the horizontal adjusting mechanism is arranged on the lower surface of the goods taking and fixing mechanism;

the horizontal adjusting mechanism comprises a synchronous adjusting mechanism and a sliding mechanism, wherein the synchronous adjusting mechanism is arranged on the side face of the sliding mechanism and used for adjusting the sliding mechanism to a preset horizontal position in a sliding mode relative to the walking base plate in a first direction, the first direction is a horizontal direction perpendicular to the side face, and the preset horizontal position is an aerial position above a target object to be conveyed.

Optionally, the sliding mechanism includes a secondary plate, a tertiary plate, an angle adjustment substrate, a plurality of sliders, and a slider coupler;

the secondary plate is connected to the lower part of the interior of the goods taking and fixing mechanism through a sliding block;

the secondary plate is connected with the upper side of the secondary plate through a sliding block;

the angle adjusting substrate is connected to the lower side of the third-stage plate through a sliding block;

the slider coupler is connected with the synchronous adjusting mechanism and used for driving the secondary plate to move under the driving of the synchronous adjusting mechanism, so that the secondary plate drives the tertiary plate to move, and the tertiary plate drives the angle adjusting substrate to move, so that the angle adjusting substrate is adjusted to a preset horizontal position in the horizontal direction.

Optionally, the synchronous adjusting mechanism includes a first synchronous wheel synchronous belt, a second synchronous wheel synchronous belt and a first driving mechanism;

the first driving mechanism is arranged on one side of the sliding mechanism and used for driving the sliding block coupling;

the first synchronous wheel synchronous belt and the second synchronous wheel synchronous belt are respectively arranged at two sides of the sliding mechanism;

a synchronous wheel of the first synchronous wheel synchronous belt is fixedly connected to the tertiary plate, a first belt seat is arranged on an upper belt of the first synchronous wheel synchronous belt, one side of the first belt seat is fixedly connected to the secondary plate, the other side of the first belt seat is fixedly connected to the sliding block coupler, a second belt seat is arranged on a lower belt of the first synchronous wheel synchronous belt, and the second belt seat is fixedly connected to the angle adjusting substrate;

the synchronizing wheel fixed connection of second synchronizing wheel hold-in range in the secondary plate, the upside belt of second synchronizing wheel hold-in range is equipped with the third belt seat, third belt seat fixed connection in get goods fixed establishment's lower surface, the downside belt of second synchronizing wheel hold-in range is equipped with the fourth belt seat, fourth belt seat fixed connection in the tertiary plate.

Optionally, the first driving mechanism includes a first lead screw and a first motor, the slider coupling is sleeved on the first lead screw, and an output shaft of the first motor is connected with one section of the first lead screw to drive the first lead screw.

Optionally, the horizontal adjustment mechanism further includes a first detection portion, and the first detection portion is disposed on one side of the sliding mechanism and is used for detecting the position of the slider coupler.

Optionally, the first detection portion includes a first sensor, a second sensor and a third sensor that are sequentially disposed at intervals along the sliding direction of the sliding mechanism, wherein the first sensor is used for limiting a maximum position of the sliding block coupling sliding leftward in the first direction, the second sensor is used for limiting an initial position of the sliding block coupling sliding rightward in the first direction, and the third sensor is used for limiting a maximum position of the sliding block coupling sliding rightward in the first direction, where the initial position is an initial position of the sliding mechanism.

Optionally, the horizontal adjustment mechanism further comprises a rotation mechanism, and the rotation mechanism is mounted on the angle adjustment substrate and is used for rotating the angle of the air transport vehicle;

the rotating mechanism comprises a worm gear assembly and a rotating shaft, wherein the worm gear assembly is meshed with the rotating shaft to drive the rotating shaft to rotate to a preset angle.

Optionally, the rotating mechanism further includes a second detecting portion, and the second detecting portion is configured to limit a rotation angle of the rotating shaft;

the second detection part comprises a first detector, a second detector and a third detector which are sequentially arranged along the circumferential direction of the rotating shaft at intervals, wherein the first detector is used for limiting the maximum angle of the rotating shaft in the horizontal plane in the anticlockwise rotation mode, the second detector is used for limiting the initial angle of the rotating shaft in the horizontal plane, the third detector is used for limiting the maximum position of the slider coupler in the rightward sliding mode in the first direction, and the initial angle is the initial angle of the sliding mechanism in the homing mode.

The present invention also provides an air transport apparatus comprising:

a traveling substrate;

a traveling mechanism mounted on the upper surface of the traveling substrate;

a transverse transfer mechanism mounted on the lower surface of the traveling substrate, wherein the transverse transfer mechanism is the transverse transfer device described in any one of the above items;

the lifting mechanism is connected to the lower surface of the transverse transfer mechanism;

the clamping mechanism is connected with the lifting mechanism through a hoisting belt;

the traveling mechanism is used for driving the traveling substrate to reach a first preset position along a distributed traveling track according to a preset traveling path, and the first preset position is above the position of a target object to be conveyed; the transverse transfer mechanism is used for adjusting the lifting mechanism to be right above the target object in a horizontal plane; the lifting mechanism is used for lifting the clamping mechanism, and the clamping mechanism is used for grabbing the target object and clamping the target object so as to convey the target object to a second preset position.

Optionally, the air transportation equipment further comprises a vehicle body, the top of the vehicle body is fixedly connected to the lower surface of the walking substrate, and the transverse transfer mechanism, the lifting mechanism and the clamping mechanism are all arranged inside the vehicle body.

Optionally, the air transportation device further includes a position detection portion, the position detection portion is installed at a first top position of the vehicle body and is used for detecting a position mark to detect the position of the vehicle body, wherein the first top position is positions on two sides of the top of the vehicle body perpendicular to the extending direction of the travelling rail, and the position mark is a position mark arranged on the travelling rail.

Optionally, the air transportation equipment further comprises a barrier prevention strip, the barrier prevention strip is installed at a second top position of the vehicle body and used for preventing collision between the front travelling mechanism and the rear travelling mechanism, and the second top position is a position on two sides of the top of the vehicle body parallel to the extending direction of the travelling track.

Optionally, the air transportation equipment further comprises a first radar which is mounted on the bottom surface of the vehicle body and used for detecting a first obstacle in the space below the vehicle body;

and/or the air transportation equipment further comprises a second radar which is arranged on the side surface of the vehicle body and used for detecting a second obstacle in the front space of the vehicle body, wherein the front space is the front space of the vehicle body in the advancing direction.

Optionally, the air transportation equipment further comprises a falling prevention mechanism, and the falling prevention mechanism is mounted inside the vehicle body;

the anti-falling mechanism comprises a first linkage support, wherein when the clamping mechanism does not grab the target object, the first linkage support is contracted in the inner part of the vehicle body, and when the clamping mechanism clamps the target object, the first linkage support is positioned below the target object after being extended from the inner part of the vehicle body so as to prevent the target object from falling.

Optionally, the anti-falling mechanism further includes the second linkage bracket, the second linkage bracket is synchronously linked with the first linkage bracket, when the clamping mechanism does not grab the target object, the second linkage bracket is retracted into the vehicle body, and when the clamping mechanism clamps the target object, the second linkage bracket extends from the inside of the vehicle body and abuts against a side surface of the target object to prevent the target object from shaking.

Optionally, the lifting mechanism is connected to the lower surface of the lateral transfer mechanism through a rotating shaft.

Optionally, the clamping mechanism includes a positioning guide shaft, and the positioning guide shaft is used for positioning and guiding a lifting positioning position in the lifting mechanism, so that the lifting mechanism lifts the clamping mechanism to a specified position.

The utility model also provides an automatic material handling system, comprising: the air transport apparatus of any preceding claim and a track mounted below the ceiling; wherein the air transport equipment travels along the track according to a preset travel track.

The utility model provides a transverse transfer device, air transportation equipment and an automatic material conveying system, which can bring at least one of the following beneficial effects:

through neotype horizontal transfer device, through getting stable, reliable fixed connection in air transport vehicle's walking base plate lower surface of goods fixed establishment promptly, through horizontal adjustment mechanism, can be fast, accurately adjust elevating system and fixture in the transport vehicle to the top spatial position who treats transport object thing, can improve the production efficiency of product, dock the mill demand better.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic axial side view of a lateral transfer device according to the present invention;

fig. 2 is a schematic top view of a lateral transfer device according to the present invention;

fig. 3 is a schematic top view of a lateral transfer device according to the present invention;

fig. 4 is a schematic cross-sectional view of a lateral transfer apparatus according to the present invention;

fig. 5 is a schematic structural view of a rotating mechanism in a lateral transfer device according to the present invention;

FIG. 6 is a schematic cross-sectional view of an aerial delivery device provided in accordance with the present invention;

FIG. 7 is a schematic structural view of a vehicle body in the air transportation device provided by the utility model;

FIG. 8 is a schematic structural view of a transverse transfer mechanism connected to a lifting mechanism via a rotating shaft in an aerial transportation device according to the present invention;

FIG. 9 is a schematic structural diagram of a traveling mechanism in an air transportation device provided by the present invention;

FIG. 10 is a schematic structural view of the traveling mechanism of the air transportation equipment provided by the utility model;

FIG. 11 is a schematic structural view of the traveling mechanism of the air transportation equipment provided by the utility model;

FIG. 12 is a schematic structural view of a wireless power supply of a traveling mechanism in an aerial transportation device according to the present invention;

fig. 13 is a schematic structural view of a wireless power supply of a traveling mechanism in an aerial transportation device according to the present invention;

FIG. 14 is a schematic structural view of a clamping mechanism in an aerial delivery device provided in accordance with the present invention;

FIG. 15 is a schematic structural view of a clamping mechanism in an aerial delivery device provided in accordance with the present invention;

FIG. 16 is a schematic structural view of a clamping mechanism in an aerial delivery device provided in accordance with the present invention;

FIG. 17 is a schematic structural view of an extended state of an anti-drop mechanism in an aerial delivery device according to the present invention;

FIG. 18 is a schematic structural view of a collapsed anti-drop mechanism of an aerial delivery device according to the present invention;

fig. 19 is a schematic structural diagram of an automatic material handling system according to the present invention.

Detailed Description

The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present application, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number and aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present application, and the drawings only show the components related to the present application rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.

In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details. The terms "first", "second", etc. 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, features described as being defined as "first," "second," etc., may explicitly or implicitly include one or more of the features. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

The transverse transfer device (also referred to as a transverse transfer mechanism, which is not distinguished below) provided in the embodiments of the present specification can be applied to an aerial transportation device, and can quickly and accurately adjust a grabbing device (such as a lifting mechanism, a clamping mechanism, a vehicle body, and the like) in the aerial transportation device to a space above an object to be transported (such as a wafer cassette) in a horizontal direction, so as to conveniently and quickly and accurately grab the object and improve production efficiency.

As shown in fig. 1 to 5, the lateral transfer device includes a pickup fixing mechanism 200-8 and a horizontal adjusting mechanism.

In practice, the pickup attachment mechanism 200-8 may be fixedly attached to the underside of the running base of the aerial delivery vehicle. For example, a fork fixing plate is used as the goods-taking fixing mechanism 200-8, wherein the fork fixing plate may be a slide rail type fork structure, that is, the upper portion of the fork fixing plate is a slide rail connecting seat, and the lower portion of the fork fixing plate is a slide rail structure, at this time, the upper portion (such as the slide rail connecting seat) of the goods-taking fixing mechanism 200-8 may be fixedly mounted on the lower surface (not shown in the figure) of the traveling base plate of the air transport vehicle, and the lower portion (such as the slide rail structure) of the goods-taking fixing mechanism 200-8 is used for mounting a horizontal adjusting mechanism, so that the whole of the lateral transfer mechanism may be firmly fixed below the traveling base plate through the slide rail connecting seat, and the horizontal adjusting mechanism may slide to a designated position according to the adjustment requirement through the slide rail structure.

The horizontal adjusting mechanism is mounted on the lower surface of the goods-taking fixing mechanism 200-8, wherein the horizontal adjusting mechanism may include a synchronous adjusting mechanism and a sliding mechanism, the synchronous adjusting mechanism may be separately disposed on the side surface (upper left and lower right direction sides in fig. 1) of the sliding mechanism, and is configured to slide and adjust the sliding mechanism to a predetermined horizontal position in a first direction relative to the traveling base plate, the first direction is a horizontal direction perpendicular to the two sides, and the predetermined horizontal position is an aerial position above the object to be transported.

In implementation, the synchronous adjusting mechanism can move relative to the walking substrate in the first direction to drive the sliding mechanism to slide and adjust to a preset horizontal position in the first direction. For example, the goods-taking fixing mechanism 200-8 is a sliding rail type fork mechanism, the upper portion of the goods-taking fixing mechanism 200-8 is a sliding rail connecting seat connected to the lower surface of the traveling base plate, the lower portion of the goods-taking fixing mechanism 200-8 is a sliding rail structure, and the sliding mechanism can be mounted at the lower portion of the goods-taking fixing mechanism 200-8, so that the whole horizontal adjusting mechanism can slide in the horizontal plane relative to the traveling base plate under the adjustment of the synchronous adjusting mechanism.

In practice, other components of the air transportation vehicle can be hoisted below the sliding mechanism, such as directly hoisting a grabbing part (such as a clamping mechanism), for example, a lifting mechanism for lifting the grabbing part, such as a vehicle body and the like, and the hoisting mechanism is not limited herein.

In practice, the first direction may be set to be the same as the traveling direction of the air vehicle, so that the space above the object to be carried placed on the ground can be quickly adjusted by simple adjustment in the first direction.

For example, in Fab plants, the cassettes are placed on the ground below the track, and the air transport equipment travels along the track, passing over the cassettes. If the aerial transport vehicle needs to carry the wafer box, the aerial transport vehicle moves to the position above the wafer box according to a set route and then stays on the track. In practice, the cassettes may not be accurately placed at the predetermined ground level, and the air vehicles may be located right above the cassettes or slightly off the cassettes.

If the air transportation equipment is just right above the wafer box, the horizontal transfer mechanism can be free from horizontal adjustment operation, that is, the internal horizontal adjustment mechanism is free from operation, as shown in fig. 1 to 2, the horizontal adjustment mechanism in the horizontal transfer mechanism is not in a state of extending left and right, as shown in the figure, a transfer support plate (such as the slide rail structure of the previous example) below the goods taking and fixing mechanism 200-8 is not moved left or right relative to the traveling substrate; if the wafer cassette is not located under the air transport vehicle, the horizontal adjustment mechanism will adjust the position in the horizontal plane according to the position of the wafer cassette, and the synchronous adjustment mechanism shown in fig. 3 drives the sliding mechanism to move to the left, so that other components (such as the lifting mechanism, the clamping unit, the vehicle body, etc.) mounted on the air transport vehicle under the transverse transfer mechanism will move to the left, and the components for grabbing and clamping the wafer cassette will move to the spatial position right above the wafer cassette.

It should be noted that, although only the rear view of the horizontal adjustment mechanism moving to the left side is described here, the motion principle of the right side movement is the same, and the right side movement is not expanded here.

In some embodiments, the sliding mechanism may be constructed using a multi-stage sliding structure.

As shown in fig. 4, the sliding mechanism may include a secondary plate 200-9, a tertiary plate 200-10, an angle adjustment base plate 200-11 (also referred to as an angle adjustment assembly base plate, which will not be distinguished below), a plurality of sliders 200-6, and a slider coupler 200-3.

In practice, the secondary plate 200-9 can be connected to the interior of the goods-taking fixing mechanism 200-8 through the corresponding slider 200-6, for example, the secondary plate 200-9 is connected to the lower surface of the slide rail structure in the previous example through the corresponding slider 200-6, i.e. the secondary plate 200-9 and the slide rail structure serve as a load-transferring support structure of the whole slide mechanism, so as to enhance the structural strength and the sliding effect;

the three-level plate 200-10 is connected below the two-level plate 200-9 through the corresponding sliding block 200-6, and the angle adjusting base plate 200-11 is connected below the three-level plate 200-10 through the corresponding sliding block 200-6;

the sliding block coupler 200-3 is connected with the synchronous adjusting mechanism and used for driving the secondary plate 200-9 to move under the driving of the synchronous adjusting mechanism, so that the secondary plate 200-9 drives the tertiary plate 200-10 to move, and the tertiary plate 200-10 drives the angle adjusting substrate 200-11 to move, and the angle adjusting substrate 200-11 is adjusted to a preset horizontal position in the horizontal direction.

In implementation, the sliding block coupling 200-3 is driven by the synchronous adjusting mechanism to make the sliding mechanism composed of the multi-level plates move in a linkage manner, so that the aim of adjusting the horizontal position is fulfilled.

In some embodiments, the synchronous adjusting mechanism can adopt a synchronous wheel synchronous belt structure as a core, and multi-substrate linkage movement is realized through a simple structure.

As shown in fig. 1 to 4, the timing adjusting mechanism may include a first timing belt 200-12 for a synchronizing wheel, a timing belt 200-13 for a second synchronizing wheel, and a first driving mechanism.

In practice, the first driving mechanism is disposed at one side (e.g., a lower position in the drawing) of the sliding mechanism for driving the slipper coupling 200-3.

The first synchronous pulley belt 200-12 and the second synchronous pulley belt 200-13 are respectively disposed at both sides (for example, upper and lower directions in the drawing) of the sliding mechanism.

A synchronous wheel of a first synchronous wheel synchronous belt 200-12 is fixedly connected to the tertiary plate 200-10, a first belt seat is arranged on the upper belt of the first synchronous wheel synchronous belt 200-12, one side of the first belt seat is fixedly connected to the secondary plate 200-9, the other side of the first belt seat is fixedly connected to the slider coupling 200-3, a second belt seat is arranged on the lower belt of the first synchronous wheel synchronous belt 200-12, and the second belt seat is fixedly connected to the angle adjusting base plate 200-11;

the synchronizing wheel fixed connection of second synchronizing wheel hold-in range 200-13 in secondary plate 200-9, the third belt seat is equipped with to the upside belt of second synchronizing wheel hold-in range 200-13, third belt seat fixed connection in get goods fixed establishment 200-8's lower surface, the fourth belt seat is equipped with to the downside belt of second synchronizing wheel hold-in range 200-13, fourth belt seat fixed connection in secondary plate 200-10.

At this time, when the sliding block coupling 200-3 is driven by the first driving mechanism, the first synchronous wheel synchronous belt 200-12 rotates, namely, the belt seat of the upper belt of the first synchronous wheel synchronous belt 200-12 is driven to move, and as one side of the belt seat of the upper belt of the first synchronous wheel synchronous belt 200-12 is fixed on the secondary plate 200-9, the secondary plate 200-9 also moves along with the belt seat; meanwhile, a second synchronous wheel synchronous belt 200-13 is fixed on the secondary plate 200-9, and a belt at the lower side of the synchronous belt is fixed on the tertiary plate 200-10 through a belt seat, so that the secondary plate 200-9 can drive the tertiary plate 200-10 to move; and, because the first synchronous pulley synchronous belt 200-12 is fixed on the tertiary plate 200-10, and the lower belt of the synchronous belt is fixed on the angle adjustment base plate 200-11 by the belt seat, the movement of the tertiary plate 200-10 will drive the angle adjustment base plate 200-11 to move, thereby adjusting the angle adjustment base plate 200-11 to the predetermined horizontal position in the horizontal direction.

It should be noted that fig. 3 is a schematic illustration of movement to the left (relative to the view direction), but the principle of movement to the right is the same, and the description is omitted here.

In some embodiments, the screw rod driving structure can be used as the core of the first driving mechanism, so that the structure is reasonable and the occupied space is small.

As shown in fig. 1 to 4, the first driving mechanism may include a first lead screw 200-14 and a first motor (for example, the first motor is installed at a lower right position in the drawing), the slider coupling is sleeved on the first lead screw 200-14, and an output shaft of the first motor is connected to a section of the first lead screw to drive the first lead screw.

In some embodiments, a pair of detection portions may be used for detection.

As shown in fig. 1 to 4, the horizontal adjustment mechanism may further include a first detection portion, which is disposed on one side of the sliding mechanism (for example, the first detection portion is disposed at a lower position in the drawing) and is used for detecting the position of the slipper coupling so as to detect the position adjustment of the lateral transfer device in the horizontal direction.

In some embodiments, the maximum adjustment position of the horizontal position may be detected by providing a plurality of detectors in the first detection section.

As shown in fig. 1 to 4, the first detection portion may include a first sensor 200-4, a second sensor 200-1, and a third sensor 200-5, which are sequentially disposed at intervals along a sliding direction of the sliding mechanism, wherein the first sensor is configured to limit a maximum position of the sliding block coupling sliding leftward in the first direction, the second sensor is configured to limit an initial position of the sliding block coupling sliding rightward in the first direction, and the initial position is an initial position of the sliding mechanism being returned to the original position.

In implementation, the slider coupler can be provided with a detection piece 200-2, and the detection can be carried out by matching the detection piece 200-2 with each sensor.

In some embodiments, a rotation mechanism may be used to adjust the angle of other components of the transporter (e.g., a gripping mechanism, a lifting mechanism, a body, etc.) in the horizontal plane so that the transporter can grip an object that is not positioned at the correct angle.

As shown in fig. 1 to 5, the horizontal adjustment mechanism further includes a rotation mechanism 200-7, and the rotation mechanism 200-7 is mounted on the angle adjustment base plate 200-11 and is used for rotating the angle of the air transportation vehicle.

In an implementation, the rotating mechanism 200-7 may include a worm gear assembly and a rotating shaft 200-7-8, wherein the worm gear assembly is engaged with the rotating shaft 200-7-8 to drive the rotating shaft 200-7-8 to rotate to a preset angle, so that other parts of the transport vehicle hung below the rotating shaft 200-7-8 are adjusted to a proper angle to facilitate the grabbing of the object.

In implementation, as shown in fig. 5, the worm and gear assembly may adopt a structure in which a motor is matched with a worm to implement rotation driving, that is, the worm and gear assembly may include a motor 200-7-1, a third synchronous pulley synchronous belt 200-7-2 and a worm and gear 200-7-3, wherein the motor 200-7-1 drives the third synchronous pulley synchronous belt 200-7-2 and the worm and gear 200-7-3 to drive the rotating shaft 200-7-8 to rotate.

In some embodiments, the maximum adjustment position of the rotation angle may be detected in a limit manner by providing a plurality of detectors in the rotation mechanism 200-7.

As shown in fig. 5, the rotating mechanism 200-7 may further include a second detecting portion for limiting a rotation angle of the rotating shaft.

In an implementation, the second detection part may include a first detector 200-7-5, a second detector 200-7-6, and a third detector 200-7-7 sequentially disposed at intervals along a circumferential direction of the rotating shaft, wherein the first detector is configured to limit a maximum angle of the rotating shaft rotating counterclockwise in a horizontal plane, the second detector is configured to limit an initial angle of the rotating shaft in the horizontal plane, the third detector is configured to limit a maximum position of the slider coupling sliding rightward in the first direction, and the initial angle is an initial angle at which the sliding mechanism is returned to its original position.

In practice, the sensing plate 200-7-4 may be disposed at the rotation axis 200-7-8 to perform limit sensing with respect to each detector, for example, when the sensing plate 200-7-4 is adjusted to be positioned at the first detector 200-7-5 or the third detector 200-7-7, which is the maximum angle of rotation.

Based on the same inventive concept, embodiments of the present specification further provide an aerial transportation device, so as to align a transport vehicle with an object directly below in a horizontal plane based on the lateral transfer mechanism (also called a lateral transfer device) provided in any one of the embodiments.

As shown in fig. 6, the air transport apparatus may include: a traveling substrate 6; a traveling mechanism 200 mounted on an upper surface of the traveling substrate; a lateral transfer mechanism 300 mounted on the lower surface of the traveling substrate, wherein the lateral transfer mechanism 300 is a lateral transfer device as described in any one of the embodiments; a lifting mechanism 400 connected to the lower surface of the transverse transfer mechanism; and a clamping mechanism 500 connected with the lifting mechanism through a hoisting belt.

The traveling mechanism 200 is configured to drive the traveling substrate 6 to reach a first preset position along a preset traveling path along a traveling track 1 (such as a track arranged below a ceiling 100), where the first preset position is above a position where a target object to be transported is located; the lateral transfer mechanism 300 is used for adjusting the lifting mechanism 400 to be right above the target object in a horizontal plane; the lifting mechanism 400 is used for lifting the clamping mechanism 500, and the clamping mechanism 500 is used for grabbing the object and clamping the object so as to convey the object to a second preset position.

After the traveling mechanism reaches the position above the target object according to a preset traveling route, the lifting mechanism and the clamping mechanism are adjusted to the position right above the target object in the horizontal direction in advance through the transverse transfer mechanism, the target object is grabbed and clamped for carrying after the lifting mechanism is placed, and the system is simple in structure, high in flexibility, high in generation efficiency and very easy to meet the requirements of a factory.

The components such as the traveling base plate, the traveling mechanism, the lifting mechanism, and the clamping mechanism may be designed according to the actual application requirements, and are not limited herein.

In some embodiments, various component mechanisms in the transport equipment may be placed inside the vehicle body.

As shown in fig. 6, the air transportation equipment may further include a vehicle body 700, the top of the vehicle body 700 is fixedly connected to the lower surface of the traveling base plate 6, and the lateral transfer mechanism 300, the lifting mechanism 400, and the clamping mechanism 500 are all disposed inside the vehicle body 700.

In some embodiments, a responsive detection portion may be installed in the transportation apparatus to detect a sensing mark disposed on the track to accurately travel a position.

As shown in fig. 7, the air transportation device may further include position detecting parts 700-4, 700-5, etc. which are mounted at a first top position of the vehicle body and are used for detecting position marks to detect the position of the vehicle body, wherein the first top position is a position on both sides of the top of the vehicle body perpendicular to the extending direction of the travel rail, and the position marks are position marks arranged on the travel rail.

In some embodiments, the vehicle body can be provided with a barrier strip, so that the impact of collision between front and rear vehicles, collision between the vehicle body and surrounding objects and the like on production safety can be reduced.

As shown in fig. 7, the air transportation equipment may further include a barrier prevention bar 700-1, where the barrier prevention bar 700-1 is installed at a second top position of the vehicle body for collision prevention between the front and rear traveling mechanisms, where the second top position is a position on both sides of the top of the vehicle body parallel to the extending direction of the travel rail.

In some embodiments, radar may be used to detect obstacles (e.g., moving or stationary objects, people, etc.) while the vehicle is traveling, improving production safety.

As shown in fig. 7, the air transportation device may further include a first radar mounted on a bottom surface of the body for detecting a first obstacle in a space below the body (as indicated by a region 700-3 in the drawing);

and/or the air transportation equipment can further comprise a second radar which is arranged on the side surface of the vehicle body and is used for detecting a second obstacle in a front space of the vehicle body, wherein the front space is a front space of the vehicle body in the traveling direction (such as an area 700-2 illustrated in the figure).

In some embodiments, the anti-falling mechanism can be used for protecting the target object during transportation, so that the target object is prevented from falling to influence the production safety.

As shown in fig. 6 to 7, the air transportation apparatus may further include a drop-prevention mechanism 600, and the drop-prevention mechanism 600 is mounted inside the vehicle body (for example, in a schematic position of a lower space of the vehicle body on the right side in fig. 7). The drop-preventing mechanism may include a first linking bracket (e.g., a bracket extending below the object in fig. 7), wherein the first linking bracket is retracted into the interior of the vehicle body when the clamping mechanism does not grip the object, and the first linking bracket is located below the object after extending from the interior of the vehicle body when the clamping mechanism clamps the object to prevent the object from dropping.

It should be noted that the first linking bracket may have a single-arm structure, a triangular structure, a quadrilateral structure, or even a polygonal structure, which is not limited herein.

In some embodiments, when the anti-falling mechanism is adopted to protect the target object in the conveying process, the anti-falling mechanism can also adopt the clamping structure to support the target object, so that the target object shaking is reduced, and the production safety is improved.

In an implementation, the anti-falling mechanism may further include a second linking bracket that is linked to the first linking bracket in synchronization, the second linking bracket is retracted into the vehicle body when the clamping mechanism does not grip the object, and the second linking bracket is extended from the vehicle body and abuts against a side surface of the object to prevent the object from shaking when the clamping mechanism clamps the object.

It should be noted that the second linking bracket may have a single-arm structure, a triangular structure, a quadrilateral structure, or even a polygonal structure, which is not limited herein. In addition, the structure of the second linking bracket contacting the target object may be a cylinder, a sphere, a plane, and the like, and is not limited herein.

In some embodiments, a rotating shaft may be used for connecting the lifting mechanism 400 and the lateral transfer mechanism 300, so that the lateral transfer mechanism 300 can adjust the angle of the lifting mechanism 400 by adjusting the angle in the horizontal direction, thereby adjusting the lifting mechanism 400 to a position directly above the target object quickly, smoothly and accurately.

As shown in fig. 8, the lifting mechanism is connected to the lower surface of the lateral transfer mechanism through a rotating shaft (as indicated by the connection between the two in the figure).

For the sake of easy understanding of the air transportation apparatus provided in the present embodiment, the following description will be made schematically on the traveling mechanism, the gripping mechanism, the drop preventing mechanism, and the like.

As shown in fig. 9 to 11, in the traveling mechanism, a reduction motor 9, a servo motor, a traveling wheel set 13, an auxiliary wheel set 12 and the like are mounted on the traveling base plate 6 through a rotating shaft 8, and can travel along a preset straight track 1 through the traveling wheel set 13 and the auxiliary wheel set 12, and also travel along a curved track 14-1 and a curved track 14-2 through a guide wheel set 23 according to the guidance of a guide track 15, so that the purpose of traveling and conveying articles according to a designated path by the whole air transport equipment is achieved.

As shown in fig. 12 to 13, the traveling mechanism may obtain power in a non-contact manner, that is, the power extractor 2 may obtain power from the wired high-frequency cable 5, wherein the power extractor 2 may be an E-type power extractor, and the power obtained by cutting the magnetic field of the high-frequency cable 5 is supplied to the traveling mechanism.

Wherein, high frequency cable 5 is fixed on track 1 by wire casing 4 and high frequency line support 7, gets electrical apparatus 2 and fixes on walking base plate 6 by getting electrical apparatus installing support 3, gets electrical apparatus 2 and adopts the structure with 8 disconnect-type of pivot, makes to get electrical structure simpler, and space utilization is higher, also keeps away from metal parts on every side, reduces to generate heat, and the mounting means is more nimble.

As shown in fig. 14 to 16, the clamping mechanism 500 may be connected below the lifting mechanism 400 by a belt adjusting assembly 500-1 for lifting.

As shown in fig. 14, the clamping mechanism 500 may include a positioning guide shaft 500-2 for positioning and guiding a lifting positioning position in the lifting mechanism so that the lifting mechanism lifts the clamping mechanism to a designated position. The vertical positioning and guiding are carried out on the lifting process through the guide shaft, and the production safety is improved.

When the transverse transfer mechanism 300 and the lifting mechanism 400 are operated in place, the motor 500-3 in the clamping mechanism can drive the left-right rotating screw rod 500-4 to make the clamping jaws 500-7 on the two sides move horizontally on the sliding rails 500-5 to complete the opening and closing of the clamping jaws 500-7 so as to realize the actions of grabbing and releasing the target object.

The clamping mechanism can be designed with positioning guide blocks 500-6, for example, four positioning guide blocks 500-6 are positioned at the periphery, and can be contacted with the top of a target object through the guide blocks 500-6 in descending, so that coarse guiding and positioning in the vertical direction in descending are facilitated, and the phenomenon that an object is inclined before clamping is prevented.

When the clamping jaw 500-7 clamps an object, the structural design of the lower end of the clamping jaw can be used for processing the inclined plane 500-7-1 according to the overall structural size of the object, and the inclined plane 500-7-1 can be used for performing horizontal coarse guiding positioning when the object is clamped.

The middle of the lower part of the clamping jaw 500-7 can be designed according to the shape and the structure size of an object, for example, a V-shaped positioning block 500-7-2 can be used for carrying out fine guiding positioning in the horizontal direction when the object is grabbed through the V-shaped positioning block 500-7-2.

Through the design of the positioning and guiding structure, the product can be ensured to be accurately and stably clamped, and the stability and the safety of the product when being grabbed are protected.

The middle of the lower part of the clamping jaw 500-7 can be provided with a sensing detector 500-8, so that after the clamping jaw 500-7 clamps the target object, the clamping of the target object is confirmed through the sensing detector 500-8, and the production safety is improved.

The lifting mechanism 400 may be provided with a sensor (not shown in the drawings) for detecting the vibration amplitude of the lower clamping mechanism 500 in cooperation with the reflective plate 500-10 of the clamping mechanism 500, that is, the sensor of the lifting mechanism 400 is combined with the reflective plate 500-10 of the clamping mechanism 500 for detecting the vibration amplitude of the lower clamping mechanism 500, when the sensor cannot detect the reflected signal (such as a light beam) from the reflective plate 500-10, it indicates that the vibration amplitude of the lower clamping mechanism 500 is larger at this moment and is not in the range suitable for the clamping unit to clamp the article, and the servo motor of the lifting mechanism will adjust the lowering rate or stop the operation of the clamping mechanism.

In the figure, a spring positioning component 500-9, a first correlation sensor 500-11 and a second correlation sensor 500-12 can be further designed in the clamping mechanism for detecting the descending position and limiting protection.

For example, when the clamping mechanism descends to a designated height, the positioning block 500-9-1 at the lower end of the spring positioning assembly receives an upward force of an article to move the spring in the spring assembly upwards, so that the elastic sheet 500-15 in the spring assembly is away from the upper surface of the spring structure by a certain distance and can be detected by the distance, for example, the screw 500-14 is adopted to match two groups of correlation sensors for detection and limiting protection; at this time, the light beam of the opposite-jet sensor 500-11 is blocked and changed from on to off, when the clamping unit continues to descend, the positioning block 500-9-1 at the lower end of the spring positioning assembly is subjected to the upward force of the article to enable the spring in the spring assembly to continue to move upwards, the light beam of the opposite-jet sensor 500-12 is blocked and changed from on to off, at this time, the article may be damaged by the pressure of the positioning block 500-9-1 at the lower end of the spring positioning assembly due to the excessive descending of the clamping unit, which is not allowable, therefore, when the opposite-jet sensor 500-11 is in the on state, the descending height of the clamping unit is not enough, when the opposite-jet sensor 500-12 is in the off state, the clamping unit is over-descended, and the clamping jaws can descend to the precise height without damaging the product through detection and limit protection.

As shown in fig. 17 to 18, the drop prevention mechanism 600 may employ a drop prevention structure of a quadrangular linkage structure. After the clamping mechanism 500 clamps the object accurately and stably, the motor 600-1 in the anti-drop mechanism 600 on the inner side of the vehicle body enables the ball screw to drive the slider 600-2 to drive each connecting arm 600-3 of the first linkage mechanism to rotate, and the anti-drop mechanism 600 is in an extended state to extend below the target object, so that even if the target object falls from the clamping mechanism, the anti-drop mechanism 600 can stably and reliably receive the target object, and the target object is prevented from falling to influence the production safety.

As shown in fig. 17 to 18, the second linkage mechanism may be used to support the object, so as to reduce the shaking amplitude of the object, for example, the clamping blocks 600-7 on the second linkage mechanism may be used to firmly support the object, and prevent the gripped object from shaking and falling off.

As shown in fig. 17 to 18, the extension or retraction of the anti-drop mechanism may be detected and limited by using a detection portion, for example, by using sensor 600-4, sensor 600-5 and detection plate 600-6 to cooperate with each other, such as detection plate 600-6 blocking sensor 600-4 to indicate retraction in place, such as detection plate 600-6 blocking sensor 600-5 to indicate extension in place.

Based on the same inventive concept, the embodiment of the present specification further provides an automatic material handling system, so as to grasp and handle the target object by the air transportation equipment (also called a crown block) provided based on any one of the foregoing embodiments.

In practice, the present disclosure provides an automated material handling system, which may include: an air transport apparatus and a track mounted below a ceiling as described in any one of the preceding embodiments.

As shown in fig. 19, the air transportation device (such as the transportation vehicle in the figure) can travel along the traveling track according to a preset traveling track to achieve the purpose of transporting the target object.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. The transverse transfer device is characterized by being applied to an air transport vehicle and comprising:

2. The lateral transfer device according to claim 1, wherein the sliding mechanism comprises a secondary plate, a tertiary plate, an angle adjusting base plate, a plurality of sliding blocks and a sliding block coupling;

3. The lateral transfer device according to claim 2, wherein the synchronous adjusting mechanism comprises a first synchronous wheel synchronous belt, a second synchronous wheel synchronous belt and a first driving mechanism;

4. The lateral transfer device according to claim 3, wherein the first driving mechanism comprises a first screw and a first motor, the slider coupler is sleeved on the first screw, and an output shaft of the first motor is connected with a section of the first screw to drive the first screw.

5. The lateral transfer device according to claim 2, wherein the leveling mechanism further includes a first detection unit provided on one side of the slide mechanism for detecting a position of the ram coupler.

6. The lateral transfer device according to claim 5, wherein the first detecting portion includes a first sensor, a second sensor and a third sensor arranged at intervals in the sliding direction of the sliding mechanism, wherein the first sensor is used for limiting a maximum position of the slide coupling sliding leftward in the first direction, the second sensor is used for limiting an initial position of the slide coupling sliding rightward in the first direction, and the initial position is an initial position of the sliding mechanism at which the sliding mechanism is returned to.

7. The lateral transfer device according to claim 2, wherein the horizontal adjustment mechanism further comprises a rotation mechanism mounted on the angle adjustment base plate for rotating the angle of the aerial delivery vehicle;

8. The lateral transfer device according to claim 7, wherein the turning mechanism further comprises a second detection portion for limiting a turning angle of the rotary shaft;

9. An air transport apparatus, comprising:

a traveling substrate;

a traveling mechanism mounted on the upper surface of the traveling substrate;

a lateral transfer mechanism mounted on the lower surface of the traveling substrate, the lateral transfer mechanism being the lateral transfer device according to any one of claims 1 to 8;

10. The aerial transportation device of claim 9, further comprising a body, wherein a top of the body is fixedly attached to a lower surface of the walking base plate, and the lateral transfer mechanism, the lifting mechanism, and the clamping mechanism are disposed inside the body.

11. The air transportation apparatus of claim 10, further comprising a position detection part mounted at a first top position of the body for detecting a position mark to detect a position of the body, wherein the first top position is a position on both sides of the top of the body perpendicular to an extending direction of the travel rail, and the position mark is a position mark disposed on the travel rail.

12. The air transport equipment of claim 10 further comprising a barrier bar mounted to the body at a second top position for collision avoidance between the front and rear bogies, wherein the second top position is at a position on both sides of the top of the body parallel to the direction of travel track extension.

13. The air transportation apparatus of claim 10, further comprising a first radar mounted to a bottom surface of the vehicle body for detecting a first obstacle in a space below the vehicle body;

14. The aerial transport device of claim 10, further comprising a drop-prevention mechanism mounted inside the body;

15. The aerial transportation device of claim 14, wherein the anti-drop mechanism further comprises a second linkage bracket synchronously linked with the first linkage bracket, wherein the second linkage bracket is retracted into the interior of the vehicle body when the clamping mechanism does not grip the object, and abuts against a side surface of the object after being extended from the interior of the vehicle body when the clamping mechanism grips the object to prevent the object from shaking.

16. The aerial transportation device of claim 9, wherein the lifting mechanism is coupled to a lower surface of the lateral transfer mechanism by a pivot.

17. The aerial transportation device of claim 9, wherein the gripping mechanism comprises a positioning guide shaft for positioning guidance with a lifting positioning location in the lifting mechanism to cause the lifting mechanism to lift the gripping mechanism to a specified position.

18. An automated material handling system, comprising:

the aerial delivery device of any one of claims 9-17;

a track mounted below a ceiling;

wherein the air transport equipment travels along the track according to a preset travel track.