TW202337812A - Method and system for controlling the lifting mechanism of an overhead hoist transport vehicle - Google Patents

Abstract

The present application provides a method and system for controlling the lifting mechanism of an overhead hoist transport vehicle, which are applied to the technical field of semiconductor wafer manufacturing equipment. The method for controlling the lifting mechanism of an overhead hoist transport vehicle includes: when the overhead hoist transport vehicle runs to a preset position in a track, starting the drive of the lifting mechanism to the clamping mechanism to make the clamping mechanism lift; And acquiring a speed value of the lifting motion, and the lifting motion of the lifting mechanism is controlled by segments according to the speed value of the lifting motion. By acquiring the speed of lifting motion in real time, and controlling the lifting motion steadily and rapidly in segmentation according to the real-time speed, so that the lifting motion runs stably, the travel circumference of the operation is significantly optimized, which greatly improves the wafer handling efficiency in automatic application of a semiconductor factory, and the wafer production efficiency is improved.

Description

Control method and system for lifting mechanism of air transport vehicle

The invention belongs to the technical field of semiconductor wafer manufacturing equipment, and specifically relates to a lifting mechanism control method and system for an aerial transport vehicle in an automatic material handling system.

The aerial transport vehicle in the AMHS (Automatic Material Handling System, also known as the overhead crane system) needs to transport the target pick-up objects from one place to the set location as required, because the aerial transport vehicle runs above the production equipment Therefore, the aerial transport vehicle includes a relatively fixed lifting mechanism and a liftable clamping mechanism. The lifting mechanism then controls the lifting of the clamping mechanism, so that the clamping mechanism reaches a predetermined position to clamp the target item (such as a wafer box). Actions such as picking up, transporting and releasing.

In existing aerial transport vehicles, due to production needs, belts are often used to achieve flexible connection between the clamping mechanism and the lifting mechanism. The flexible characteristics of the belt make the lifting mechanism lower the clamping mechanism, causing the clamping mechanism to move relative to the lifting mechanism. There is a certain degree of shaking, swinging, etc., so the clamping mechanism cannot accurately reach the predetermined position corresponding to the target item to clamp or release the target item. At the same time, in order to accurately reach the predetermined position, the position of the clamping mechanism needs to be adjusted multiple times. The clamping or releasing time of the target item is extended, causing the entire clamping or releasing action cycle to be lengthened and affecting production efficiency.

Therefore, a new lifting mechanism control scheme is urgently needed so that the lifting mechanism can accurately lower the clamping mechanism to the predetermined position corresponding to the target item.

The invention provides a method and system for controlling the lifting mechanism of an aerial transport vehicle in an automatic material handling system, which can shorten the control time of the lifting mechanism on the clamping mechanism and improve the control accuracy of the lifting mechanism on the clamping mechanism, so that the lifting mechanism can smoothly , quickly and accurately lower the clamping mechanism to the predetermined position to hold or release the target object.

Embodiments of the present invention provide a method for controlling the lifting mechanism of an aerial transport vehicle. The lifting mechanism of the aerial transport vehicle controls the clamping mechanism to perform lifting movements. The clamping mechanism and the lifting mechanism are connected by a flexible belt. The aerial transport vehicle The vehicle lifting mechanism control methods include: During the lifting movement of the clamping mechanism, the outer diameter speed corresponding to the belt roll of the flexible belt is obtained; Adjust the lifting speed of the clamping mechanism according to the outer diameter speed to control the lifting movement of the clamping mechanism according to the preset target lifting speed in different segmented controls; Among them, the segmented control includes: In the starting phase, when it is detected that the speed value of the lifting motion reaches the first threshold, the lifting motion is controlled to enter the acceleration phase; In the acceleration phase, the lifting motion is accelerated and controlled, and when it is detected that the speed value of the lifting motion accelerates to the second threshold, the lifting motion is controlled to enter the deceleration phase; In the deceleration stage, the lifting movement is decelerated and controlled, and when it is detected that the speed value of the lifting movement decelerates to the third threshold, the lifting movement is controlled to enter a stable stage; In the stable phase, the lifting movement is controlled according to the preset stable control strategy so that the clamping mechanism stops at the set position.

In some embodiments, obtaining the outer diameter speed corresponding to the belt roll of the flexible belt includes: obtaining the driving speed of the lifting mechanism for the belt roll; adjusting the lifting speed of the clamping mechanism according to the outer diameter speed, including: obtaining The driving speed corresponds to the target radius of the belt roll; according to the driving speed and the target radius, the lifting speed of the clamping mechanism is adjusted, where the target radius and the lifting speed satisfy the following relationship: ; Among them, n is the number of turns, y is the thickness of the flexible belt, Δt is the time difference for the belt roll to rotate once, and V is the lifting speed of the clamping mechanism.

In some embodiments, obtaining the driving speed of the belt roll by the lifting mechanism includes: obtaining the first number of pulses corresponding to the current lifting speed. The first pulse number is the driving speed used by the lifting mechanism to control the belt roll. The corresponding number of pulses; Adjust the lifting speed of the clamping mechanism, including: According to the driving speed, a second number of pulses is output, so that the lifting mechanism drives the belt roll to rotate under the action of the second number of pulses, and the lifting speed of the clamping mechanism is adjusted, where the second number of pulses is when assuming that the When the lifting speed remains unchanged, the sum of the increment of the number of pulses corresponding to the first pulse data and Δt.

In some embodiments, the lifting mechanism control method of the air transport vehicle further includes: Obtain the stroke of the servo motor in the lifting mechanism; According to the stroke and the number of second pulses, it is determined whether the lifting movement is normal. If it is normal, continue to issue the next program command. If it is abnormal, stop issuing the next program command.

Embodiments of the present invention also provide a method for controlling the lifting mechanism of an air transport vehicle, which is applied to the lifting mechanism of the air transport vehicle to control the clamping mechanism to perform lifting movements. The clamping mechanism and the lifting mechanism are connected by a flexible belt. The control methods of the lifting mechanism of the air transport vehicle include: When the aerial transport vehicle reaches a predetermined position in the track, the lifting mechanism is started to drive the clamping mechanism so that the clamping mechanism performs lifting movement; Obtain the speed value of the lifting motion and perform segmented control based on the speed value of the lifting motion; Among them, the segmented control includes: In the starting phase, when it is detected that the speed value of the lifting motion reaches the first threshold, the lifting motion is controlled to enter the acceleration phase; In the acceleration phase, the lifting motion is accelerated and controlled, and when it is detected that the speed value of the lifting motion accelerates to the second threshold, the lifting motion is controlled to enter the deceleration phase; In the deceleration stage, the lifting movement is decelerated and controlled, and when it is detected that the speed value of the lifting movement decelerates to the third threshold, the lifting movement is controlled to enter a stable stage; In the stable phase, the lifting movement is controlled according to the preset stable control strategy so that the clamping mechanism stops at the set position.

In some embodiments, starting the lifting mechanism to drive the clamping mechanism includes: driving a servo motor in the lifting mechanism according to a preset number of pulses, wherein the servo motor is used to drive the flexible belt to control the flexible belt. Release or winding of the drive to the clamping mechanism; Obtaining the speed value of the lifting motion includes: obtaining the number of pulses, and determining the speed value of the lifting motion based on the number of pulses.

In some embodiments, the lifting mechanism control method of the air transport vehicle further includes: Obtain the servo motor stroke data fed back by the stroke encoder; According to the servo motor stroke data and the number of pulses, determine whether the lifting movement of the clamping mechanism is normal.

In some embodiments, the segmented control further includes: performing uniform speed control on the lifting motion during the constant speed phase, and controlling the lifting motion to enter the deceleration phase when the duration of the uniform speed phase reaches the fourth threshold; Wherein, when it is detected in the acceleration phase that the speed value of the lifting motion accelerates to the second threshold, the lifting motion is controlled to enter the uniform speed phase.

In some embodiments, the lifting mechanism control method of the air transport vehicle further includes: Obtain the first signal output by the first through-beam sensor and the second signal output by the second through-beam sensor. The first through-beam sensor is used to detect that the clamping mechanism stops at an abnormal position, and the second through-beam sensor is used to detect that the clamping mechanism stops at an abnormal position. The radiation sensor is used to detect whether the clamping mechanism stops at the set position; The relationship between the clamping mechanism and the set position is determined according to the first signal and the second signal.

In some embodiments, determining the relationship between the clamping mechanism and the set position based on the first signal and the second signal includes: When it is determined that the first signal and the second signal meet the preset determination conditions, it is determined that the clamping mechanism stops at the set position.

Embodiments of the present invention also provide a lifting mechanism control system for an aerial transport vehicle, which is applied to the lifting mechanism of the aerial transport vehicle to control the clamping mechanism to perform lifting movements. The clamping mechanism is connected to the lifting mechanism by a flexible belt. The lifting mechanism control system of the transport vehicle includes: The first control module is used to obtain the outer diameter speed corresponding to the belt roll of the flexible belt during the lifting movement of the clamping mechanism; The first adjustment module is used to adjust the lifting speed of the clamping mechanism according to the outer diameter speed to control the lifting movement of the clamping mechanism according to the preset target lifting speed in different segmented controls; Among them, the segmented control includes: In the starting phase, when it is detected that the speed value of the lifting motion reaches the first threshold, the lifting motion is controlled to enter the acceleration phase; In the acceleration phase, the lifting motion is accelerated and controlled, and when it is detected that the speed value of the lifting motion accelerates to the second threshold, the lifting motion is controlled to enter the deceleration phase; In the deceleration stage, the lifting movement is decelerated and controlled, and when it is detected that the speed value of the lifting movement decelerates to the third threshold, the lifting movement is controlled to enter a stable stage; In the stable phase, the lifting movement is controlled according to the preset stable control strategy so that the clamping mechanism stops at the set position.

In some embodiments, obtaining the outer diameter speed corresponding to the belt roll of the flexible belt includes: obtaining the driving speed of the lifting mechanism for the belt roll; adjusting the lifting speed of the clamping mechanism according to the outer diameter speed, including: obtaining The driving speed corresponds to the target radius of the belt roll; according to the driving speed and the target radius, the lifting speed of the clamping mechanism is adjusted, where the target radius and the lifting speed satisfy the following relationship: ; Among them, n is the number of turns, y is the thickness of the flexible belt, Δt is the time difference for the belt roll to rotate once, and V is the lifting speed of the clamping mechanism.

In some embodiments, obtaining the driving speed of the belt roll by the lifting mechanism includes: obtaining the first number of pulses corresponding to the current lifting speed. The first pulse number is the driving speed used by the lifting mechanism to control the belt roll. The corresponding number of pulses; Adjust the lifting speed of the clamping mechanism, including: According to the driving speed, a second number of pulses is output, so that the lifting mechanism drives the belt roll to rotate under the action of the second number of pulses, and the lifting speed of the clamping mechanism is adjusted, where the second number of pulses is when assuming that the When the lifting speed remains unchanged, the sum of the increment of the number of pulses corresponding to the first pulse data and Δt.

In some embodiments, the lifting mechanism control system of the aerial transport vehicle also includes: an encoder, the encoder is used to obtain the stroke of the servo motor in the lifting mechanism; The first control module is also used to determine whether the lifting movement is normal based on the stroke and the second pulse number. If it is normal, continue to issue the next program command. If it is abnormal, stop issuing the next program command.

Embodiments of the present invention also provide a lifting mechanism control system for an aerial transport vehicle. The lifting mechanism of the aerial transport vehicle controls the clamping mechanism to perform lifting movements. The clamping mechanism and the lifting mechanism are connected by a flexible belt. The aerial transport vehicle The vehicle’s lifting mechanism control system includes: A control mechanism used to start the servo motor in the lifting mechanism to drive the clamping mechanism to perform lifting movements; A detection mechanism is used to detect the speed value of the lifting movement; Wherein, the control mechanism and the detection mechanism are also used for coordinated segmented control based on the speed value of the lifting movement; Among them, the segmented control includes: In the startup phase, when the detection mechanism detects that the speed value of the lifting motion reaches the first threshold, the control mechanism controls the lifting motion to enter the acceleration phase; In the acceleration stage, the control mechanism performs acceleration control on the lifting movement, and when the detection mechanism detects that the speed value of the lifting movement accelerates to the second threshold, the control mechanism controls the lifting movement to enter the deceleration stage; In the deceleration stage, the control mechanism performs deceleration control on the lifting movement, and when the detection mechanism detects that the speed value of the lifting movement decelerates to the third threshold, the control mechanism controls the lifting movement to enter a stable stage; In the stable phase, the control mechanism controls the lifting movement according to the preset stable control strategy so that the clamping mechanism stops at the set position.

In some embodiments, the control mechanism includes a PLC controller, and the detection mechanism is electrically connected to the PLC controller; The control mechanism and the detection mechanism are also used to perform coordinated segmented control based on the speed value of the lifting motion, including: the PLC controller and the detecting mechanism are also used to perform coordinated segmented control based on the speed value of the lifting motion. .

In some embodiments, the servo motor is electrically connected to the PLC controller, and the PLC controller is also used to drive the servo motor in the lifting mechanism according to a preset number of pulses, and determine the speed value of the lifting movement based on the number of pulses. .

In some embodiments, the servo motor is a servo motor including a stroke encoder, and the stroke encoder is electrically connected to the PLC controller; The PLC controller is also used to: obtain the servo motor stroke data fed back by the stroke encoder, and determine whether the lifting movement is normal based on the servo motor stroke data and the number of pulses.

In some embodiments, the PLC controller is electrically connected to the alarm circuit; When it is determined that the lifting movement is abnormal, the PLC controller is also used to: stop sending driving instructions to the driver of the servo motor, and/or issue a voice alarm, and/or display alarm information.

In some embodiments, a first position sensor is provided at the origin of the flexible belt, and the first position sensor is electrically connected to the PLC controller; The PLC controller is also used to: before driving the servo motor in the lifting mechanism according to a preset number of pulses, obtain the output result of the first position sensor to determine whether the flexible belt is at the origin position.

In the embodiment of the present invention, by optimizing and improving the lifting control process of the clamping mechanism by the lifting mechanism, that is, optimizing the action control of each mechanical structure and each step, the action cycle of the entire conveying system can be greatly shortened. The lifting mechanism of the clamping mechanism can smoothly and accurately lower the clamping mechanism to the predetermined position in a short period of time to clamp or release the target item, which greatly improves the automatic material handling system's ability to automatically handle semiconductors. The handling efficiency in wafer applications improves the efficiency of wafer production in semiconductor factories.

In order to help the review committee understand the technical features, content and advantages of the present invention and the effects it can achieve, the present invention is described in detail below in the form of embodiments with the accompanying drawings and attachments, and the drawings used therein are , its purpose is only for illustration and auxiliary description, and may not represent the actual proportions and precise configurations after implementation of the present invention. Therefore, the proportions and configuration relationships of the attached drawings should not be interpreted or limited to the actual implementation of the present invention. The scope shall be stated first.

In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", and "vertical" The orientations or positional relationships indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description. , rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be construed as a limitation of the present invention.

In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, features defined as “first” and “second” may explicitly or implicitly include one or more of the described features. In the description of the embodiments of the present invention, "plurality" means two or more, unless otherwise explicitly and specifically limited.

In the embodiments of the present invention, unless otherwise explicitly stipulated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection or a removable connection. Disassembly and connection, or integration; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interaction between two elements. For those with ordinary knowledge in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

Currently, as shown in Figure 1, when the aerial transport vehicle 1 moves along the aerial track to a set position, the lifting mechanism 2 in the transport vehicle performs a lifting movement by controlling the clamping mechanism 4, so that the clamping mechanism 4 lifts to a specified height. , to facilitate grabbing or releasing target objects (such as wafer boxes), in which the lifting mechanism 2 and the clamping mechanism 4 are connected by a flexible belt 3 .

As shown in Figure 2, the control of the clamping mechanism 4 by the lifting mechanism 2 includes: for example, from the time when the belt is lowered until the clamping mechanism drops to the specified height, the motor speed is constant, that is, the clamping mechanism 4 operates at a constant speed. decline. Therefore, if you want to make the belt descend smoothly and without shaking, you can only use a low-speed control method, so the lifting time is long; and if you want to complete the lowering action in a short time, you can only use a high-speed control method, resulting in The belt obviously shakes or swings during the lowering process, which is not conducive to accurately grasping the target item. In addition, in order to accurately grasp the target item, the clamping mechanism needs to be adjusted multiple times, which also lengthens the entire action cycle.

For example, for the AMHS system used in semiconductor manufacturing plants, a complete semiconductor process requires approximately 400 steps to complete the entire processing process, and during these 400 steps, the number of times the wafer box needs to be transported is approximately 1,200 times. Generally speaking, the average transport time of an unoptimized AMHS system may be 5-6 minutes each time. If the AMHS system is optimized so that the indicator can reach 2.5-3 minutes, then even if the difference is 2 minutes, 1,200 times will save about 2,400 minutes, that is, after optimization, about 40 more hours can be gained for the wafer cycle time. This time is very valuable in the rapidly changing semiconductor market.

Therefore, when optimizing the AMHS system, a small optimization may be achieved for each mechanical structure and each step of action control, but it may have a huge impact on the cycle of the entire conveying system. In view of this, after in-depth research and improvement exploration on the lifting control process of the lifting mechanism, a new lifting control scheme is proposed: as shown in Figure 3, lower the clamping mechanism to release the target object (such as a wafer box) Taking an example as a schematic illustration, when the aerial transport vehicle 1 travels on the aerial track to a predetermined position, where the predetermined position is the position where the aerial transport vehicle stays in the track when grabbing or releasing the wafer box, the aerial transport vehicle 1 can lift through the internal The mechanism 2 performs descending control on the clamping mechanism 4, in which the descending movement of the clamping mechanism 4 is controlled in sections by speed. By optimizing the control of each section, the entire descending movement can be optimized.

For example, as shown in Figure 4, the descending motion can be divided into a start-up phase, an acceleration phase, a deceleration phase and a steady phase. The start-up phase can be the period when the lifting mechanism drives the clamping mechanism to start the movement, so that the clamping mechanism obtains a start speed, and then enters the acceleration stage, so that the clamping mechanism 4 accelerates the operating speed in a short time, reduces the descending height in a short time at a faster operating speed, and then enters the deceleration stage, decelerates from a higher speed, and can The descending height is further reduced, and finally through the stable stage, the clamping mechanism 4 can be stably and accurately docked at the wafer box placement position, which is conducive to releasing the wafer box at the accurate placement position.

For example, as shown in Figure 5, the descending motion can be divided into a start-up phase, an acceleration phase, a uniform phase, a deceleration phase and a steady phase. The start-up phase can be the period when the lifting mechanism drives the clamping mechanism to start the movement, so that the clamping mechanism obtains to a starting speed, and then enters the acceleration stage, so that the clamping mechanism 4 accelerates the operation speed in a short period of time, reduces the descending height in a short period of time at a faster operation speed, and then enters the uniform speed stage, and performs uniform descent at a higher speed. , the descending height can be further reduced in a short period of time, and then the deceleration starts from a higher speed, further reducing the descending height in a short period of time, and finally through the stable stage, the clamping mechanism 4 can be stably and accurately parked at the wafer box placement position. , which is conducive to the clamping mechanism 4 reaching the wafer box placement position quickly, smoothly and accurately in a short period of time.

It should be noted that when the lifting mechanism 2 controls the lifting of the clamping mechanism 4, it can also adopt segmented control similar to the descending control, that is, it can still be divided into a starting phase, an acceleration phase, a deceleration phase and a stable phase, or it can be divided into Starting phase, acceleration phase, constant speed phase, deceleration phase and steady phase. Therefore, the ascending and descending movements are collectively referred to as lifting movements here. The descending movement can be the descending process in which the clamping mechanism needs to descend to the position of the wafer box to grasp the wafer box. The descending movement can also be the descending process of the clamping mechanism in When clamping and transporting the wafer box to the set position, it needs to descend to the placement position of the wafer box. The rising movement can be used to allow the clamping mechanism to rise and return to the preset position after grabbing the wafer box. The rising process of the round box being transported by the air transport vehicle can also be the rising process in which the clamping mechanism needs to rise back to the set position after releasing the clamped wafer box to the placement position.

In addition, for the convenience of explanation, the linear relationship between the acceleration phase and the deceleration phase is used as an example in the schematic diagram here. In actual applications, other curve relationship control can be implemented according to actual control needs, and there is no limitation here.

The technical solutions provided by each embodiment in this specification will be described below with reference to the accompanying drawings.

The invention provides a method for controlling the lifting mechanism of an air transport vehicle, which can be applied to AMHS systems in semiconductor automation factories. It is used for the lifting mechanism of the air transport vehicle to control the clamping mechanism to perform lifting movements, wherein the clamping mechanism and the lifting mechanism are Flexible belt connection.

As shown in Figure 6, the control method of the lifting mechanism of the air transport vehicle includes: Step S102: Determine whether the air transport vehicle has reached a predetermined position while traveling along the track, and when it is determined that it has reached the predetermined position, step S104 is executed.

During the implementation, when the air transport vehicle is traveling along the aerial track, the driving position of the air transport vehicle along the track can be obtained in real time through the AMHS system, and then based on the real-time driving position, it can be determined whether the air transport vehicle has reached the predetermined position, so as to facilitate air transport. When the car reaches the predetermined position, the internal lifting mechanism is triggered to control the lifting of the clamping mechanism. The predetermined position may be the stopping position of the aerial transport vehicle in the track when the target object (such as a wafer box) needs to be grabbed or released.

During implementation, detection marks, such as sensors, barcodes, etc., can be set at predetermined positions in the track to facilitate quick acquisition of the predetermined position through the detection marks, facilitate the air transport vehicle to stay at the predetermined position, and facilitate triggering of the lifting mechanism. Control the lifting and lowering of the clamping mechanism. Therefore, while the air transport vehicle is traveling along the track, the control mechanism in the transport vehicle can instantly determine whether the air transport vehicle has reached the predetermined position, as a trigger condition for the lifting control, so that once the air transport vehicle reaches the predetermined position, it When staying, the lifting mechanism can quickly open the clamping mechanism for lifting movement.

Step S104: Start the lifting mechanism to control the lifting of the clamping mechanism, so that the clamping mechanism performs lifting movement.

During implementation, the aerial transport vehicle traveling along the track and reaching a predetermined position can be set as a trigger condition, and this trigger condition can be set inside the control mechanism as a trigger condition for the control mechanism to perform lifting control, such as the PLC (Programmable Logic) in the transport vehicle. Controller (programmable logic controller) sets the trigger condition so that once the PLC detects that the trigger condition is true, it can quickly start the lifting control process of the clamping mechanism.

In implementation, the servo motor in the lifting mechanism can be driven by a control mechanism (such as PLC), so that the servo motor drives the belt shaft of the flexible belt to rotate, thereby releasing the belt by rotating the belt shaft to realize the downward movement of the clamping mechanism or winding the belt to realize clamping. Support the upward movement of the institution. Therefore, by controlling the driving of the lifting mechanism, the lifting motion control of the clamping mechanism can be realized.

Step S106: During the lifting motion, the speed value of the lifting motion is obtained immediately, and segmented control is performed according to the speed value of the lifting motion.

The segmented control may include a starting phase, an acceleration phase, a deceleration phase and a steady phase.

In the starting phase, when it is detected that the speed value of the lifting motion reaches the first threshold, the lifting motion is controlled to enter the acceleration phase.

In the specific implementation, at the beginning of the startup phase, a low speed can be given to the belt to lower, so that the clamping mechanism can be started more smoothly to start the lifting movement, and then when the speed after startup reaches the first threshold smoothly, the lifting can be Movement quickly switches to an acceleration phase. It should be noted that since the starting stage is low speed and rises and falls smoothly, the starting stage can also be called the first steady stage, and the steady stage entered after the deceleration stage is called the second steady stage.

Since the acceleration phase is started from a smooth start, the clamping mechanism can still perform the lifting movement of the acceleration phase relatively smoothly during the acceleration phase, that is, the movement time of the acceleration phase is effectively compressed during the smooth motion.

In the acceleration phase, the lifting motion is accelerated and controlled, and when it is detected that the speed value of the lifting motion accelerates to the second threshold, the lifting motion is controlled to enter the deceleration phase.

In specific implementation, linear acceleration control can be used in the acceleration phase, such as acceleration control with small acceleration changes, which can shorten the time during acceleration and make the acceleration more stable. And, after accelerating to a certain speed, it switches to the deceleration stage.

In the deceleration stage, the lifting movement is decelerated and controlled, and when it is detected that the speed value of the lifting movement decelerates to the third threshold, the lifting movement is controlled to enter a stable stage.

In the specific implementation, when switching from the acceleration phase to the deceleration phase, a short-term smooth switching can be performed between the end of the acceleration phase and the beginning of the deceleration phase, and then a linear relationship can be used for deceleration control, and the lifting speed is gradually reduced through the deceleration phase, so that in While decelerating shortens the time, the movement is smoother.

In the stable phase, the lifting movement is controlled according to the preset stable control strategy so that the clamping mechanism stops at the set position. Among them, the set position can be the position where the clamping mechanism should stop after the lifting movement. For example, when grabbing the wafer box, the set position can be the position of the wafer box, so that the clamping mechanism can grab the wafer box. For example, after grabbing the wafer box, the set position can be the position where the clamping mechanism returns to the transport vehicle to transport the wafer box after grabbing the wafer box. Therefore, the set position can be determined based on the actual lifting movement, which is not limited here.

In specific implementation, the speed of the lifting movement can be gradually transitioned from a smaller speed to zero according to the preset smooth control strategy, and then stopped at the set position. The smooth control strategy may be a slow deceleration control process that makes the clamping mechanism stop smoothly and stably to a set position, such as a control process that makes the clamping mechanism stop from a low speed state to a set position in a short time.

It should be noted that the aforementioned first threshold, second threshold, third threshold and preset smooth control strategy can be parameters preset after installation and debugging in actual factory applications, or can be subsequent parameters based on actual operating conditions. The summary of empirical data can be determined based on actual application and is not limited here.

Through real-time detection of the lifting speed during the lifting movement, and immediate segmented control of the lifting movement based on the detection results, and smooth switching in the segmented control, smooth lifting movements can be effectively performed, and the movement time can also be optimized.

In some embodiments, the duration of the acceleration phase and the duration of the deceleration phase can be controlled to make the duration of the acceleration phase and the deceleration phase shorter. For example, the duration can be both shorter than the duration of the stationary phase, either by accelerating or decelerating. , decelerate to achieve efficient short-term movement, and through a longer plateau stage, the clamping mechanism can be stopped at the set position more smoothly and accurately.

In some embodiments, according to the needs of the overall lifting stage, for example, when the stroke is long, a uniform speed stage can be added between the acceleration stage and the deceleration stage.

As shown in the segmented control diagram in Figure 5, the segmented control may also include: a constant speed phase, that is, when the speed value of the lifting motion is detected to accelerate to the second threshold in the acceleration phase, the lifting motion is controlled to enter a constant speed. stage, and in the constant speed stage, the lifting movement is controlled at a constant speed, and when the duration of the uniform speed stage reaches the fourth threshold, the lifting movement is controlled to enter the deceleration stage.

By adding a constant speed phase between the acceleration phase and the constant speed phase, it can not only switch more smoothly between acceleration and deceleration through the constant speed phase, but also greatly compress the motion time through the constant speed phase of high-speed operation.

In some embodiments, the operation of the servo motor can be controlled by the pulses sent by the PLC, that is, the PLC outputs different control pulse frequencies, and then these control pulses are used to drive the servo motor, so that the rotation speed of the servo motor is controlled by the number of pulses, so the number of pulses corresponds to The rotation angle of the motor, that is, the pulse frequency, can determine the speed of the belt, and then the speed of the lifting movement can be controlled by controlling the pulse frequency. It should be noted that the relationship between motor speed and pulse frequency can be determined based on specific motor characteristics and is not limited here.

For example, as shown in Figure 7, when the lifting mechanism 2 lowers the flexible belt 3 and the clamping mechanism 4 to a certain speed during the startup phase, for example, when the PLC output pulse amount reaches a preset value, the PLC can change the pulse frequency according to the set Change the pulse frequency of the control servo motor to make the clamping mechanism 4 enter the accelerated descent stage, so that the flexible belt 3 and the clamping mechanism 4 enter the accelerated descent smoothly.

For example, as shown in Figure 8, when the speed of the lifting mechanism 2 lowering the flexible belt 3 and the clamping mechanism 4 reaches the constant speed stage, the PLC will change the output pulse frequency according to the set requirements, so that the flexible belt 3 and the clamping mechanism 4 Enter high-speed operation and descend at a constant speed.

For example, as shown in Figure 9, when the lifting mechanism 2 lowers the flexible belt 3 and the clamping mechanism 4 smoothly into the deceleration and descent stage, the PLC will change the pulse frequency corresponding to the deceleration stage according to the set requirements, so that the flexible belt 3 and the clamping mechanism 4 Carry out a smooth deceleration and descent.

For example, as shown in Figure 10, when the flexible belt 3 and the clamping mechanism 4 enter the final smooth descent smoothly after deceleration, the PLC will change the pulse frequency corresponding to the stable stage according to the set requirements, so that the flexible belt 3 and the clamping mechanism 4. Descend steadily and slowly and stop to the specified height, that is, stay at a position convenient for grabbing the target object 5 (such as a wafer box).

In some embodiments, by obtaining the number of pulses output by the PLC, the speed value corresponding to the lifting movement can be obtained, and then segmented control can be achieved based on the number of pulses.

In implementation, as mentioned above, the servo motor in the lifting mechanism can be driven according to a preset number of pulses, and the servo motor drives the flexible belt to release or wind the flexible belt, thereby realizing the clamping mechanism. drive. And, by obtaining the number of pulses, and determining the speed value of the lifting motion based on the number of pulses.

In some implementations, a feedback detection mechanism can be used to perform instant feedback control on the speed control of the lifting motion in segmented control.

As shown in Figure 11, in the lifting mechanism 2, a servo motor with an encoder can be used to drive the belt roll to rotate. The encoder can compare the actual stroke information of the servo motor with the pulses sent by the PLC to the driver. For example, if the comparison information between the servo motor stroke fed back by the encoder and the pulses sent by the PLC is correct, the PLC will continue to send pulses to the driver according to the original requirements. If the comparison information fed back by the encoder is abnormal, the encoder will send this information to the driver. , and then the driver will feedback the fault information to the PLC. When the PLC receives the abnormal information, it indicates that the action of the previous program has not been completed and will not send the next program's instructions to the driver.

In specific implementation, the control method of the lifting mechanism of the air transport vehicle also includes: obtaining the servo motor stroke data fed back by the stroke encoder, and determining whether the lifting movement is normal based on the servo motor stroke data and the number of pulses.

The encoder compares the stroke information with the number of pulses sent by the PLC to form comparative information, which can be used for real-time monitoring.

In some implementations, as shown in Figure 12, the aforementioned instant feedback control can be applied to each stage of segmented control, and the next stage can only proceed after the encoder comparison information is normal. For example, the encoder is used to determine whether the comparison information is normal. If it is normal, speed control can be continued. If it is abnormal, the encoder comparison information is abnormal and is fed back to the driver. The PLC handles the abnormality, such as controlling the buzzer to sound a buzzer alarm. The problem information is displayed on the body display of the transport vehicle, and then manual intervention is performed, etc.

In some embodiments, when it is determined that the lifting movement is in an abnormal state, the lifting mechanism control method of the air transport vehicle further includes: stopping sending driving instructions to the lifting mechanism, and/or issuing a voice alarm, and/or displaying alarm information. . When an abnormality is discovered in the instant feedback detection, the abnormality can be handled accordingly in a timely manner.

In some embodiments, two pairs of sensors can be provided in the clamping mechanism, and the relative position between the clamping mechanism and the target object can be determined instantly through the two pairs of sensors.

In implementation, the control method of the lifting mechanism of the air transport vehicle also includes: acquiring the first signal output by the first beam sensor and the second signal output by the second beam sensor, and the first beam sensor is used In order to detect that the clamping mechanism stops at an abnormal position, the second beam sensor is used to detect whether the clamping mechanism stops at the set position; and, according to the first signal and the second signal, determine whether the clamping mechanism and The relationship between the set positions.

In a specific implementation, a first through-beam sensor and a second through-beam sensor are provided on the clamping mechanism, wherein the first through-beam sensor is disposed above the second through-beam sensor, and the second through-beam sensor is disposed above the second through-beam sensor. The through-beam sensor is used to detect whether the clamping mechanism stops at the set position, and the first through-beam sensor is used to detect that the clamping mechanism stops at an abnormal position. By acquiring the signals from two sets of through-beam sensors and relying on these signals for adjustment control during the stationary phase, the control accuracy of the stationary phase can be improved, while the duration required for the stationary phase can be shortened, effectively optimizing the entire ascending or descending movement. duration.

In some embodiments, signals from two sets of on-shooting sensors can be used to perform combined control of signals in the stationary phase.

In implementation, determining the relationship between the clamping mechanism and the set position based on the first signal and the second signal includes: when it is determined that the first signal and the second signal meet the preset determination conditions, determining the The clamping mechanism stops at this set position.

For example, when the following set of through-beam sensors is triggered, it indicates that the flexible belt 3 and the clamping mechanism 4 have dropped to the position. At this time, the PLC reads the information from the through-beam sensors and the encoder and determines that the drop is consistent. The process ends.

For example, when the upper set of through-beam sensors is triggered, it indicates that the clamping mechanism 4 has dropped abnormally. For example, it may have dropped excessively. For example, the position of the wafer box may have deviated, causing the clamping mechanism to drop excessively. For example, there are other objects placed on the wafer box. Objects, triggering a set of through-beam sensors above and so on.

In some embodiments, the moving position of the belt can be detected instantly through a sensor, that is, a position sensor is installed at the origin of the belt roll, and the position of the flexible belt is detected through the position sensor.

In one embodiment, before starting the lifting movement of the clamping mechanism, the lifting mechanism control method of the aerial transport vehicle further includes: obtaining the output result of the first position sensor to determine whether the flexible belt is at the origin position.

Based on the same inventive concept, the present invention also provides a method for controlling the lifting mechanism of an air transport vehicle, which is applied to the lifting mechanism of the air transport vehicle to control the clamping mechanism to perform lifting movements. The clamping mechanism and the lifting mechanism are connected by a flexible belt. The speed of the lifting movement can be adjusted more accurately to achieve more precise speed control of the lifting movement, allowing the clamping mechanism to reach the set position more smoothly and accurately to grab or release the wafer cassette.

During implementation, in view of the certain thickness of the belt, when the belt roll follows the rotation of the servo motor, changes in the radius of the belt roll will cause slight changes in the lifting speed of the clamping mechanism. Therefore, in addition to taking into account the motor speed, the flexible belt is lowered during the lowering process. Changes in roll outer diameter and speed changes are taken into account, and the impact of the thickness of the flexible belt on the speed is calculated and added to the control, so that more accurate grabbing can be achieved at the set position. For details, see the following implementations.

As shown in Figure 13, the control method of the lifting mechanism of the air transport vehicle includes: Step S201: During the lifting movement of the clamping mechanism, obtain the outer diameter speed corresponding to the belt roll of the flexible belt.

In implementation, the outer diameter speed can be obtained through a sensor or other acquisition methods, or the outer diameter speed can be calculated and determined in combination with a sensor.

In implementation, the driving pulse can be output by the PLC, and the motor in the lifting mechanism drives the belt roll to release or wind the flexible belt under the control of the driving pulse, where one rotation of the motor corresponds to one rotation of the belt roll. Therefore, when the PLC controls the belt roll to release or wind the flexible belt by outputting pulses, the outer diameter speed can be determined by reading the number of pulses output by the PLC and then based on the motor speed corresponding to the number of pulses, and the outer diameter speed corresponds to The lifting speed of the clamping mechanism.

S203. Adjust the lifting speed of the clamping mechanism according to the outer diameter speed to control the lifting movement of the clamping mechanism according to the preset target lifting speed in different segmented controls.

In implementation, after determining the outer diameter speed, the outer diameter speed can be compared with the expected operating speed, and then the lifting speed of the clamping mechanism can be adjusted immediately based on the comparison result.

Among them, segmented control includes: starting phase, acceleration phase, deceleration phase and steady phase. These stages can be referred to the foregoing description and will not be explained here.

By instantly obtaining the outer diameter speed of the flexible belt roll, that is, the outer diameter speed corresponding to the release or winding of the flexible belt, and adjusting the speed of the clamping mechanism in real time based on the outer diameter speed, the clamping mechanism can operate as expected at different stages. The lifting movement is carried out at a set target lifting speed to improve the stability and accuracy of the lifting movement of the clamping structure.

In some embodiments, since the PLC controls the operation of the servo motor by sending pulses, the number of pulses corresponds to the rotation angle of the motor, and the servo motor drives the belt roll, the pulse frequency output by the PLC can be used to determine the rotation speed of the belt roll, that is, it can be obtained by The rotation speed of the belt roll is used to obtain the movement speed of the flexible belt driven by the belt roll, where the movement speed of the flexible belt corresponds to the lifting speed of the clamping mechanism.

As shown in Figure 14, when the flexible belt 3 is descending around the belt shaft 6, the outer diameter and speed of the belt roll are changing all the time. If the pulse frequency sent by the PLC is a constant, then although the rotation speed of the servo motor is constant, the transmission The linear speed given to the flexible belt 3 is gradually slower.

During implementation, the PLC of the belt roll can send out certain incremental pulses to compensate for the gradual slowdown of the linear decline transmitted to the flexible belt by the uniform rotation of the motor, so that the movement speed of the flexible belt (that is, the lifting speed of the clamping mechanism) can be adjusted to a predetermined speed. Achieve control.

To facilitate understanding, a schematic explanation of speed control is given using uniform speed control as an example.

Due to the thickness of the belt itself, although the motor rotates once, the belt will also rotate once, but the radius r of each revolution of the belt is not the same. As a result, although the motor speed (i.e., the pulse frequency output by the PLC) remains unchanged, it changes with each revolution. The lowering heights of the belts are all different, that is, within the same time t, the distance s of the clamping mechanism is different, because the speed V of the clamping mechanism will be different, so the uniform motion of the clamping mechanism will no longer be a uniformly controlled motion.

Assume that the thickness of the flexible belt 3 is y, before the belt is lowered, the total radius of the belt roll is R, and the number of turns (that is, the number of turns of the belt around the belt axis) is n, then the speed . Therefore, in order to achieve a uniform speed decrease, that is, the speed V needs to remain unchanged, the outer diameter speed of the belt roll needs to be calculated. If it is assumed that the belt downward speed V is a constant, that is, a uniform speed decrease, the first lap of the belt decrease will be The height is 2πR, and the height of the second belt drop is: 2π[R-(n-1)*y]. That is to say, although the speed V remains unchanged, the distance S is changing, so the time difference of each revolution is obtained in real time. Δt, the speed V can be kept constant by calculating the corresponding pulse increment, where the distance difference , then it can be determined according to the distance difference divided by the time difference equal to the speed. . Among them, y is the thickness of the flexible belt, Δt is the time difference between each rotation of the belt roll, and V is the lifting speed of the clamping mechanism.

In some embodiments, the driving speed of the belt roll can be determined by obtaining the number of pulses output by the PLC.

In implementation, obtaining the driving speed of the lifting mechanism for the belt roll may include: Obtain the first number of pulses corresponding to the current lifting speed, which is the number of pulses corresponding to the driving speed used by the lifting mechanism to control the belt roll; and, According to the driving speed and the target radius, adjusting the lifting speed of the clamping mechanism includes: outputting a second number of pulses according to the driving speed, so that the lifting mechanism drives the belt roll to rotate under the action of the second number of pulses. , adjust the lifting speed of the clamping mechanism, where the second pulse number is the sum of the increments of the pulse number corresponding to the first pulse data and Δt when assuming that the lifting speed remains unchanged. It should be noted that the increment here refers to the change value of the number of pulses corresponding to Δt, so the increment can be a positive change value or a negative change value.

By obtaining the number of pulses output by the PLC when the clamping mechanism drops (or rises) from the first position to the second position, and compensates the speed through incremental compensation according to the number of pulses, the speed of the lifting movement can be smoothly and accurately adjusted. Adjust to target lifting speed.

In some embodiments, the encoder can be used to feedback the stroke of the servo motor, making the speed adjustment smoother, controllable, and accurate.

During implementation, the control method of the lifting mechanism of the air transport vehicle also includes: obtaining the stroke of the servo motor in the lifting mechanism, and determining whether the lifting movement is normal based on the stroke and the number of second pulses. If it is normal, continue to issue the message. Next program command, if it is abnormal, stop issuing the next program command.

Among them, in the control adjustment for speed compensation, the feedback process of the encoder is the same/similar to the aforementioned description. Please refer to the aforementioned schematic description, which will not be elaborated here.

Based on the same inventive concept, embodiments of this specification also provide a lifting mechanism control system for an aerial transport vehicle, which is applied to the lifting mechanism of an aerial transport vehicle to control a clamping mechanism to perform lifting movements, and a flexible belt is connected between the clamping mechanism and the lifting mechanism. .

As shown in Figure 15, the lifting mechanism control system 1000 of the air transport vehicle includes: The control mechanism 1010 is used to start the servo motor in the lifting mechanism to drive the clamping mechanism to perform lifting movements; The detection mechanism 1030 is used to obtain the speed value of the lifting movement; Wherein, the control mechanism and the detection mechanism are also used for coordinated segmented control based on the speed value of the lifting movement; Among them, the segmented control includes: In the startup phase, when the detection mechanism 1030 detects that the speed value of the lifting motion reaches the first threshold, the control mechanism 1010 controls the lifting motion to enter the acceleration phase; In the acceleration stage, the control mechanism 1010 performs acceleration control on the lifting movement, and when the detection mechanism 1030 detects that the speed value of the lifting movement accelerates to the second threshold, controls the lifting movement to enter the deceleration stage; In the deceleration stage, the control mechanism 1010 performs deceleration control on the lifting movement, and when the detection mechanism 1030 detects that the speed value of the lifting movement decelerates to the third threshold, the control mechanism 1010 controls the lifting movement to enter a stable stage; In the stable phase, the control mechanism 1010 controls the lifting movement according to a preset stable control strategy so that the clamping mechanism stops at the set position.

In the control system, based on the speed information obtained by the detection mechanism, real-time segmented control of the clamping mechanism can ensure the stability of lifting and lowering, and at the same time optimize the lifting time, so that the clamp can be effectively and smoothly lowered in a relatively short period of time. The holding mechanism effectively shortens the handling cycle in wafer production and improves the production efficiency of semiconductor factories.

In some embodiments, the control mechanism includes a PLC controller, and the detection mechanism is electrically connected to the PLC controller; The control mechanism and the detection mechanism are also used to perform coordinated segmented control based on the speed value of the lifting motion, including: the PLC controller and the detecting mechanism are also used to perform coordinated segmented control based on the speed value of the lifting motion. .

By using PLC as the control core of the control mechanism, PLC is simpler, easier to operate, and highly changeable.

In some embodiments, a first through-beam sensor and a second through-beam sensor are provided on the clamping mechanism, the first through-beam sensor is disposed above the second through-beam sensor, and the The second through-shooting sensor is used to detect whether the clamping mechanism stops at the set position. The first through-shooting sensor is used to detect whether the clamping mechanism stops at an abnormal position. The first through-shooting sensor and the third through-shooting sensor Two on-shooting sensors are connected to the PLC controller; The PLC controller is also used to: obtain the first signal output by the first beam sensor and the second signal output by the second beam sensor, and determine the first signal and the second signal according to the first signal and the second signal. The relationship between the clamping mechanism and this set position.

Controlling the stationary phase through two sets of sensors on the clamping mechanism can improve the stability of the stationary phase control and shorten the duration of the stationary phase, optimizing the entire ascent or descent duration.

In some embodiments, the servo motor is electrically connected to the PLC controller, and the PLC controller is also used to drive the servo motor in the lifting mechanism according to a preset number of pulses, and determine the speed value of the lifting movement based on the number of pulses. .

In some embodiments, the servo motor is a servo motor including a stroke encoder, and the stroke encoder is electrically connected to the PLC controller; The PLC controller is also used to: obtain the servo motor stroke data fed back by the stroke encoder, and determine whether the lifting movement is normal based on the servo motor stroke data and the number of pulses.

In some embodiments, in any of the embodiments provided in this specification, the PLC controller is electrically connected to the alarm circuit; When it is determined that the lifting movement is abnormal, the PLC controller is also used to: stop sending driving instructions to the driver of the servo motor, and/or issue a voice alarm, and/or display alarm information.

In some embodiments, in any of the embodiments provided in this specification, a first position sensor is provided at the origin of the flexible belt, and the first position sensor is electrically connected to the PLC controller; The PLC controller is also used to: before driving the servo motor in the lifting mechanism according to a preset number of pulses, obtain the output result of the first position sensor to determine whether the flexible belt is at the origin position.

Based on the same inventive concept, embodiments of this specification also provide a lifting mechanism control system for an aerial transport vehicle, which is applied to the lifting mechanism of the aerial transport vehicle to control the clamping mechanism to perform lifting movements, preferably for speed compensation of the lifting movements, wherein the A flexible belt is connected between the clamping mechanism and the lifting mechanism.

As shown in Figure 16, the lifting mechanism control system 2000 of the air transport vehicle includes: The first control module 2020 is used to obtain the outer diameter speed corresponding to the belt roll of the flexible belt during the lifting movement of the clamping mechanism; The first adjustment module 2040 is used to adjust the lifting speed of the clamping mechanism according to the outer diameter speed, so as to control the lifting movement of the clamping mechanism according to the preset target lifting speed in different segmented controls; Among them, the segmented control includes: In the starting phase, when it is detected that the speed value of the lifting motion reaches the first threshold, the lifting motion is controlled to enter the acceleration phase; In the acceleration phase, the lifting motion is accelerated and controlled, and when it is detected that the speed value of the lifting motion accelerates to the second threshold, the lifting motion is controlled to enter the deceleration phase; In the deceleration stage, the lifting movement is decelerated and controlled, and when it is detected that the speed value of the lifting movement decelerates to the third threshold, the lifting movement is controlled to enter a stable stage; In the stable phase, the lifting movement is controlled according to the preset stable control strategy so that the clamping mechanism stops at the set position.

In some embodiments, obtaining the outer diameter speed corresponding to the belt roll of the flexible belt includes: obtaining the driving speed of the lifting mechanism for the belt roll; adjusting the lifting speed of the clamping mechanism according to the outer diameter speed, including: obtaining The driving speed corresponds to the target radius of the belt roll; according to the driving speed and the target radius, the lifting speed of the clamping mechanism is adjusted, where the target radius and the lifting speed satisfy the following relationship: ; Among them, n is the number of turns, y is the thickness of the flexible belt, Δt is the rotation time difference of the belt roll per turn, and V is the lifting speed of the clamping mechanism.

In some embodiments, obtaining the driving speed of the belt roll by the lifting mechanism includes: obtaining the first number of pulses corresponding to the current lifting speed. The first pulse number is the driving speed used by the lifting mechanism to control the belt roll. The corresponding number of pulses; Adjust the lifting speed of the clamping mechanism, including: According to the driving speed, a second number of pulses is output, so that the lifting mechanism drives the belt roll to rotate under the action of the second number of pulses, and the lifting speed of the clamping mechanism is adjusted, where the second number of pulses is when assuming that the When the lifting speed remains unchanged, the sum of the increment of the number of pulses corresponding to the first pulse data and Δt.

In some embodiments, the lifting mechanism control system of the aerial transport vehicle also includes: an encoder, the encoder is used to obtain the stroke of the servo motor in the lifting mechanism; The first control module is also used to determine whether the lifting movement is normal based on the stroke and the second pulse number. If it is normal, continue to issue the next program command. If it is abnormal, stop issuing the next program command.

The above are only preferred embodiments of the present invention and are not intended to limit the implementation scope of the present invention. If the present invention is modified or equivalently substituted without departing from the spirit and scope of the present invention, the protection shall be covered by the patent scope of the present invention. within the range.

1: Air transport vehicle 2:Lifting mechanism 3:Flexible belt 4: Clamping mechanism 5: Target object 6:Belt shaft 1000: Lifting mechanism control system of air transport vehicle 1010:Control mechanism 1030:Testing agency 2000: Lifting mechanism control system for air transport vehicles 2020: The first control module 2040: First Adjustment Module

Figure 1 is a schematic structural diagram between the lifting mechanism and the clamping mechanism of the aerial transport vehicle provided by the embodiment of the present invention; Figure 2 is a schematic diagram of the air transport vehicle performing uniform lifting and lowering movements according to the embodiment of the present invention; Figure 3 is a schematic diagram of segmented control in the lifting mechanism control scheme of the aerial transport vehicle provided by the embodiment of the present invention; Figure 4 is a schematic diagram of segmented control in the lifting mechanism control scheme of the aerial transport vehicle provided by the embodiment of the present invention; Figure 5 is a schematic diagram of segmented control in the lifting mechanism control scheme of the aerial transport vehicle provided by the embodiment of the present invention; Figure 6 is a flow chart of the control method of the lifting mechanism of the aerial transport vehicle provided by the embodiment of the present invention; Figure 7 is a schematic diagram of accelerated descent in the lifting mechanism control method of an aerial transport vehicle provided by an embodiment of the present invention; Figure 8 is a schematic diagram of a uniform descent in the lifting mechanism control method of an air transport vehicle provided by an embodiment of the present invention; Figure 9 is a schematic diagram of deceleration and descent in the lifting mechanism control method of an aerial transport vehicle provided by an embodiment of the present invention; Figure 10 is a schematic diagram of a smooth descent in the lifting mechanism control method of an aerial transport vehicle provided by an embodiment of the present invention; Figure 11 is a schematic diagram of encoder feedback detection provided by an embodiment of the present invention; Figure 12 is a schematic diagram of the encoder performing feedback detection on each segment control provided by the embodiment of the present invention; Figure 13 is a flow chart of the control method of the lifting mechanism of the air transport vehicle provided by the embodiment of the present invention; Figure 14 is a schematic diagram of speed compensation in the lifting mechanism control method of an aerial transport vehicle provided by an embodiment of the present invention; Figure 15 is a schematic diagram of the lifting mechanism control system of the aerial transport vehicle provided by the embodiment of the present invention; Figure 16 is a schematic diagram of the lifting mechanism control system of the aerial transport vehicle provided by the embodiment of the present invention.

1: Air transport vehicle

2:Lifting mechanism

3:Flexible belt

4: Clamping mechanism

5: Target object

Claims (20)

A method for controlling the lifting mechanism of an air transport vehicle. The lifting mechanism of an air transport vehicle is used to control a clamping mechanism to perform lifting movements. The clamping mechanism and the lifting mechanism are connected by a flexible belt. The method for controlling the lifting mechanism of an air transport vehicle includes: : During the lifting movement of the clamping mechanism, obtain the outer diameter speed corresponding to the belt roll of the flexible belt; Adjust the lifting speed of the clamping mechanism according to the outer diameter speed to control the lifting movement of the clamping mechanism according to the preset target lifting speed in different segmented controls; Among them, the segmented control includes: In the starting phase, when it is detected that the speed value of the lifting motion reaches the first threshold, the lifting motion is controlled to enter the acceleration phase; In the acceleration phase, the lifting motion is accelerated and controlled, and when it is detected that the speed value of the lifting motion accelerates to the second threshold, the lifting motion is controlled to enter the deceleration phase; In the deceleration stage, the lifting movement is decelerated and controlled, and when it is detected that the speed value of the lifting movement decelerates to the third threshold, the lifting movement is controlled to enter a stable stage; In the stable phase, the lifting movement is controlled according to the preset stable control strategy so that the clamping mechanism stops at the set position. According to the control method of the lifting mechanism of the air transport vehicle described in claim 1, obtaining the outer diameter speed corresponding to the belt roll of the flexible belt includes: obtaining the driving speed of the belt roll by the lifting mechanism; adjusting the belt roll according to the outer diameter speed. The lifting speed of the clamping mechanism includes: obtaining the target radius of the belt roll corresponding to the driving speed; adjusting the lifting speed of the clamping mechanism according to the driving speed and the target radius, where the target radius and the lifting speed satisfy the following relation: ; Among them, n is the number of turns, y is the thickness of the flexible belt, Δt is the time difference for the belt roll to rotate once, and V is the lifting speed of the clamping mechanism. According to the control method of the lifting mechanism of the air transport vehicle described in claim 2, obtaining the driving speed of the belt roll by the lifting mechanism includes: obtaining the first number of pulses corresponding to the current lifting speed, and the first pulse number is for The lifting mechanism controls the number of pulses corresponding to the driving speed of the belt roll; Adjust the lifting speed of the clamping mechanism, including: According to the driving speed, a second number of pulses is output, so that the lifting mechanism drives the belt roll to rotate under the action of the second number of pulses, and the lifting speed of the clamping mechanism is adjusted, where the second number of pulses is when assuming that the When the lifting speed remains unchanged, the sum of the increment of the number of pulses corresponding to the first pulse data and Δt. As claimed in claim 3, the lifting mechanism control method of an air transport vehicle further includes: Obtain the stroke of the servo motor in the lifting mechanism; According to the stroke and the number of second pulses, it is determined whether the lifting movement is normal. If it is normal, continue to issue the next program command. If it is abnormal, stop issuing the next program command. A method for controlling the lifting mechanism of an air transport vehicle. The lifting mechanism of an air transport vehicle is used to control a clamping mechanism to perform lifting movements. The clamping mechanism and the lifting mechanism are connected by a flexible belt. The method for controlling the lifting mechanism of an air transport vehicle. include: When the aerial transport vehicle reaches a predetermined position in the track, the lifting mechanism is started to drive the clamping mechanism so that the clamping mechanism performs lifting movement; Obtain the speed value of the lifting motion and perform segmented control based on the speed value of the lifting motion; Among them, the segmented control includes: In the starting phase, when it is detected that the speed value of the lifting motion reaches the first threshold, the lifting motion is controlled to enter the acceleration phase; In the acceleration phase, the lifting motion is accelerated and controlled, and when it is detected that the speed value of the lifting motion accelerates to the second threshold, the lifting motion is controlled to enter the deceleration phase; In the deceleration stage, the lifting movement is decelerated and controlled, and when it is detected that the speed value of the lifting movement decelerates to the third threshold, the lifting movement is controlled to enter a stable stage; In the stable phase, the lifting movement is controlled according to the preset stable control strategy so that the clamping mechanism stops at the set position. As claimed in claim 5, the method for controlling the lifting mechanism of an air transport vehicle starts the lifting mechanism to drive the clamping mechanism, including: driving the servo motor in the lifting mechanism according to a preset number of pulses, wherein the servo motor is used to drive the a flexible belt to drive the clamping mechanism by controlling the flexible belt to release or wind; Obtaining the speed value of the lifting motion includes: obtaining the number of pulses, and determining the speed value of the lifting motion based on the number of pulses. As claimed in claim 6, the lifting mechanism control method of an air transport vehicle further includes: Obtain the servo motor stroke data fed back by the stroke encoder; According to the servo motor stroke data and the number of pulses, determine whether the lifting movement of the clamping mechanism is normal. As for the control method of the lifting mechanism of the air transport vehicle described in claim 5, the segmented control also includes: performing uniform speed control on the lifting movement during the uniform speed phase, and when the duration of the uniform speed phase reaches the fourth threshold, controlling the lifting motion. The lifting movement enters this deceleration stage; Wherein, when it is detected in the acceleration phase that the speed value of the lifting motion accelerates to the second threshold, the lifting motion is controlled to enter the uniform speed phase. As claimed in claim 5, the lifting mechanism control method of an air transport vehicle further includes: Obtain the first signal output by the first through-beam sensor and the second signal output by the second through-beam sensor. The first through-beam sensor is used to detect that the clamping mechanism stops at an abnormal position, and the second through-beam sensor is used to detect that the clamping mechanism stops at an abnormal position. The radiation sensor is used to detect whether the clamping mechanism stops at the set position; The relationship between the clamping mechanism and the set position is determined according to the first signal and the second signal. As claimed in claim 9, the method for controlling the lifting mechanism of an aerial transport vehicle determines the relationship between the clamping mechanism and the set position based on the first signal and the second signal, including: When it is determined that the first signal and the second signal meet the preset determination conditions, it is determined that the clamping mechanism stops at the set position. A lifting mechanism control system for an air transport vehicle, which is applied to the lifting mechanism of the air transport vehicle to control the clamping mechanism to perform lifting movements. The clamping mechanism is connected to the lifting mechanism by a flexible belt. The lifting mechanism control system of the air transport vehicle includes : The first control module is used to obtain the outer diameter speed corresponding to the belt roll of the flexible belt during the lifting movement of the clamping mechanism; The first adjustment module is used to adjust the lifting speed of the clamping mechanism according to the outer diameter speed to control the lifting movement of the clamping mechanism according to the preset target lifting speed in different segmented controls; Among them, the segmented control includes: In the starting phase, when it is detected that the speed value of the lifting motion reaches the first threshold, the lifting motion is controlled to enter the acceleration phase; In the acceleration phase, the lifting motion is accelerated and controlled, and when it is detected that the speed value of the lifting motion accelerates to the second threshold, the lifting motion is controlled to enter the deceleration phase; In the deceleration stage, the lifting movement is decelerated and controlled, and when it is detected that the speed value of the lifting movement decelerates to the third threshold, the lifting movement is controlled to enter a stable stage; In the stable phase, the lifting movement is controlled according to the preset stable control strategy so that the clamping mechanism stops at the set position. As claimed in claim 11, the lifting mechanism control system of an air transport vehicle obtains the outer diameter speed corresponding to the belt roll of the flexible belt, including: obtaining the driving speed of the belt roll by the lifting mechanism; adjusting the belt roll according to the outer diameter speed. The lifting speed of the clamping mechanism includes: obtaining the target radius of the belt roll corresponding to the driving speed; adjusting the lifting speed of the clamping mechanism according to the driving speed and the target radius, where the target radius and the lifting speed satisfy the following relation: ; Among them, n is the number of turns, y is the thickness of the flexible belt, Δt is the time difference for the belt roll to rotate once, and V is the lifting speed of the clamping mechanism. As claimed in claim 12, the lifting mechanism control system of an air transport vehicle, obtaining the driving speed of the belt roll by the lifting mechanism includes: obtaining the first number of pulses corresponding to the current lifting speed, and the first pulse number is for The lifting mechanism controls the number of pulses corresponding to the driving speed of the belt roll; Adjust the lifting speed of the clamping mechanism, including: According to the driving speed, a second number of pulses is output, so that the lifting mechanism drives the belt roll to rotate under the action of the second number of pulses, and the lifting speed of the clamping mechanism is adjusted, where the second number of pulses is when assuming that the When the lifting speed remains unchanged, the sum of the increment of the number of pulses corresponding to the first pulse data and Δt. The lifting mechanism control system of an aerial transport vehicle as described in claim 13, the lifting mechanism control system of an aerial transport vehicle further includes: an encoder, the encoder is used to obtain the stroke of the servo motor in the lifting mechanism; The first control module is also used to determine whether the lifting movement is normal based on the stroke and the second pulse number. If it is normal, continue to issue the next program command. If it is abnormal, stop issuing the next program command. A lifting mechanism control system for an air transport vehicle, which is applied to the lifting mechanism of the air transport vehicle to control the clamping mechanism to perform lifting movements. The clamping mechanism is connected to the lifting mechanism by a flexible belt. The lifting mechanism control system of the air transport vehicle includes : A control mechanism used to start the servo motor in the lifting mechanism to drive the clamping mechanism to perform lifting movements; A detection mechanism is used to detect the speed value of the lifting movement; Wherein, the control mechanism and the detection mechanism are also used for coordinated segmented control based on the speed value of the lifting movement; Among them, the segmented control includes: In the startup phase, when the detection mechanism detects that the speed value of the lifting motion reaches the first threshold, the control mechanism controls the lifting motion to enter the acceleration phase; In the acceleration stage, the control mechanism performs acceleration control on the lifting movement, and when the detection mechanism detects that the speed value of the lifting movement accelerates to the second threshold, the control mechanism controls the lifting movement to enter the deceleration stage; In the deceleration stage, the control mechanism performs deceleration control on the lifting movement, and when the detection mechanism detects that the speed value of the lifting movement decelerates to the third threshold, the control mechanism controls the lifting movement to enter a stable stage; In the stable phase, the control mechanism controls the lifting movement according to the preset stable control strategy so that the clamping mechanism stops at the set position. As for the lifting mechanism control system of the air transport vehicle described in claim 15, the control mechanism includes a PLC controller, and the detection mechanism is electrically connected to the PLC controller; The control mechanism and the detection mechanism are also used to perform coordinated segmented control based on the speed value of the lifting motion, including: the PLC controller and the detecting mechanism are also used to perform coordinated segmented control based on the speed value of the lifting motion. . As for the lifting mechanism control system of an air transport vehicle described in claim 16, the servo motor is electrically connected to the PLC controller, and the PLC controller is also used to drive the servo motor in the lifting mechanism according to a preset number of pulses, and according to The number of pulses determines the speed of the lifting movement. As for the lifting mechanism control system of an air transport vehicle described in claim 17, the servo motor is a servo motor including a stroke encoder, and the stroke encoder is electrically connected to the PLC controller; The PLC controller is also used to: obtain the servo motor stroke data fed back by the stroke encoder, and determine whether the lifting movement is normal based on the servo motor stroke data and the number of pulses. As for the lifting mechanism control system of the air transport vehicle described in claim 18, the PLC controller is electrically connected to the alarm circuit; When it is determined that the lifting movement is abnormal, the PLC controller is also used to: stop sending driving instructions to the driver of the servo motor, and/or issue a voice alarm, and/or display alarm information. As in the lifting mechanism control system of an air transport vehicle according to any one of claims 16 to 19, a first position sensor is provided at the origin of the flexible belt, and the first position sensor is controlled by the PLC. electrical connection; The PLC controller is also used to: before driving the servo motor in the lifting mechanism according to a preset number of pulses, obtain the output result of the first position sensor to determine whether the flexible belt is at the origin position.