CN-116477296-B - High-altitude walking type automatic carrier system, automatic carrier and moving suite

Abstract

The application discloses an overhead walking type automatic carrier system and an automatic carrier. The high-altitude walking type automatic carrier system comprises a plurality of lower rails, a plurality of upper rail groups and a plurality of automatic carriers. The automatic carrier comprises a movable sleeve and a frame. The moving set comprises a control module, a driving wheel set and a plurality of upper guide wheels. The control module can control the upper guide wheels to move between an upper position and a lower position. The control module can control the plurality of upper guide wheels to move to the upper position or the lower position before the automatic guided vehicle turns along the lower track and the upper track set. When the plurality of upper guide wheels are abutted against the adjacent upper track groups, the automatic guided vehicle turns along the upper track groups. Compared with the existing automatic carrier system, the high-altitude walking type automatic carrier system has better transfer efficiency.

Inventors

• HUANG YANWEN
• HUANG ZHENGYI
• ZHONG QUANMING
• LUO ZHENGCHENG

Assignees

• 盟立自动化股份有限公司

Dates

Publication Date

20260505

Application Date

20230105

Priority Date

20221228

Claims (19)

1. 1. A high-altitude walking type automatic carrier system is characterized in that, the high-altitude walking type automatic carrier system comprises: a plurality of straight lower rails for being arranged at the position of a factory building adjacent to the ceiling; the linear lower rails are arranged side by side, one ends of two linear lower rails positioned on the same side are arranged at intervals and form a branching interval, and the ends of the two linear lower rails which jointly form the branching interval are respectively connected with a turning lower rail; A plurality of upper rail groups, each of which comprises a straight upper rail and a turning upper rail, each of which is arranged adjacent to one of the branching intervals and the turning upper rail is positioned above the turning lower rail connected with one of the straight lower rails forming the branching intervals, and At least one automated guided vehicle comprising: A frame for carrying an object to be transferred, and At least one remove external member, it sets up in the frame, remove the external member and include: A control module; At least one body; At least two driving wheel sets, which are respectively arranged at two opposite sides of the body, wherein each driving wheel set is adjacent to a lower end of the body, and each driving wheel set comprises at least one driving wheel; the control module can control each driving wheel group so as to enable each driving wheel to move on the straight lower rail; Two switching modules electrically connected with the control module, and At least two upper guide wheels, each of which is connected with one of the switching modules, each of which is located at an upper end of the body; the control module can control each switching module so that the corresponding upper guide wheel moves towards a direction approaching or separating from the body along an oblique path relative to the body; when the control module judges that the automatic carrier is about to pass through the upper track group according to the driving information, the control module controls at least one switching module to enable the corresponding upper guide wheel to move along the oblique path in a direction approaching or separating from the body; the distance between the lower edge of the straight upper rail and a plane where the straight lower rail is located in the same upper rail group is not equal to the distance between the lower edge of the turning upper rail and the plane in the same upper rail group.
2. 2. The overhead traveling type automatic guided vehicle system according to claim 1, wherein the control module controls each of the switching modules to move the corresponding upper guide wheel along the inclined path between a lower position close to the body and an upper position far from the body, wherein the body is inclined when one of the upper guide wheels located at the upper position or the lower position abuts against one of the upper turning rails or one of the upper straight rails, and one of the driving wheels is not in contact with the adjacent lower straight rail or the lower turning rail.
3. 3. The overhead traveling type automatic guided vehicle system according to claim 2, wherein the control module is capable of controlling at least one of the switching modules to move the corresponding at least one of the upper guide wheels to the upper position or the lower position before the automatic guided vehicle passes through the upper track group according to the traveling information, wherein the movement kit further includes at least two lower guide wheels, one of the lower guide wheels being disposed adjacent to one of the driving wheels and the other of the lower guide wheels being disposed adjacent to the other of the driving wheels, wherein the driving wheels that do not contact the adjacent one of the straight lower tracks or the turning lower track during the passage of the automatic guided vehicle through the upper track group are capable of crossing the diverging gap or the track gap, the track gap is composed of one of the straight lower tracks and one of the turning lower tracks, and the adjacent one of the straight lower tracks or the adjacent lower track is not contacted by the adjacent one of the straight lower guide wheels and the adjacent one of the turning lower track during the passage of the automatic guided vehicle through the upper track group.
4. 4. The overhead traveling type automatic guided vehicle system according to claim 3, wherein when the control module determines that the automatic guided vehicle will move along a preset main movement path according to the traveling information, the control module controls at least one switching module before the automatic guided vehicle moves along the preset main movement path so that the corresponding at least one upper guide wheel is located at the upper position or the lower position, and the control module does not control the switching module to operate during the movement of the automatic guided vehicle along the preset main movement path, and the automatic guided vehicle passes through at least one divergence interval and at least one upper track group during the movement of the automatic guided vehicle along the preset main movement path.
5. 5. The overhead traveling type automatic guided vehicle system according to claim 4, wherein the preset main movement path is straight, turns first, then straight, or turns first, the control module will not control any of the upper guide wheels to change positions during continuous turning if the preset main movement path is straight, and will control at least one of the upper guide wheels to change positions before the automatic guided vehicle turns along the upper rail set if the preset main movement path is straight.
6. 6. The overhead traveling type automatic carrier system according to claim 1, wherein the moving set further comprises a guide wheel moving device, the guide wheel moving device comprises a driving unit and two linkage assemblies, the guide wheel moving device is arranged on the body, the driving unit is electrically connected with the control module, one end of each linkage assembly is connected with the driving unit, the other end of each linkage assembly is connected with one of the switching modules, and the control module can control the driving unit to drive the two switching modules through the two linkage assemblies, so that each upper guide wheel moves along the inclined path in a direction approaching to or separating from the body.
7. 7. The overhead traveling type automatic guided vehicle system according to claim 1, further comprising a plurality of recognition units, wherein each recognition unit is disposed on one of the straight lower rails or each recognition unit is disposed adjacent to one of the straight lower rails, the automatic guided vehicle further comprises at least one sensor capable of sensing the adjacent recognition unit and generating a position information according to the sensor, and the control module is capable of judging whether or not the automatic guided vehicle needs to control at least one switching module to change the current position of at least one upper guide wheel before passing through the upper rail set according to the driving information and the position information.
8. 8. The overhead traveling automatic guided vehicle system of claim 1, wherein each of the switching modules includes two inclined guide rails, at least one upper stopper member and at least one lower stopper member, each of the inclined guide rails is provided with a slider, each of the sliders is connected to at least one of the upper guide wheels, and the upper guide wheels are movable along the inclined guide rails along the inclined path between an upper position away from the body and a lower position close to the body, the movement kit further includes at least two lower guide wheels, one of the lower guide wheels is provided adjacent to one of the driving wheels, the other of the lower guide wheels is provided adjacent to the other of the driving wheels, and when one of the upper guide wheels is abutted to the turning upper rail or the straight upper rail, and the corresponding slider is abutted to the adjacent upper stopper member or the lower stopper member, the body will be inclined, and one of the driving wheels and the adjacent lower guide wheels will not be in contact with the turning lower rail or the adjacent straight lower rail, and the other of the straight upper rail will not contact the turning lower rail or the adjacent lower rail.
9. 9. The overhead traveling automatic guided vehicle system of claim 1, wherein an auxiliary turning upper rail is provided above at least one of the turning lower rails, and wherein the body is inclined when one of the upper guide wheels in the upper position or the lower position abuts against the auxiliary turning upper rail.
10. 10. The automatic carrier is suitable for a high-altitude traveling automatic carrier system, the high-altitude traveling automatic carrier system comprises a plurality of straight lower rails and a plurality of upper rail groups, the straight lower rails are arranged at positions, adjacent to a ceiling, of a factory building, the straight lower rails are arranged side by side, one ends of two straight lower rails on the same side are arranged at intervals and form a branching interval, the ends of the two straight lower rails which jointly form the branching interval are respectively connected with a turning lower rail, the straight lower rails are provided with at least one branching interval, each upper rail group comprises a straight upper rail and a turning upper rail, each upper rail group is arranged adjacent to one branching interval, and the turning upper rail is arranged above the turning lower rail connected with one straight lower rail which forms the branching interval, and the automatic carrier comprises: A frame for carrying an object to be transferred, and At least one remove external member, it sets up in the frame, remove the external member and include: A control module At least one body; At least two driving wheel sets, which are respectively arranged at two opposite sides of the body, wherein each driving wheel set is adjacent to a lower end of the body, and each driving wheel set comprises at least one driving wheel; the control module can control each driving wheel group so as to enable each driving wheel to move on the straight lower rail; Two switching modules electrically connected with the control module, and At least two upper guide wheels, each of which is connected with one of the switching modules, each of which is located at an upper end of the body; the control module can control each switching module so that the corresponding upper guide wheel moves towards a direction approaching or separating from the body along an oblique path relative to the body; When the control module judges that the automatic carrier is about to pass through the upper track group according to the driving information, the control module controls at least one switching module to enable the corresponding upper guide wheel to move along the oblique path in a direction approaching or separating from the body; the distance between the lower edge of the straight upper rail and a plane where the straight lower rail is located in the same upper rail group is not equal to the distance between the lower edge of the turning upper rail and the plane in the same upper rail group.
11. 11. The automated guided vehicle of claim 10, wherein the control module is configured to control each of the switch modules to move the corresponding upper guide wheel along the diagonal path between a lower position proximate to the body and an upper position distal to the body, wherein the body is tilted when one of the upper guide wheels in the upper position or the lower position is abutted against one of the upper curved rails or one of the upper straight rails, and wherein one of the drive wheels is not in contact with an adjacent one of the lower straight rails or the lower curved rail.
12. 12. The automated guided vehicle of claim 11, wherein the control module is configured to control at least one of the switch modules to move the corresponding at least one of the upper guide wheels to the upper or lower position based on the travel information prior to the automated guided vehicle passing through the upper track set, wherein the movement kit further comprises at least two lower guide wheels, one of the lower guide wheels being disposed adjacent one of the drive wheels and the other of the lower guide wheels being disposed adjacent the other of the drive wheels, wherein the drive wheels that do not contact the adjacent one of the lower linear guide rails or the lower linear guide rail during the automated guided vehicle passing through the upper track set will be able to cross the diverging gap or the track gap, wherein the track gap is formed by two of the lower linear guide rails disposed side by side, or wherein the track gap is formed by one of the lower linear guide rails and one of the lower linear guide rails, wherein the one of the lower guide wheels and the adjacent lower guide wheels will not contact the adjacent one of the lower linear guide rails or the adjacent lower linear guide rails during the automated guided vehicle passing through the upper track set.
13. 13. The automated guided vehicle of claim 12, wherein when the control module determines that the automated guided vehicle is to move along a predetermined main movement path based on the driving information, the control module controls at least one of the switch modules to position the corresponding at least one of the upper guide wheels at the upper position or the lower position before the automated guided vehicle moves along the predetermined main movement path, and the control module does not control the switch module to operate during the movement of the automated guided vehicle along the predetermined main movement path, and wherein the automated guided vehicle passes through at least one of the diverging intervals and at least one of the upper rail groups during the movement of the automated guided vehicle along the predetermined main movement path.
14. 14. The automated guided vehicle of claim 13, wherein the predetermined primary path of travel is straight, straight-ahead or straight-ahead, and wherein the control module is configured to not control any of the upper guide wheels to change position during successive turns if the predetermined primary path of travel is straight, and wherein the control module is configured to control at least one of the upper guide wheels to change position before the automated guided vehicle makes a turn along the upper track set if the predetermined primary path of travel is straight.
15. 15. The automated guided vehicle of claim 10, wherein the movement assembly further comprises a guide wheel movement device, the guide wheel movement device comprises a driving unit and two linkage assemblies, the guide wheel movement device is disposed on the body, the driving unit is electrically connected to the control module, one end of each linkage assembly is connected to the driving unit, the other end of each linkage assembly is connected to one of the switching modules, and the control module can control the driving unit to drive the two switching modules through the two linkage assemblies, so that each upper guide wheel moves along the oblique path in a direction approaching or separating from the body.
16. 16. The automated guided vehicle of claim 10, further comprising at least one sensor configured to sense an adjacent one of the plurality of identification units and generate a position information based thereon, wherein the control module is configured to determine whether the at least one switching module is required to change a current position of the at least one upper guide wheel before the automated guided vehicle passes through the upper track set based on the travel information and the position information, and wherein the overhead traveling automated guided vehicle system further comprises a plurality of identification units each disposed on one of the linear lower tracks or each disposed adjacent to one of the linear lower tracks.
17. 17. The automated guided vehicle of claim 10, wherein each of the switch modules comprises two diagonal guide rails, at least one upper stop member and at least one lower stop member, each diagonal guide rail being provided with a slider, each slider being connected to at least one of the upper guide wheels, and the upper guide wheels being movable along the diagonal guide rails with the slider to move along the diagonal path between an upper position away from the body and a lower position adjacent to the body, the movement kit further comprising at least two lower guide wheels, one of the lower guide wheels being provided adjacent to one of the drive wheels and the other of the lower guide wheels being provided adjacent to the other of the drive wheels, and wherein when one of the upper guide wheels is abutted to the upper curved track or the lower curved track and the corresponding slider is abutted to the adjacent upper stop member or the lower stop member, the body will tilt and one of the drive wheels and the adjacent lower guide wheels will not contact the adjacent curved track or the lower curved track or the adjacent lower curved track and the adjacent lower guide wheel will contact the adjacent curved track or lower track.
18. 18. The moving set is characterized by being arranged on a frame of an automatic carrier, the frame is used for carrying an object to be transferred, the automatic carrier can move along a plurality of straight lower rails and a plurality of upper rail groups contained in an overhead traveling type automatic carrier system through the moving set, the straight lower rails are arranged at positions adjacent to ceilings of a factory building, the straight lower rails are arranged side by side, one ends of two straight lower rails on the same side are arranged at intervals and form a branching interval, the ends of the two straight lower rails which form the branching interval together are respectively connected with a turning lower rail, the straight lower rails are formed with at least one branching interval, each upper rail group comprises a straight upper rail and a turning upper rail, each upper rail group is arranged adjacent to one branching interval, the turning upper rails are arranged above the turning lower rails connected with one straight lower rail which forms the branching interval, and the moving set is contained. A control module; At least one body; At least two driving wheel sets, which are respectively arranged at two opposite sides of the body, wherein each driving wheel set is adjacent to a lower end of the body, and each driving wheel set comprises at least one driving wheel; the control module can control each driving wheel group so as to enable each driving wheel to move on the straight lower rail; Two switching modules electrically connected with the control module, and At least two upper guide wheels, each of which is connected with one of the switching modules, each of which is located at an upper end of the body; the control module can control each switching module so that the corresponding upper guide wheel moves towards a direction approaching or separating from the body along an oblique path relative to the body; When the control module judges that the automatic carrier is about to pass through the upper track group according to the driving information, the control module controls at least one switching module to enable the corresponding upper guide wheel to move along the oblique path in a direction approaching or separating from the body; the distance between the lower edge of the straight upper rail and a plane where the straight lower rail is located in the same upper rail group is not equal to the distance between the lower edge of the turning upper rail and the plane in the same upper rail group.
19. 19. The mobility kit of claim 18 further comprising at least two lower guide wheels, one of the lower guide wheels disposed adjacent one of the drive wheels and the other of the lower guide wheels disposed adjacent the other of the drive wheels, wherein one of the drive wheels and the adjacent lower guide wheel will not contact the adjacent linear lower rail or the adjacent cornering lower rail and the other of the drive wheels and the adjacent lower guide wheel will contact the adjacent linear lower rail or the cornering lower rail during passage of the automated guided vehicle through the upper rail set.

Description

High-altitude walking type automatic carrier system, automatic carrier and moving suite Technical Field The present application relates to an automatic guided vehicle system, an automatic guided vehicle and a moving kit, and more particularly, to an overhead traveling type automatic guided vehicle system, an overhead traveling type automatic guided vehicle and a moving kit mounted on a Gao Konghang traveling type automatic guided vehicle. Background The conventional overhead traveling type automatic guided vehicle system has been widely used in the semiconductor industry. The system generally comprises a track and a plurality of automatic guided vehicles, wherein each automatic guided vehicle moves along the track to carry the objects to be transferred to a specific workstation. In practical applications, before turning or before going straight through a turning track, the automatic carrier in such a system often needs to drive related components through complex control, so that the automatic carrier can smoothly turn or the automatic carrier can go straight through the turning track, thereby making the transfer efficiency of the automatic carrier system unable to be improved. In practice, to ensure that the control module can drive the relevant components correctly before the automated guided vehicle turns (or before traveling straight through the turning track), it is often necessary to start controlling the actuation of the relevant components when the automated guided vehicle is still a distance from the turning track, and because the actuation of the relevant components is slow, the speed of the automated guided vehicle must be reduced at the same time, which affects the transfer efficiency of the automated guided vehicle. Disclosure of Invention In view of the above, the present application discloses a high-altitude walking type automatic carrier system and an automatic carrier, which are mainly used for improving the problem that the transfer efficiency of the existing high-altitude walking type automatic carrier system cannot be improved. One embodiment of the application discloses an overhead traveling type automatic carrier system, which comprises a plurality of straight lower rails, a plurality of upper rails and a plurality of lower rails, wherein the straight lower rails are arranged at a position, adjacent to a ceiling, of a factory building; the linear lower rails are arranged side by side, one ends of two of the linear lower rails positioned on the same side are arranged at intervals, and a divergence interval is formed; the end of two straight lower rails forming a branching interval is respectively connected with a turning lower rail, a plurality of straight lower rails are respectively provided with at least one branching interval, a plurality of upper rail groups, each upper rail group comprises a straight upper rail and a turning upper rail, each upper rail group is arranged adjacent to one branching interval and is positioned above the turning lower rail connected with one straight lower rail forming the branching interval, at least one automatic carrier comprises a frame used for carrying an object to be transferred, at least one moving sleeve is arranged on the frame and comprises a control module, at least one body, at least two driving wheel groups are respectively arranged on two opposite sides of the body, each driving wheel group is adjacent to the lower end of the body, each driving wheel group comprises at least one driving wheel, the control module can control each driving wheel group to move on the straight lower rail, the two switching modules are electrically connected with the control module, each upper guide wheel is connected with one switching module and is positioned above one upper end of the body, each upper guide wheel is abutted against the turning upper rail or the control module, each driving wheel can move in an oblique direction relative to the body or the upper rail, the driving wheel group can move in an oblique direction relative to the control module, when the control module judges that the automatic carrier is about to pass through the upper track group according to the driving information, the control module controls at least one switching module to enable the corresponding upper guide wheel to move along the direction of the inclined path towards or away from the body. Optionally, the distance between the lower edge of the straight upper rail and a plane in which the straight lower rail is located in the same upper rail group is not equal to the distance between the lower edge of the turning upper rail and the plane in which the same upper rail group is located. Optionally, the control module can control each switching module to enable the corresponding upper guide wheel to move along an inclined path between a lower position close to the body and an upper position far away from the body, and when one of the upper guide wheels at the upper position or t