Horizontal transfer device, aerial transportation equipment and automatic material handling system

Abstract

The present invention provides a lateral transfer device, an aerial transportation device and an automatic material handling system, which are applied to the field of automatic control technology. The lateral transfer device includes: a goods-taking fixing mechanism fixedly connected to the lower surface of the walking substrate of the aerial transport vehicle; a horizontal adjustment mechanism installed on the lower surface of the goods-taking fixing mechanism; the horizontal adjustment mechanism includes a synchronous adjustment mechanism and a sliding mechanism, and the synchronous adjustment mechanism is disposed on the side of the sliding mechanism and is used to slide and adjust the sliding mechanism relative to the walking substrate in a first direction to a predetermined horizontal position, the first direction is a horizontal direction perpendicular to the side surface, and the predetermined horizontal position is an aerial position above the target object to be transported. Through the horizontal adjustment mechanism, the components in the transport vehicle can be quickly and accurately adjusted to the spatial position directly above the target object to be transported, which can improve the production efficiency of the product and better meet the needs of the factory.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic control, more precisely relates to semiconductor manufacturing equipment, and particularly relates to a lateral transfer device, an aerial transportation device, and an automatic material handling system. Background Art

[0002] In recent years, the semiconductor industry has developed vigorously, and the rapid development of semiconductor chip production technology has also put forward higher requirements for semiconductor wafer foundries (referred to as wafer fabs, Fab fabs, etc.).

[0003] Currently, wafer fabs widely adopt AMHS (Automatic Material Handling System) to quickly and accurately transport the Carrier (carrier) containing wafer (wafer) materials to the destination based on AMHS, so as to reduce the idle time of the wafer, reduce miss operation, and improve production efficiency.

[0004] Based on the above, the present application provides a technical solution to solve the above technical problems. Summary of the Invention

[0005] The present invention provides a lateral transfer device, an aerial transportation device, and an automatic material handling system, which form an aerial transportation device with a simpler and more precise design structure, realize a lighter vehicle body, are safer and more stable during transportation, improve the versatility of the aerial transportation device, better meet the requirements of the wafer fab, and facilitate rapid deployment and application in the wafer fab.

[0006] The technical solution provided by the present invention is as follows:

[0007] The present invention provides a lateral transfer device applied to an aerial transport vehicle, including:

[0008] A picking and fixing mechanism fixedly connected under the walking substrate of the aerial transport vehicle;

[0009] A horizontal adjustment mechanism installed on the lower surface of the picking and fixing mechanism;

[0010] Wherein, the horizontal adjustment mechanism includes a synchronous adjustment mechanism and a sliding mechanism. The synchronous adjustment mechanism is arranged on the side of the sliding mechanism and is used to slide and adjust the sliding mechanism to a predetermined horizontal position in a first direction relative to the walking substrate. The first direction is a horizontal direction perpendicular to the side, and the predetermined horizontal position is an aerial position above the target object to be transported.

[0011] Optionally, the sliding mechanism includes a secondary plate, a tertiary plate, an angle adjustment substrate, a plurality of sliders, and slider couplings;

[0012] The secondary plate is connected to the lower part inside the picking and fixing mechanism through a slider.

[0013] The tertiary plate is connected to the lower side of the secondary plate through a slider.

[0014] The angle adjustment substrate is connected to the lower side of the tertiary plate through a slider.

[0015] The slider coupling is connected to the synchronous adjustment mechanism and is used to drive the secondary plate to move under the drive of the synchronous adjustment mechanism, so that the secondary plate drives the tertiary plate to move, and the tertiary plate drives the angle adjustment substrate to move, so as to adjust the angle adjustment substrate to a predetermined horizontal position in the horizontal direction.

[0016] Optionally, the synchronous adjustment mechanism includes a first synchronous pulley and synchronous belt, a second synchronous pulley and synchronous belt, and a first driving mechanism.

[0017] The first driving mechanism is arranged on one side of the sliding mechanism and is used to drive the slider coupling.

[0018] The first synchronous pulley and synchronous belt and the second synchronous pulley and synchronous belt are respectively arranged on both sides of the sliding mechanism.

[0019] The synchronous pulley of the first synchronous pulley and synchronous belt is fixedly connected to the tertiary plate. The upper belt of the first synchronous pulley and synchronous belt is equipped with a first belt seat. One side of the first belt seat is fixedly connected to the secondary plate, and the other side of the first belt seat is fixedly connected to the slider coupling. The lower belt of the first synchronous pulley and synchronous belt is equipped with a second belt seat, and the second belt seat is fixedly connected to the angle adjustment substrate.

[0020] The synchronous pulley of the second synchronous pulley and synchronous belt is fixedly connected to the secondary plate. The upper belt of the second synchronous pulley and synchronous belt is equipped with a third belt seat, and the third belt seat is fixedly connected to the lower surface of the picking and fixing mechanism. The lower belt of the second synchronous pulley and synchronous belt is equipped with a fourth belt seat, and the fourth belt seat is fixedly connected to the tertiary plate.

[0021] Optionally, the first driving mechanism includes a first lead screw and a first motor. The slider coupling is sleeved on the first lead screw, and the output shaft of the first motor is connected to one end of the first lead screw to drive the first lead screw.

[0022] Optionally, the horizontal adjustment mechanism further includes a first detection part, which is arranged on one side of the sliding mechanism and is used to detect the position of the slider coupling.

[0023] Optionally, the first detection unit includes a first sensor, a second sensor, and a third sensor that are sequentially arranged at intervals along the sliding direction of the sliding mechanism. The first sensor is used to limit the maximum position of the slider coupling sliding leftward in the first direction, the second sensor is used to limit the initial position of the slider coupling in the first direction, and the third sensor is used to limit the maximum position of the slider coupling sliding rightward in the first direction. The initial position is the initial position when the sliding mechanism returns to its original position.

[0024] Optionally, the horizontal adjustment mechanism further includes a rotation mechanism mounted on the angle adjustment substrate for rotating the angle of the aerial transporter.

[0025] Wherein, the rotation mechanism includes a worm and worm gear assembly and a rotating shaft. The worm and worm gear assembly meshes with the rotating shaft to drive the rotating shaft to rotate to a preset angle.

[0026] Optionally, the rotation mechanism further includes a second detection unit for limiting the rotation angle of the rotating shaft.

[0027] Wherein, the second detection unit includes a first detector, a second detector, and a third detector that are sequentially arranged at intervals along the circumferential direction of the rotating shaft. The first detector is used to limit the maximum angle of the rotating shaft rotating counterclockwise in the horizontal plane, the second detector is used to limit the initial angle of the rotating shaft in the horizontal plane, and the third detector is used to limit the maximum position of the slider coupling sliding rightward in the first direction. The initial angle is the initial angle when the sliding mechanism returns to its original position.

[0028] The present invention also provides an aerial transportation device, including:

[0029] A walking substrate;

[0030] A walking mechanism installed on the upper surface of the walking substrate;

[0031] A lateral transfer mechanism installed on the lower surface of the walking substrate, and the lateral transfer mechanism is the lateral transfer device described in any one of the foregoing items;

[0032] A lifting mechanism connected to the lower surface of the lateral transfer mechanism;

[0033] A clamping mechanism connected to the lifting mechanism through a lifting belt;

[0034] Among them, the walking mechanism is used to drive the walking substrate to reach a first preset position above the position where the target object to be carried is located along the arranged travel track according to a preset travel path; the lateral transfer mechanism is used to adjust the lifting mechanism to directly above the target object in the horizontal plane; the lifting mechanism is used to lift and lower the clamping mechanism, and the clamping mechanism is used to grasp and clamp the target object to carry the target object to a second preset position.

[0035] Optionally, the aerial transportation device further includes a vehicle body. The top of the vehicle body is fixedly connected to the lower surface of the walking substrate, and the lateral transfer mechanism, the lifting mechanism, and the clamping mechanism are all disposed inside the vehicle body.

[0036] Optionally, the aerial transportation device further includes a position detection unit. The position detection unit is installed at a first top position of the vehicle body and is used to detect a position identifier to detect the position of the vehicle body, where the first top position is the two side positions of the top of the vehicle body perpendicular to the extending direction of the travel track, and the position identifier is a position identifier arranged on the travel track.

[0037] Optionally, the aerial transportation device further includes an anti-collision strip. The anti-collision strip is installed at a second top position of the vehicle body and is used for anti-collision between two front and rear walking mechanisms, where the second top position is the two side positions of the top of the vehicle body parallel to the extending direction of the travel track.

[0038] Optionally, the aerial transportation device further includes a first radar. The first radar is installed on the bottom surface of the vehicle body and is used to detect a first obstacle in the space below the vehicle body.

[0039] And / or, the aerial transportation device further includes a second radar. The second radar is installed on the side surface of the vehicle body and is used to detect a second obstacle in the front space of the vehicle body, where the front space is the front space of the vehicle body in the traveling direction.

[0040] Optionally, the aerial transportation device further includes an anti-falling mechanism. The anti-falling mechanism is installed inside the vehicle body.

[0041] The anti-falling mechanism includes a first linkage bracket. When the clamping mechanism does not grasp the target object, the first linkage bracket contracts inside the vehicle body. When the clamping mechanism clamps the target object, the first linkage bracket extends from inside the vehicle body and is located below the target object to prevent the target object from falling.

[0042] Optionally, the anti-falling mechanism further includes the second linkage bracket, which is synchronously linked with the first linkage bracket. When the clamping mechanism does not grasp the target object, the second linkage bracket retracts inside the vehicle body. When the clamping mechanism clamps the target object, the second linkage bracket extends from inside the vehicle body and abuts against the side of the target object to prevent the target object from shaking.

[0043] Optionally, the lifting mechanism is connected to the lower surface of the horizontal transfer mechanism through a rotating shaft.

[0044] Optionally, the clamping mechanism includes a positioning and guiding shaft, which is used for positioning and guiding with the lifting positioning position in the lifting mechanism, so that the lifting mechanism can lift the clamping mechanism to a specified position.

[0045] The present invention also provides an automatic material handling system, including: the aerial transportation device described in any one of the foregoing items and a track installed under the ceiling; wherein, the aerial transportation device travels along the track according to a preset travel trajectory.

[0046] The horizontal transfer device, aerial transportation device and automatic material handling system provided by the present invention can bring at least one of the following beneficial effects:

[0047] Through the novel horizontal transfer device, that is, stably and reliably fixed to the lower surface of the walking substrate of the aerial transport vehicle through the goods picking and fixing mechanism, and through the horizontal adjustment mechanism, the lifting mechanism and the clamping mechanism in the transport vehicle can be quickly and accurately adjusted to the upper space position of the target object to be transported, which can improve the production efficiency of the product and better meet the needs of the factory. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0049] Figure 1 It is a schematic axonometric view of a horizontal transfer device provided by the present invention;

[0050] Figure 2 It is a schematic top view of a horizontal transfer device provided by the present invention;

[0051] Figure 3 It is a schematic top view of a horizontal transfer device provided by the present invention;

[0052] Figure 4Schematic cross-sectional view of a lateral transfer device provided by the present invention;

[0053] Figure 5 Schematic structural diagram of a rotating mechanism in a lateral transfer device provided by the present invention;

[0054] Figure 6 Schematic cross-sectional view of an air transportation device provided by the present invention;

[0055] Figure 7 Schematic structural diagram of a vehicle body in an air transportation device provided by the present invention;

[0056] Figure 8 Schematic structural diagram of a lateral transfer mechanism connected to a lifting mechanism through a rotating shaft in an air transportation device provided by the present invention;

[0057] Figure 9 Schematic structural diagram of a traveling mechanism in an air transportation device provided by the present invention;

[0058] Figure 10 Schematic structural diagram of a traveling mechanism in an air transportation device provided by the present invention during travel;

[0059] Figure 11 Schematic structural diagram of a traveling mechanism in an air transportation device provided by the present invention during travel;

[0060] Figure 12 Schematic structural diagram of a wireless power acquisition mechanism of a traveling mechanism in an air transportation device provided by the present invention;

[0061] Figure 13 Schematic structural diagram of a wireless power acquisition mechanism of a traveling mechanism in an air transportation device provided by the present invention;

[0062] Figure 14 Schematic structural diagram of a clamping mechanism in an air transportation device provided by the present invention;

[0063] Figure 15 Schematic structural diagram of a clamping mechanism in an air transportation device provided by the present invention;

[0064] Figure 16 Schematic structural diagram of a clamping mechanism in an air transportation device provided by the present invention;

[0065] Figure 17 Schematic structural diagram of a fall prevention mechanism in an extended state in an air transportation device provided by the present invention;

[0066] Figure 18 Schematic structural diagram of a fall prevention mechanism in a contracted state in an air transportation device provided by the present invention;

[0067] Figure 19 This is a schematic structural diagram of an automatic material handling system provided by the present invention. Detailed implementation manners

[0068] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0069] The following uses specific specific examples to illustrate the implementation manners of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without making creative efforts belong to the scope of protection of the present application.

[0070] It should be noted that the following describes various aspects of the embodiments within the scope of the appended claims. It should be obvious that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is illustrative only. Based on the present application, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspects described herein can be used to implement the device and / or practice the method. In addition, this device and / or this method can be implemented using other structures and / or functions in addition to one or more of the aspects described herein.

[0071] It should also be noted that the drawings provided in the following embodiments only illustrate the basic concept of the present application schematically. Only the components related to the present application are shown in the drawings, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in its actual implementation can be an arbitrary change, and the component layout type may also be more complex.

[0072] In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the described aspects can be practiced without these specific details. The terms "first", "second", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with descriptions such as "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0073] A lateral transfer device (which can also be referred to as a lateral transfer mechanism and will not be distinguished hereinafter) provided in an embodiment of this specification can be applied to an aerial transportation device and can quickly and accurately adjust a gripping device (such as a lifting mechanism, a clamping mechanism, a vehicle body, etc.) in the aerial transportation device to the space above a target object to be transported (such as a wafer cassette) in the horizontal direction, facilitating the quick and accurate gripping of the target object and improving production efficiency.

[0074] As Figures 1 to 5 shown, the lateral transfer device includes a goods-taking fixing mechanism 200-8 and a horizontal adjustment mechanism.

[0075] In implementation, the goods-taking fixing mechanism 200-8 can be fixedly connected to the lower side of the walking substrate of the aerial transport vehicle. For example, a forklift fixing plate is used as the goods-taking fixing mechanism 200-8, where the forklift fixing plate can be a slide rail type forklift structure, that is, the upper part of the forklift fixing plate is a slide rail connecting seat, and the lower part of the forklift fixing plate is a slide rail structure. At this time, the upper part (such as the slide rail connecting seat) of the goods-taking fixing mechanism 200-8 can be fixedly installed on the lower surface of the walking substrate of the aerial transport vehicle (not shown in the figure), and the lower part (such as the slide rail structure) of the goods-taking fixing mechanism 200-8 is used to install the horizontal adjustment mechanism, which can not only firmly fix the whole lateral transfer mechanism under the walking substrate through the slide rail connecting seat, but also enable the horizontal adjustment mechanism to slide to a specified position according to the adjustment needs through the slide rail structure.

[0076] The horizontal adjustment mechanism is installed on the lower surface of the goods-taking fixing mechanism 200-8, where the horizontal adjustment mechanism can include a synchronous adjustment mechanism and a sliding mechanism. The synchronous adjustment mechanism can be disposed on the sides of the sliding mechanism (such as Figure 1 the upper left and lower right directions in

[0077] During implementation, the synchronization adjustment mechanism can move relative to the walking substrate in the first direction to drive the sliding mechanism to slide and adjust to a predetermined horizontal position in the first direction. For example, the aforementioned picking and fixing mechanism 200-8 is a slide rail type forklift mechanism. At this time, the upper part of the picking and fixing mechanism 200-8 is a slide rail connecting seat, which is connected to the lower surface of the walking substrate, while the lower part of the picking and fixing mechanism 200-8 is a slidable slide rail structure. The sliding mechanism can be installed on the lower part of the picking and fixing mechanism 200-8 so that the overall horizontal adjustment mechanism can slide relative to the walking substrate within the horizontal plane under the adjustment of the synchronization adjustment mechanism.

[0078] During implementation, other components of the aerial transporter can be hoisted below the sliding mechanism, such as directly hoisting the grasping part (such as the clamping mechanism), such as the lifting mechanism for lifting the grasping part, such as the vehicle body, etc., which are not limited here.

[0079] During implementation, the first direction can be set to be the same as the traveling direction of the aerial transporter. In this way, through simple adjustment in the first direction, it can be quickly adjusted to the space above the target object to be transported placed on the ground.

[0080] For example, in a Fab factory, the wafer cassette is placed on the ground below the traveling track. When the aerial transportation device travels along the traveling track, it passes above the wafer cassette. If the aerial transporter needs to transport the wafer cassette, the aerial transporter will travel along the established route to stop on the track above the wafer cassette. In actual production, the wafer cassette may not be accurately placed at the predetermined ground position. At this time, the aerial transporter may be exactly above the wafer cassette, or slightly deviate from the position directly above the wafer cassette.

[0081] When the aerial transportation device is exactly above the wafer cassette, the lateral transfer mechanism may not need to perform horizontal adjustment operations, that is, the internal horizontal adjustment mechanism does not need to operate, as Figures 1 to 2 shown. In the horizontal adjustment mechanism in the lateral transfer mechanism, there is no state of stretching left and right. As shown in the figure, the transfer support plate (such as the slide rail structure in the aforementioned example) located below the picking and fixing mechanism 200-8 is not seen to move left or right relative to the walking substrate; while when the wafer cassette is not directly below the aerial transporter, at this time the horizontal adjustment mechanism will adjust its position within the horizontal plane according to the position of the wafer cassette, as Figure 3 shown, the synchronization adjustment mechanism drives the sliding mechanism to move to the left, so other components of the aerial transporter (such as the lifting mechanism, clamping unit, vehicle body, etc.) mounted below the lateral transfer mechanism will move to the left accordingly, so that the components for grasping and clamping the wafer cassette move to the space directly above the wafer cassette.

[0082] It should be noted that only the rear view after the horizontal adjustment mechanism moves to the left is listed here, but the movement principle of moving to the right is the same, and the movement to the right will not be elaborated here.

[0083] In some embodiments, a multi-stage sliding structure may be employed to form a sliding mechanism.

[0084] As Figure 4 shown, the sliding mechanism may include a secondary plate 200-9, a tertiary plate 200-10, and an angle adjustment substrate 200-11 (which may also be referred to as an angle adjustment component substrate, without distinction hereinafter), a number of sliders 200-6, and a slider coupling 200-3.

[0085] In implementation, the secondary plate 200-9 may be connected to the lower interior of the picking and fixing mechanism 200-8 through the corresponding slider 200-6. For example, the secondary plate 200-9 is connected to the lower surface of the rail structure in the foregoing example, that is, the secondary plate 200-9 and the rail structure serve as the transfer support structure of the entire sliding mechanism, strengthening the structural strength and sliding effect;

[0086] The tertiary plate 200-10 is connected to the lower side of the secondary plate 200-9 through the corresponding slider 200-6, and the angle adjustment substrate 200-11 is connected to the lower side of the tertiary plate 200-10 through the corresponding slider 200-6;

[0087] The slider coupling 200-3 is connected to the synchronous adjustment mechanism and is used to drive the secondary plate 200-9 to move under the drive of the synchronous adjustment mechanism, so that the secondary plate 200-9 drives the tertiary plate 200-10 to move, and the tertiary plate 200-10 drives the angle adjustment substrate 200-11 to move, so as to adjust the angle adjustment substrate 200-11 to a predetermined horizontal position in the horizontal direction.

[0088] In implementation, under the drive of the synchronous adjustment mechanism, the slider coupling 200-3 enables the sliding mechanism composed of multi-stage plates to perform a linkage movement to achieve the purpose of horizontal position adjustment.

[0089] In some embodiments, the synchronous adjustment mechanism may adopt a synchronous pulley and synchronous belt structure as the core to realize the linkage movement of multiple substrates through a simple structure.

[0090] As Figures 1 to 4 shown, the synchronous adjustment mechanism may include a first synchronous pulley and synchronous belt 200-12, a second synchronous pulley and synchronous belt 200-13, and a first driving mechanism.

[0091] In implementation, the first driving mechanism is disposed on one side of the sliding mechanism (such as the lower position in the figure) for driving the slider coupling 200-3.

[0092] The first synchronous pulley and synchronous belt 200-12 and the second synchronous pulley and synchronous belt 200-13 are respectively disposed on both sides of the sliding mechanism (such as the upper and lower sides in the figure).

[0093] Among them, the synchronous pulley of the first synchronous pulley synchronous belt 200-12 is fixedly connected to the third-level plate 200-10. A first belt seat is installed on the upper belt of the first synchronous pulley synchronous belt 200-12. One side of the first belt seat is fixedly connected to the second-level plate 200-9, and the other side of the first belt seat is fixedly connected to the slider coupling 200-3. A second belt seat is installed on the lower belt of the first synchronous pulley synchronous belt 200-12, and the second belt seat is fixedly connected to the angle adjustment base plate 200-11;

[0094] The synchronous pulley of the second synchronous pulley synchronous belt 200-13 is fixedly connected to the second-level plate 200-9. A third belt seat is installed on the upper belt of the second synchronous pulley synchronous belt 200-13, and the third belt seat is fixedly connected to the lower surface of the goods picking fixing mechanism 200-8. A fourth belt seat is installed on the lower belt of the second synchronous pulley synchronous belt 200-13, and the fourth belt seat is fixedly connected to the third-level plate 200-10.

[0095] At this time, when the slider coupling 200-3 is driven by the first driving mechanism, the first synchronous pulley synchronous belt 200-12 rotates, that is, it drives the belt seat on the upper belt of the first synchronous pulley synchronous belt 200-12 to move. Since one side of the belt seat on the upper belt of the first synchronous pulley synchronous belt 200-12 is fixed on the second-level plate 200-9, the second-level plate 200-9 also moves accordingly; at the same time, since the second synchronous pulley synchronous belt 200-13 is fixed on the second-level plate 200-9, and the lower belt of its synchronous belt is fixed on the third-level plate 200-10 by a belt seat, the second-level plate 200-9 will drive the third-level plate 200-10 to move; and, since the first synchronous pulley synchronous belt 200-12 is fixed on the third-level plate 200-10, and the lower belt of its synchronous belt is fixed on the angle adjustment base plate 200-11 by a belt seat, the movement of the third-level plate 200-10 will drive the angle adjustment base plate 200-11 to move, so as to adjust the angle adjustment base plate 200-11 to a predetermined horizontal position in the horizontal direction.

[0096] It should be noted that Figure 3 This is a schematic illustration of moving to the left (relative to the view direction), but the principle of moving to the right is the same and will not be elaborated here.

[0097] In some embodiments, a lead screw drive structure can be used as the core of the first driving mechanism, making the structure reasonable and occupying less space.

[0098] Such as Figures 1 to 4As shown, the first driving mechanism may include a first lead screw 200-14 and a first motor (for example, the first motor is installed at the lower right position in the figure). The slider coupling is sleeved on the first lead screw 200-14, and the output shaft of the first motor is connected to a section of the first lead screw to drive the first lead screw.

[0099] In some embodiments, a detection unit may be used for detection.

[0100] As Figures 1 to 4 shown, the horizontal adjustment mechanism may further include a first detection unit. The first detection unit is disposed on one side of the sliding mechanism (for example, the first detection unit is disposed at the lower position in the figure), and is used for detecting the position of the slider coupling to detect the position adjustment of the lateral transfer device in the horizontal direction.

[0101] In some embodiments, the maximum adjustment position of the horizontal position may be limited and detected by arranging a plurality of detectors in the first detection unit.

[0102] As Figures 1 to 4 shown, the first detection unit may include a first sensor 200-4, a second sensor 200-1, and a third sensor 200-5 that are sequentially arranged at intervals along the sliding direction of the sliding mechanism. The first sensor is used for limiting the maximum position where the slider coupling slides leftward in the first direction, the second sensor is used for limiting the initial position of the slider coupling in the first direction, and the third sensor is used for limiting the maximum position where the slider coupling slides rightward in the first direction. The initial position is the initial position when the sliding mechanism returns to its original position.

[0103] In practice, a detection piece 200-2 may be arranged on the slider coupling, and detection is carried out by the cooperation of the detection piece 200-2 and each sensor.

[0104] In some embodiments, a rotating mechanism may be adopted to adjust the angles of other components (such as the grasping mechanism, the lifting mechanism, the vehicle body, etc.) of the transport vehicle in the horizontal plane, so that the transport vehicle can grasp the target object that is not placed at the correct angle at an accurate angle.

[0105] As Figures 1 to 5 shown, the horizontal adjustment mechanism further includes a rotating mechanism 200-7. The rotating mechanism 200-7 is installed on the angle adjustment substrate 200-11 and is used for rotating the angle of the aerial transport vehicle.

[0106] During implementation, the rotation mechanism 200-7 may include a worm and worm gear assembly and a rotating shaft 200-7-8. The worm and worm gear assembly meshes with the rotating shaft 200-7-8 to drive the rotating shaft 200-7-8 to rotate to a preset angle, so as to adjust other components of the transport vehicle suspended below the rotating shaft 200-7-8 to an appropriate angle, facilitating the grasping of the target object.

[0107] During implementation, as Figure 5 shown, the worm and worm gear assembly may adopt a structure in which a motor cooperates with a worm to implement rotational drive, that is, the worm and worm gear assembly may include a motor 200-7-1, a third synchronous pulley synchronous belt 200-7-2, and a worm and worm gear 200-7-3. Among them, the motor 200-7-1 drives the third synchronous pulley synchronous belt 200-7-2 and the worm and worm gear 200-7-3 to drive the rotating shaft 200-7-8 to rotate.

[0108] In some embodiments, multiple detectors may be provided in the rotation mechanism 200-7 to perform limit detection on the maximum adjustment position of the rotation angle.

[0109] As Figure 5 shown, the rotation mechanism 200-7 may further include a second detection part, and the second detection part is used to limit the rotation angle of the rotating shaft.

[0110] During implementation, the second detection part may include a first detector 200-7-5, a second detector 200-7-6, and a third detector 200-7-7 that are sequentially arranged at intervals along the circumferential direction of the rotating shaft. Among them, the first detector is used to limit the maximum angle of the rotating shaft rotating counterclockwise in the horizontal plane, the second detector is used to limit the initial angle of the rotating shaft in the horizontal plane, the third detector is used to limit the maximum position of the slider coupling sliding to the right in the first direction, and the initial angle is the initial angle when the sliding mechanism returns to its original position.

[0111] During implementation, a detection plate 200-7-4 may be provided on the rotating shaft 200-7-8 to cooperate with each detector for limit detection. For example, when the adjustment detection plate 200-7-4 is located at the first detector 200-7-5 or the third detector 200-7-7, this is the maximum rotation angle at this time.

[0112] Based on the same inventive concept, the embodiments of this specification further provide an air transportation device to align the transport vehicle directly below the target object in the horizontal plane based on the lateral transfer mechanism (also called the lateral transfer device) provided in any one of the foregoing embodiments.

[0113] As Figure 6As shown in the figure, the aerial transportation device may include: a walking base plate 6; a walking mechanism 200 installed on the upper surface of the walking base plate; a lateral transfer mechanism 300 installed on the lower surface of the walking base plate, where the lateral transfer mechanism 300 is the lateral transfer device described in any of the foregoing embodiments; a lifting mechanism 400 connected to the lower surface of the lateral transfer mechanism; and a clamping mechanism 500 connected to the lifting mechanism through a lifting belt.

[0114] Among them, the walking mechanism 200 is used to drive the walking base plate 6 to reach a first preset position along the arranged travel track 1 (such as a track arranged below the ceiling 100) according to a preset travel path, and the first preset position is above the position where the target object to be transported is located; the lateral transfer mechanism 300 is used to adjust the lifting mechanism 400 to directly above the target object in the horizontal plane; the lifting mechanism 400 is used to lift and lower the clamping mechanism 500, and the clamping mechanism 500 is used to grab and clamp the target object to transport the target object to a second preset position.

[0115] After the walking mechanism reaches above the target object according to the predetermined travel route, the lateral transfer mechanism is used to pre-adjust the lifting mechanism and the clamping mechanism to directly above the target object in the horizontal direction, and then lower them to grab and clamp the target object for transportation. The system has a simple structure, high flexibility, high production efficiency, and is very easy to meet the factory requirements.

[0116] It should be noted that components such as the walking base plate, the walking mechanism, the lifting mechanism, and the clamping mechanism can be designed according to actual application requirements and are not limited here.

[0117] In some embodiments, each component mechanism in the transportation device can be placed inside the vehicle body.

[0118] As Figure 6 shown, the aerial transportation device may further include a vehicle body 700. The top of the vehicle body 700 is fixedly connected to the lower surface of the walking base plate 6, and the lateral transfer mechanism 300, the lifting mechanism 400, and the clamping mechanism 500 are all placed inside the vehicle body 700.

[0119] In some embodiments, a corresponding detection unit can be installed in the transportation device to detect the sensing marks arranged on the track to accurately determine the travel position.

[0120] As Figure 7As shown, the aerial transportation device may further include position detectors 700-4, 700-5, etc. The position detectors are installed at the first top positions of the vehicle body for detecting position identifiers to detect the position of the vehicle body, where the first top positions are the two side positions at the top of the vehicle body perpendicular to the extending direction of the travel track, and the position identifiers are the position identifiers arranged on the travel track.

[0121] In some embodiments, anti-collision strips may be installed on the vehicle body to reduce the impact on production safety caused by collisions between the front and rear vehicles, collisions between the vehicle body and surrounding objects, etc.

[0122] As Figure 7 shown, the aerial transportation device may further include an anti-collision strip 700-1. The anti-collision strip 700-1 is installed at the second top position of the vehicle body for anti-collision between two walking mechanisms in the front and rear, where the second top position is the two side positions at the top of the vehicle body parallel to the extending direction of the travel track.

[0123] In some embodiments, a radar may be used to detect obstacles (such as moving or stationary objects, people, etc.) during vehicle travel to improve production safety.

[0124] As Figure 7 shown, the aerial transportation device may further include a first radar. The first radar is installed on the bottom surface of the vehicle body for detecting a first obstacle in the space below the vehicle body (such as the area 700-3 shown in the figure);

[0125] And / or, the aerial transportation device may further include a second radar. The second radar is installed on the side surface of the vehicle body for detecting a second obstacle in the front space of the vehicle body. The front space is the front space of the vehicle body in the travel direction (such as the area 700-2 shown in the figure).

[0126] In some embodiments, an anti-drop mechanism may be used to protect the target object during handling to prevent the target object from falling and affecting production safety.

[0127] As Figures 6 to 7 shown, the aerial transportation device may further include an anti-drop mechanism 600. The anti-drop mechanism 600 is installed inside the vehicle body (such as Figure 7 the schematic position of the lower space on the right side of the vehicle body shown in the figure). Among them, the anti-drop mechanism may include a first linkage bracket (such as Figure 7a bracket extending below the target object), wherein when the clamping mechanism does not grasp the target object, the first linkage bracket contracts inside the vehicle body, and when the clamping mechanism clamps the target object, the first linkage bracket extends from inside the vehicle body and is located below the target object to prevent the target object from falling.

[0128] It should be noted that the first linkage bracket can be a single-arm structure, a triangular structure, a quadrilateral structure or even a polygonal structure, which is not limited here.

[0129] In some embodiments, when using the anti-falling mechanism to protect the target object during handling, the target object can also be supported by using a clamping structure in the anti-falling mechanism to reduce the shaking of the target object and improve production safety.

[0130] In practice, the anti-falling mechanism may further include the second linkage bracket, which is synchronously linked with the first linkage bracket. When the clamping mechanism does not grasp the target object, the second linkage bracket contracts inside the vehicle body, and when the clamping mechanism clamps the target object, the second linkage bracket extends from inside the vehicle body and abuts against the side surface of the target object to prevent the target object from shaking.

[0131] It should be noted that the second linkage bracket can be a single-arm structure, a triangular structure, a quadrilateral structure or even a polygonal structure, which is not limited here. In addition, the structure of the second linkage bracket in contact with the target object can be a cylindrical structure, a spherical structure, a planar structure, etc., which is not limited here.

[0132] In some embodiments, a rotating shaft connection can be adopted between the lifting mechanism 400 and the lateral transfer mechanism 300 to facilitate the lateral transfer mechanism 300 to adjust the angle within the horizontal plane to adjust the angle of the lifting mechanism 400, so as to quickly, stably and accurately adjust the lifting mechanism 400 to the position directly above the target object.

[0133] As Figure 8 shown, the lifting mechanism is connected to the lower surface of the lateral transfer mechanism through a rotating shaft (as shown in the schematic diagram of the connection in the middle of the two in the figure).

[0134] To facilitate the understanding of the aerial transportation equipment provided by this specification embodiment, the traveling mechanism, the clamping mechanism, the anti-falling mechanism, etc. will be schematically described below.

[0135] As Figures 9 to 11As shown in the figure, in the traveling mechanism, a reduction motor 9, a servo motor, a traveling wheel set 13, an auxiliary wheel set 12, etc. are installed on a traveling base plate 6 through a rotating shaft 8. The traveling wheel set 13 and the auxiliary wheel set 12 can travel along a preset straight track 1, and can also travel along curved tracks 14-1 and 14-2 according to the guidance of a guide track 15 by a guide wheel set 23, so as to achieve the purpose of the entire aerial transportation device walking along a specified path to carry items.

[0136] As Figures 12 to 13 shown in the figure, the traveling mechanism can obtain power in a non-contact manner, that is, a current collector 2 obtains power from a high-frequency cable 5 of the wiring. The current collector 2 can be an E-type current collector, and obtains power by cutting the magnetic field of the high-frequency cable 5 to provide power for the traveling mechanism.

[0137] Among them, the high-frequency cable 5 is fixed on the track 1 by a wire groove 4 and a high-frequency wire support 7, the current collector 2 is fixed on the traveling base plate 6 by a current collector mounting bracket 3, and the current collector 2 adopts a structure separated from the rotating shaft 8, making the power-taking structure simpler, with higher space utilization rate, and also far from surrounding metal components, reducing heat generation and having a more flexible installation method.

[0138] As Figures 14 to 16 shown in the figure, the clamping mechanism 500 can be connected below the lifting mechanism 400 through a belt adjustment assembly 500-1 for hoisting.

[0139] As Figure 14 shown in the figure, the clamping mechanism 500 can include a positioning and guiding shaft 500-2, and the positioning and guiding shaft is used for positioning and guiding with the lifting and positioning position in the lifting mechanism, so that the lifting mechanism can lift the clamping mechanism to a specified position. The vertical positioning and guiding of the lifting process is carried out through the guiding shaft, improving production safety.

[0140] When the lateral transfer mechanism 300 and the lifting mechanism 400 are both in place, at this time, a motor 500-3 in the clamping mechanism can drive a left-right rotating lead screw 500-4 to make the two side jaws 500-7 translate on a slide rail 500-5 to complete the opening and closing of the jaws 500-7, realizing the actions of grasping and releasing the target object.

[0141] The clamping mechanism can be designed with positioning and guiding blocks 500-6. For example, four positioning and guiding blocks 500-6 are located around. During the descent, the guiding blocks 500-6 can contact the top of the target object, facilitating the rough guiding and positioning in the vertical direction during the descent and preventing the item from tilting before being clamped.

[0142] When the jaws 500-7 clamp an item, the structure at the lower end of the jaws can be processed with an inclined surface 500-7-1 according to the outer shape structure size of the item, and the horizontal rough guiding and positioning during grasping the target object can be carried out through the inclined surface 500-7-1.

[0143] The middle part at the lower portion of the gripper 500-7 can be designed according to the external shape and dimensional structure of the article. For example, a V-shaped positioning block 500-7-2 can be made, and the V-shaped positioning block 500-7-2 can be used for precise guiding and positioning in the horizontal direction when grasping the target object.

[0144] Through the design of the positioning and guiding structure, it can ensure that the product is accurately and stably clamped, protecting the stability and safety of the product when being grasped.

[0145] A sensing detector 500-8 can be installed in the middle part at the lower portion of the gripper 500-7. After the gripper 500-7 clamps the target object, the sensing detector 500-8 can be used to confirm that the target object is clamped, improving the production safety.

[0146] A sensor (not shown in the figure) can be provided on the lifting mechanism 400, which cooperates with the reflector 500-10 during the operation of the clamping mechanism 500 for detection. That is, the sensor on the lifting mechanism 400 combines with the reflector 500-10 in the clamping mechanism 500 to detect the shaking amplitude of the lower clamping mechanism 500. When the sensor fails to detect the reflected signal (such as a light beam) from the reflector 500-10, it indicates that the shaking amplitude of the lower clamping mechanism 500 is relatively large and is not within the range suitable for the clamping unit to pick up the article. The servo motor of the lifting mechanism will adjust the lowering rate of the clamping mechanism or stop operating, etc.

[0147] In the figure, a spring positioning component 500-9, a first through-beam sensor 500-11, and a second through-beam sensor 500-12 can also be designed in the clamping mechanism for detecting the descending position and limiting protection.

[0148] For example, when the clamping mechanism descends to the specified height, the positioning block 500-9-1 at the lower end of the spring positioning component is subjected to the upward force of the article, causing the spring in the spring component to move upward, and the spring piece 500-15 in the spring component to leave the upper surface of the spring structure by a certain distance. Detection can be carried out through the distance. For example, screws 500-14 are used in cooperation with two groups of through-beam sensors for detection and limiting protection; at this time, the light beam of the through-beam sensor 500-11 is blocked and changes from the on state to the off state. When the clamping unit continues to descend, the positioning block 500-9-1 at the lower end of the spring positioning component is subjected to the upward force of the article, causing the spring in the spring component to continue to move upward, and the light beam of the through-beam sensor 500-12 is blocked and changes from the on state to the off state. At this time, the article may be damaged by the pressure from the positioning block 500-9-1 at the lower end of the spring positioning component due to excessive lowering of the clamping unit, and this situation is not allowed. Therefore, when the through-beam sensor 500-11 is in the on state, it indicates that the lowering height of the clamping unit is insufficient, and when the through-beam sensor 500-12 is in the off state, it indicates that the clamping unit has descended excessively. Through detection and limiting protection, the gripper can descend to the precise height without damaging the product.

[0149] As Figures 17 to 18 shown, the anti-falling mechanism 600 can adopt an anti-falling structure with a quadrilateral linkage structure. After the clamping mechanism 500 precisely and stably clamps an item, the motor 600-1 in the anti-falling mechanism 600 inside the vehicle body drives the ball screw to drive the slider 600-2 to drive the connecting arms 600-3 of the first linkage mechanism to rotate and be in an extended state so as to extend below the target object. Even when the target object falls from the clamping mechanism, the anti-falling mechanism 600 can stably and reliably catch the target object, avoiding the falling of the target object from affecting production safety.

[0150] As Figures 17 to 18 shown, the second linkage mechanism can be used to support the target object to reduce the shaking amplitude of the target object. For example, through the clamping block 600-7 on the second linkage mechanism, the item can be firmly supported to prevent the clamped item from shaking and falling.

[0151] As Figures 17 to 18 shown, a detection unit can be used to detect and limit the protection of the extension or contraction of the anti-falling mechanism. For example, the detection is achieved through the cooperation of the sensor 600-4, the sensor 600-5 and the detection plate 600-6. If the detection plate 600-6 blocks the sensor 600-4, it indicates that the contraction is in place. If the detection plate 600-6 blocks the sensor 600-5, it indicates that the extension is in place.

[0152] Based on the same inventive concept, the embodiments of this specification also provide an automatic material handling system to grab and transport a target object based on the aerial transportation device (also called an overhead crane) provided in any of the foregoing embodiments.

[0153] In implementation, an automatic material handling system provided in this specification may include: the aerial transportation device described in any of the foregoing embodiments and a track installed under the ceiling.

[0154] As Figure 19 shown, the aerial transportation device (such as the transport vehicle in the figure) can travel along the walking track according to a preset travel trajectory to achieve the purpose of transporting the target object.

[0155] It should be noted that the above embodiments can be freely combined according to needs. The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A horizontal transfer device, characterized in that, applied to an aerial transporter, comprising: A goods picking and fixing mechanism, fixedly connected to the lower surface of the walking substrate of the aerial transporter; A horizontal adjustment mechanism, installed on the lower surface of the goods picking and fixing mechanism; Wherein, the horizontal adjustment mechanism includes a synchronous adjustment mechanism and a sliding mechanism. The synchronous adjustment mechanism is arranged on the side of the sliding mechanism, and is used to slide and adjust the sliding mechanism to a predetermined horizontal position relative to the walking substrate in a first direction, the first direction is a horizontal direction perpendicular to the side, and the predetermined horizontal position is an aerial position above the target object to be transported; Wherein, the goods picking and fixing mechanism is a rail type fork mechanism. The upper part of the goods picking and fixing mechanism is a rail connecting seat, connected to the lower surface of the walking substrate. The lower part of the goods picking and fixing mechanism is a slidable rail structure. The sliding mechanism is installed on the lower part of the goods picking and fixing mechanism, so that the whole horizontal adjustment mechanism can slide relative to the walking substrate in the horizontal plane under the adjustment of the synchronous adjustment mechanism.

2. The horizontal transfer device according to claim 1, characterized in that, The sliding mechanism includes a secondary plate, a tertiary plate, an angle adjustment substrate, a plurality of sliders and a slider coupling; The secondary plate is connected to the lower part inside the goods picking and fixing mechanism through a slider; The tertiary plate is connected to the lower side of the secondary plate through a slider; The angle adjustment substrate is connected to the lower side of the tertiary plate through a slider; The slider coupling is connected to the synchronous adjustment mechanism, and is used to drive the secondary plate to move under the drive of the synchronous adjustment mechanism, so that the secondary plate drives the tertiary plate to move, and the tertiary plate drives the angle adjustment substrate to move, so as to adjust the angle adjustment substrate to a predetermined horizontal position in the horizontal direction.

3. The horizontal transfer device according to claim 2, characterized in that, The synchronous adjustment mechanism includes a first synchronous pulley synchronous belt, a second synchronous pulley synchronous belt and a first driving mechanism; The first driving mechanism is arranged on one side of the sliding mechanism, and is used to drive the slider coupling; The first synchronous pulley synchronous belt and the second synchronous pulley synchronous belt are arranged on both sides of the sliding mechanism; The synchronous pulley of the first synchronous pulley synchronous belt is fixedly connected to the tertiary plate. The upper belt of the first synchronous pulley synchronous belt is equipped with a first belt seat. One side of the first belt seat is fixedly connected to the secondary plate, and the other side of the first belt seat is fixedly connected to the slider coupling. The lower belt of the first synchronous pulley synchronous belt is equipped with a second belt seat, and the second belt seat is fixedly connected to the angle adjustment substrate; The synchronous pulley of the second synchronous pulley synchronous belt is fixedly connected to the secondary plate. The upper belt of the second synchronous pulley synchronous belt is equipped with a third belt seat, and the third belt seat is fixedly connected to the lower surface of the goods picking and fixing mechanism. The lower belt of the second synchronous pulley synchronous belt is equipped with a fourth belt seat, and the fourth belt seat is fixedly connected to the tertiary plate.

4. The horizontal transfer device according to claim 3, characterized in that, The first driving mechanism includes a first lead screw and a first motor. The slider coupling is sleeved on the first lead screw, and an output shaft of the first motor is connected to one end of the first lead screw to drive the first lead screw.

5. The lateral transfer device according to claim 2, wherein, the horizontal adjustment mechanism further includes a first detection part, which is arranged on one side of the sliding mechanism and is used for detecting the position of the slider coupling.

6. The lateral transfer device according to claim 5, wherein, the first detection part includes a first sensor, a second sensor and a third sensor which are sequentially arranged at intervals along the sliding direction of the sliding mechanism. The first sensor is used for limiting the maximum position of the slider coupling sliding leftward in the first direction, the second sensor is used for limiting the initial position of the slider coupling in the first direction, the third sensor is used for limiting the maximum position of the slider coupling sliding rightward in the first direction, and the initial position is the initial position when the sliding mechanism returns to its position.

7. The lateral transfer device according to claim 2, wherein, the horizontal adjustment mechanism further includes a rotating mechanism, which is installed on the angle adjustment substrate and is used for rotating the angle of the aerial transporter; wherein, the rotating mechanism includes a worm and worm gear assembly and a rotating shaft, and the worm and worm gear assembly meshes with the rotating shaft to drive the rotating shaft to rotate to a preset angle.

8. The lateral transfer device according to claim 7, wherein, the rotating mechanism further includes a second detection part, which is used for limiting the rotation angle of the rotating shaft; wherein, the second detection part includes a first detector, a second detector and a third detector which are sequentially arranged at intervals along the circumferential direction of the rotating shaft. The first detector is used for limiting the maximum angle of the rotating shaft rotating counterclockwise in the horizontal plane, the second detector is used for limiting the initial angle of the rotating shaft in the horizontal plane, the third detector is used for limiting the maximum position of the slider coupling sliding rightward in the first direction, and the initial angle is the initial angle when the sliding mechanism returns to its position.

9. An aerial transportation device, wherein, it includes: a walking substrate; a walking mechanism installed on the upper surface of the walking substrate; a lateral transfer mechanism installed on the lower surface of the walking substrate, and the lateral transfer mechanism is the lateral transfer device according to any one of claims 1-8; a lifting mechanism connected to the lower surface of the lateral transfer mechanism; a clamping mechanism connected to the lifting mechanism through a lifting belt; Among them, the traveling mechanism is used to drive the traveling substrate to reach a first preset position above the position where the target object to be carried is located along the arranged traveling track according to a preset traveling path; the lateral transfer mechanism is used to adjust the lifting mechanism to directly above the target object in the horizontal plane; the lifting mechanism is used to lift and lower the clamping mechanism, and the clamping mechanism is used to grasp and clamp the target object to carry the target object to a second preset position.

10. The aerial transportation device according to claim 9, wherein, the aerial transportation device further includes a vehicle body. The top of the vehicle body is fixedly connected to the lower surface of the traveling substrate, and the lateral transfer mechanism, the lifting mechanism, and the clamping mechanism are all disposed inside the vehicle body.

11. The aerial transportation device according to claim 10, wherein, the aerial transportation device further includes a position detection unit. The position detection unit is installed at a first top position of the vehicle body and is used to detect a position identifier to detect the position of the vehicle body. The first top position is the two side positions of the top of the vehicle body perpendicular to the extending direction of the traveling track, and the position identifier is a position identifier arranged on the traveling track.

12. The aerial transportation device according to claim 10, wherein, the aerial transportation device further includes an anti-collision strip. The anti-collision strip is installed at a second top position of the vehicle body and is used for anti-collision between the front and rear traveling mechanisms. The second top position is the two side positions of the top of the vehicle body parallel to the extending direction of the traveling track.

13. The aerial transportation device according to claim 10, wherein, the aerial transportation device further includes a first radar. The first radar is installed on the bottom surface of the vehicle body and is used to detect a first obstacle in the space below the vehicle body; and / or, the aerial transportation device further includes a second radar. The second radar is installed on the side surface of the vehicle body and is used to detect a second obstacle in the space in front of the vehicle body. The front space is the space in front of the vehicle body in the traveling direction.

14. The aerial transportation device according to claim 10, wherein, the aerial transportation device further includes an anti-falling mechanism. The anti-falling mechanism is installed inside the vehicle body; the anti-falling mechanism includes a first linkage bracket. When the clamping mechanism does not grasp the target object, the first linkage bracket contracts inside the vehicle body. When the clamping mechanism clamps the target object, the first linkage bracket extends from inside the vehicle body and is located below the target object to prevent the target object from falling.

15. The aerial transportation device according to claim 14, wherein, The anti-falling mechanism further includes a second linkage bracket, which is synchronously linked with the first linkage bracket. When the clamping mechanism does not grasp the target object, the second linkage bracket contracts inside the vehicle body. When the clamping mechanism clamps the target object, the second linkage bracket extends from inside the vehicle body and abuts against the side of the target object to prevent the target object from shaking.

16. The aerial transportation device according to claim 9, characterized in that the lifting mechanism is connected to the lower surface of the lateral transfer mechanism through a rotating shaft.

17. The aerial transportation device according to claim 9, characterized in that the clamping mechanism includes a positioning and guiding shaft, which is used for positioning and guiding with the lifting and positioning position in the lifting mechanism, so that the lifting mechanism lifts the clamping mechanism to a specified position.

18. An automatic material handling system, characterized in that it includes: the aerial transportation device according to any one of claims 9-17; a track installed under the ceiling; wherein, the aerial transportation device travels along the track according to a preset travel trajectory.

Images