High-altitude walking automatic transport vehicle system, automatic transport vehicle and mobile kit

Abstract

The application discloses a high-altitude walking type automated guided vehicle system and an automated guided vehicle. The high-altitude walking type automated guided vehicle system comprises a plurality of lower tracks, a plurality of upper track sets and a plurality of automated guided vehicles. The automated guided vehicle comprises a moving assembly and a vehicle frame. The moving assembly comprises a control module, a driving wheel set and a plurality of upper guide wheels. The control module can control the plurality of upper guide wheels to move between an upper position and a lower position. Before the automated guided vehicle turns along the lower track and the upper track set, the control module can control the plurality of upper guide wheels to move to the upper position or the lower position. When the plurality of upper guide wheels abut against adjacent upper track sets, the automated guided vehicle will turn along the upper track set. The high-altitude walking type automated guided vehicle system has better transfer efficiency compared with the existing automated guided vehicle system.

Description

Technical Field

[0001] This application relates to an automated guided vehicle (AGV) system, an AGV, and a mobile kit, and particularly to an aerial work platform AGV system, an aerial work platform AGV, and a mobile kit installed on the aerial work platform AGV. Background Technology

[0002] Existing aerial work platform (AAP) systems are widely used in the semiconductor industry. These systems typically consist of tracks and multiple automated guided vehicles (AGVs), which move along the tracks to transport items to specific workstations.

[0003] In practical applications, before the automated guided vehicle (AGV) in this system can turn or move straight through a turning track, it often requires complex control to drive the relevant components so that the AGV can turn smoothly or move straight through the turning track. Therefore, the transfer efficiency of the AGV system cannot be improved.

[0004] As mentioned above, in practice, in order to ensure that the control module can correctly drive the relevant components before the automated guided vehicle turns (or before it moves straight through the turning track), the control module often has to start controlling the relevant components to operate when the automated guided vehicle is still some distance away from the turning track. And because the operation of the relevant components is slow, the speed of the automated guided vehicle must be reduced at the same time, thus affecting the transfer efficiency of the automated guided vehicle. Summary of the Invention

[0005] In view of this, this application discloses an aerial work platform automated guided vehicle system and an automated guided vehicle, mainly used to improve the problem that the transfer efficiency of existing aerial work platform automated guided vehicle systems cannot be improved.

[0006] One embodiment of this application discloses a high-altitude mobile automated guided vehicle (AGV) system, comprising: a plurality of straight lower tracks for installation near the ceiling of a factory building; the plurality of straight lower tracks are arranged side by side, with one end of two straight lower tracks on the same side spaced apart to form a branch gap; the ends of the two straight lower tracks forming the branch gap are respectively connected to a turning lower track; the plurality of straight lower tracks form at least one branch gap; a plurality of upper track groups, each upper track group including a straight upper track and a turning upper track; each upper track group is arranged adjacent to one of the branch gaps, and the turning upper track is located above the turning lower track connected to one of the straight lower tracks forming the branch gap; at least one automated guided vehicle, comprising: a frame for carrying an object to be transferred; at least one moving assembly disposed on the frame, the moving assembly comprising: a control module; at least one body; at least two The system includes drive wheel assemblies located on opposite sides of the main body, each drive wheel assembly adjacent to a lower end of the main body, and each drive wheel assembly containing at least one drive wheel. A control module controls each drive wheel assembly to move the drive wheels along a straight lower track. Two switching modules are electrically connected to the control module. At least two upper guide wheels are connected to one of the switching modules and located at an upper end of the main body. Each upper guide wheel is used to abut against a turning upper track or a straight upper track. The control module controls each switching module to move the corresponding upper guide wheel relative to the main body along an oblique path towards or away from the main body. The control module receives vehicle travel information. When the control module determines, based on the vehicle travel information, that the automated guided vehicle is about to pass the upper track assembly, it controls at least one switching module to move the corresponding upper guide wheel along an oblique path towards or away from the main body.

[0007] Optionally, the distance between the lower edge of the straight upper track and the plane where the straight lower track is located in the same upper track group is not equal to the distance between the lower edge of the curved upper track in the same upper track group and the plane.

[0008] Optionally, the control module can control each switching module to make the corresponding upper guide wheel move along an oblique path between a lower position close to the body and an upper position far from the body; when one of the upper guide wheels in the upper or lower position abuts against one of the turning upper rails or one of the straight upper rails, the body will be tilted, and one of the drive wheels will not contact the adjacent straight lower rail or turning lower rail.

[0009] Optionally, the control module can control at least one switching module to move at least one corresponding upper guide wheel to an upper or lower position before the automated guided vehicle passes through the upper rail group, based on the vehicle travel information; the moving kit also includes at least two lower guide wheels, one of which is located adjacent to one of the drive wheels, and the other is located adjacent to another drive wheel; during the passage of the automated guided vehicle through the upper rail group, drive wheels that do not contact adjacent straight or curved lower rails can cross branching intervals or rail gaps; the rail gap is formed by two straight lower rails arranged side by side, or by one straight lower rail and one curved lower rail; during the passage of the automated guided vehicle through the upper rail group, one drive wheel and its adjacent lower guide wheel will not contact adjacent straight or curved lower rails, while the other drive wheel and its adjacent lower guide wheel will contact adjacent straight or curved lower rails.

[0010] Optionally, when the control module determines that the automated guided vehicle will move along a preset main moving path based on the vehicle information, the control module will control at least one switching module before the automated guided vehicle moves along the preset main moving path, so that at least one corresponding upper guide wheel is in the upper or lower position, and the control module will no longer control the switching module to operate during the process of the automated guided vehicle moving along the preset main moving path; during the process of the automated guided vehicle moving along the preset main moving path, the automated guided vehicle passes through at least one branch interval and at least one upper track group.

[0011] Optionally, the preset main movement path is straight, turning first and then straight, or straight and then turning. If the preset main movement path is straight, the control module will not control any upper guide wheels to change position during the continuous turning process of the automated guided vehicle. If the preset main movement path is straight, the control module will control at least one upper guide wheel to change position before the automated guided vehicle turns along the upper track group.

[0012] Optionally, the moving kit also includes a guide wheel moving device, which includes a drive unit and two linkage components. The guide wheel moving device is disposed on the main body. The drive unit is electrically connected to the control module. One end of each linkage component is connected to the drive unit, and the other end of each linkage component is connected to one of the switching modules. The control module can control the drive unit to drive the two switching modules through the two linkage components, so that each upper guide wheel moves along an oblique path toward or away from the main body.

[0013] Optionally, the aerial work platform automated guided vehicle system also includes multiple identification units, each of which is located on one of the straight lower tracks, or each of which is located adjacent to one of the straight lower tracks; the automated guided vehicle also includes at least one sensor, which can sense adjacent identification units and generate position information accordingly; the control module can determine, based on the vehicle travel information and position information, whether it is necessary to control at least one switching module to change the current position of at least one upper guide wheel before the automated guided vehicle passes through the upper track group.

[0014] Optionally, each switching module includes two inclined guide rails, at least one upper stop member, and at least one lower stop member. Each inclined guide rail is provided with a slider, and each slider is connected to at least one upper guide wheel. The upper guide wheel can move along the inclined guide rail with the slider to move along an inclined path between an upper position away from the body and a lower position close to the body. The moving kit also includes at least two lower guide wheels, one of which is adjacent to one of the drive wheels, and the other is adjacent to the other drive wheel. When one of the upper guide wheels abuts against the turning upper rail or the straight upper rail, and the corresponding slider abuts against the adjacent upper stop member or the lower stop member, the body will be tilted. One of the drive wheels and the adjacent lower guide wheel will not contact the adjacent straight lower rail or the turning lower rail, while the other drive wheel and the adjacent lower guide wheel will contact the adjacent straight lower rail or the turning lower rail.

[0015] Optionally, at least one of the lower turning tracks is not equipped with an upper track group, but is equipped with an auxiliary turning upper track; when one of the upper guide wheels in the upper or lower position abuts against the auxiliary turning upper track, the body will be tilted.

[0016] One embodiment of this application discloses an automated guided vehicle (AGV) suitable for an aerial work platform system. The aerial work platform system includes multiple straight lower rails and multiple upper rail groups. The multiple straight lower rails are positioned near the ceiling of a factory building and are arranged side-by-side. Two straight lower rails on the same side are spaced apart at one end, forming a branching interval. The ends of the two straight lower rails forming the branching interval are respectively connected to a turning lower rail. The multiple straight lower rails form at least one branching interval. Each upper rail group includes a straight upper rail and a turning upper rail. Each upper rail group is positioned adjacent to one of the branching intervals, and the turning upper rail is located above the turning lower rail connected to one of the straight lower rails forming the branching interval. The AGV includes: a frame for carrying an object to be transferred; at least one moving assembly disposed on the frame, the moving assembly including: a control module. The system comprises: at least one main body; at least two drive wheel sets disposed on opposite sides of the main body, each drive wheel set being adjacent to a lower end of the main body and each drive wheel set containing at least one drive wheel; a control module capable of controlling each drive wheel set to move each drive wheel along a straight lower track; two switching modules electrically connected to the control module; at least two upper guide wheels, each upper guide wheel being connected to one of the switching modules and located at an upper end of the main body; each upper guide wheel being used to abut against a turning upper track or a straight upper track; the control module capable of controlling each switching module to move the corresponding upper guide wheel relative to the main body along an oblique path toward or away from the main body; wherein the control module is capable of receiving vehicle travel information; when the control module determines, based on the vehicle travel information, that the automated guided vehicle is about to pass the upper track set, the control module will control at least one switching module to move the corresponding upper guide wheel along an oblique path toward or away from the main body.

[0017] Optionally, the distance between the lower edge of the straight upper track and the plane where the straight lower track is located in the same upper track group is not equal to the distance between the lower edge of the curved upper track in the same upper track group and the plane; the control module can control each switching module to make the corresponding upper guide wheel move along the oblique path between a lower position close to the body and an upper position far away from the body; when one of the upper guide wheels in the upper or lower position abuts against one of the curved upper tracks or one of the straight upper tracks, the body will be tilted, and one of the drive wheels will not contact the adjacent straight lower track or curved lower track.

[0018] Optionally, the control module can control at least one switching module to move at least one corresponding upper guide wheel to an upper or lower position before the automated guided vehicle passes through the upper rail group, based on the vehicle travel information; the moving kit also includes at least two lower guide wheels, one of which is located adjacent to one of the drive wheels, and the other is located adjacent to another drive wheel; during the passage of the automated guided vehicle through the upper rail group, drive wheels that do not contact adjacent straight or curved lower rails can cross branching intervals or rail gaps; the rail gap is formed by two straight lower rails arranged side by side, or by one straight lower rail and one curved lower rail; during the passage of the automated guided vehicle through the upper rail group, one drive wheel and its adjacent lower guide wheel will not contact adjacent straight or curved lower rails, while the other drive wheel and its adjacent lower guide wheel will contact adjacent straight or curved lower rails.

[0019] Optionally, when the control module determines that the automated guided vehicle will move along a preset main moving path based on the vehicle information, the control module will control at least one switching module before the automated guided vehicle moves along the preset main moving path, so that at least one corresponding upper guide wheel is in the upper or lower position, and the control module will no longer control the switching module to operate during the process of the automated guided vehicle moving along the preset main moving path; during the process of the automated guided vehicle moving along the preset main moving path, the automated guided vehicle passes through at least one branch interval and at least one upper track group.

[0020] Optionally, the preset main movement path is straight, turning first and then straight, or straight and then turning. If the preset main movement path is straight, the control module will not control any upper guide wheels to change position during the continuous turning process of the automated guided vehicle. If the preset main movement path is straight, the control module will control at least one upper guide wheel to change position before the automated guided vehicle turns along the upper track group.

[0021] Optionally, the moving kit also includes a guide wheel moving device, which includes a drive unit and two linkage components. The guide wheel moving device is disposed on the main body. The drive unit is electrically connected to the control module. One end of each linkage component is connected to the drive unit, and the other end of each linkage component is connected to one of the switching modules. The control module can control the drive unit to drive the two switching modules through the two linkage components, so that each upper guide wheel moves along an oblique path toward or away from the main body.

[0022] Optionally, the automated guided vehicle (AGV) also includes at least one sensor that can sense an adjacent identification unit and generate position information accordingly. The control module can determine, based on the vehicle travel information and position information, whether it is necessary to control at least one switching module to change the current position of at least one upper guide wheel before the AAV passes through the upper track group. The AAV system also includes multiple identification units, each of which is located on one of the straight lower tracks, or each of which is located adjacent to one of the straight lower tracks.

[0023] Optionally, each switching module includes two inclined guide rails, at least one upper stop member, and at least one lower stop member. Each inclined guide rail is provided with a slider, and each slider is connected to at least one upper guide wheel. The upper guide wheel can move along the inclined guide rail with the slider to move along an inclined path between an upper position away from the body and a lower position close to the body. The moving kit also includes at least two lower guide wheels, one of which is adjacent to one of the drive wheels, and the other is adjacent to the other drive wheel. When one of the upper guide wheels abuts against the turning upper rail or the straight upper rail, and the corresponding slider abuts against the adjacent upper stop member or the lower stop member, the body will be tilted. One of the drive wheels and the adjacent lower guide wheel will not contact the adjacent straight lower rail or the turning lower rail, while the other drive wheel and the adjacent lower guide wheel will contact the adjacent straight lower rail or the turning lower rail.

[0024] One embodiment of this application discloses a moving kit for mounting on the frame of an automated guided vehicle (AGV) for carrying an object to be transferred. The AGV can move along multiple straight lower tracks and multiple upper track groups included in an aerial work platform AGV system via the moving kit. The multiple straight lower tracks are positioned near the ceiling of a factory building, arranged side-by-side. Two straight lower tracks on the same side are spaced apart at one end, forming a branching interval. The ends of the two straight lower tracks forming the branching interval are respectively connected to a turning lower track. The multiple straight lower tracks form at least one branching interval. Each upper track group includes a straight upper track and a turning upper track. Each upper track group is positioned adjacent to one of the branching intervals, and the turning upper track is located above the turning lower track connected to one of the straight lower tracks forming the branching interval. The moving kit includes: a control module; at least one... The system comprises: a body; at least two drive wheel sets, respectively disposed on opposite sides of the body, each drive wheel set being adjacent to a lower end of the body, each drive wheel set including at least one drive wheel; a control module capable of controlling each drive wheel set to move each drive wheel along a straight lower track; two switching modules electrically connected to the control module; at least two upper guide wheels, each upper guide wheel connected to one of the switching modules, each upper guide wheel located at an upper end of the body; each upper guide wheel for abutting against a turning upper track or a straight upper track; the control module capable of controlling each switching module to move the corresponding upper guide wheel relative to the body along an oblique path toward or away from the body; wherein the control module is capable of receiving vehicle travel information; when the control module determines, based on the vehicle travel information, that the automated guided vehicle is about to pass the upper track set, the control module will control at least one switching module to move the corresponding upper guide wheel along an oblique path toward or away from the body.

[0025] Optionally, the moving kit also includes at least two lower guide wheels, one of which is located adjacent to one of the drive wheels and the other is located adjacent to the other drive wheel; as the automated guided vehicle passes through the upper rail group, one of the drive wheels and its adjacent lower guide wheel will not contact the adjacent straight or curved lower rail, while the other drive wheel and its adjacent lower guide wheel will contact the adjacent straight or curved lower rail.

[0026] In summary, the aerial work platform automated guided vehicle system and automated guided vehicle of this application, through the design of the control module, guide wheel moving device, drive wheel set, and upper guide wheel included in the moving kit, and in conjunction with the design of the straight upper track and turning upper track included in the lower track and upper track set, can have better transfer efficiency than existing automated guided vehicle systems.

[0027] To further understand the features and technical content of this application, please refer to the following detailed description and drawings of this application. However, these descriptions and drawings are only used to illustrate this application and are not intended to limit the scope of protection of this application in any way. Attached Figure Description

[0028] Figure 1 and Figure 2 These are three-dimensional schematic diagrams from different perspectives of the first embodiment of the aerial work platform automated guided vehicle system of this application.

[0029] Figure 3 This is a cross-sectional schematic diagram of the first straight upper track and the first turning upper track of the first upper track group in the first embodiment of the aerial walking automated guided vehicle system of this application.

[0030] Figure 4 This is a cross-sectional schematic diagram of the second straight upper track and the second turning upper track of the second upper track group in the first embodiment of the aerial walking automated guided vehicle system of this application.

[0031] Figure 5 This is a schematic diagram of the aerial work platform automated guided vehicle of this application.

[0032] Figures 6 to 7 These are schematic diagrams from different perspectives showing the upper guide wheel of the mobile kit of the aerial work platform automated guided vehicle of this application in the upper position.

[0033] Figure 8 This is a schematic diagram showing the upper guide wheel of the mobile assembly of the aerial work platform automated guided vehicle of this application in the lower position.

[0034] Figure 9 and Figure 10 These are rear views of the upper guide wheel of the mobile assembly of the aerial work platform automated guided vehicle of this application in the upper and lower positions, respectively.

[0035] Figure 11 This is a top view of the automated guided vehicle (AGV) traveling in a straight line, according to the first embodiment of the aerial work platform AGV system of this application.

[0036] Figure 12 and Figure 13 These are rear views of the automated guided vehicle (AGV) in different states, as described in this application.

[0037] Figure 14 This is a top view of the automatic transport vehicle turning, representing the first embodiment of the aerial work platform automatic transport vehicle system of this application.

[0038] Figure 15 This is a side view of the automated guided vehicle turning, representing the first embodiment of the aerial work platform automated guided vehicle system of this application.

[0039] Figure 16 This is a rear view of the automated guided vehicle (AGV) of the first embodiment of the aerial work platform of this application when it is turning.

[0040] Figure 17 This is a top view of the first embodiment of the aerial work platform automated guided vehicle system of this application, showing the automated guided vehicle traveling straight and then turning.

[0041] Figure 18 This is a rear view of the automated guided vehicle (AGV) turning in the first embodiment of the aerial work platform AGV system of this application.

[0042] Figure 19 This is a three-dimensional schematic diagram of the automated guided vehicle (AGV) of the first embodiment of the aerial work platform system of this application, showing the AGV moving straight and then turning after entering the system.

[0043] Figure 20 This is a cross-sectional schematic diagram of the third straight upper track and the third turning upper track of the third upper track group in the first embodiment of the aerial walking automated guided vehicle system of this application.

[0044] Figure 21 This is a top view of the first embodiment of the aerial work platform automated guided vehicle system of this application, showing the automated guided vehicle turning in, going straight, and then turning again.

[0045] Figure 22 This is a perspective view of the second embodiment of the aerial work platform automated guided vehicle system of this application.

[0046] Figure 23 This is a cross-sectional schematic diagram of the fourth straight upper track and the fourth turning upper track of the fourth upper track group in the second embodiment of the aerial work platform automated guided vehicle system of this application.

[0047] Figure 24 This is a top view of the automated guided vehicle (AGV) moving straight after turning into the second embodiment of the aerial work platform system of this application.

[0048] Figure 25 This is a rear view of the automated guided vehicle (AGV) turning, according to a second embodiment of the aerial work platform AGV system of this application.

[0049] Figure 26 This is a perspective view of the third embodiment of the aerial work platform automated guided vehicle system of this application.

[0050] Figure 27 This is a cross-sectional schematic diagram of the fifth straight upper track and the fifth turning upper track of the fifth upper track group in the third embodiment of the aerial work platform automated guided vehicle system of this application.

[0051] Figure 28This is a top view of the automated guided vehicle (AGV) of the third embodiment of the aerial work platform system of this application, showing the AGV moving straight and then turning after entering the system.

[0052] Figure 29 This is a rear view of the automated guided vehicle (AGV) turning in the third embodiment of the aerial work platform AGV system of this application.

[0053] Figure 30 This is a top view of the fourth embodiment of the aerial work platform automated guided vehicle system of this application.

[0054] Figure 31 This is a cross-sectional schematic diagram of the sixth straight upper track and the sixth turning upper track of the sixth upper track group in the fourth embodiment of the aerial work platform automated guided vehicle system of this application.

[0055] Figure 32 and Figure 33 These are perspective and top views of the fifth embodiment of the aerial work platform automated guided vehicle system of this application.

[0056] Figure 34 and Figure 35 These are perspective and top views of the sixth embodiment of the aerial work platform automated guided vehicle system of this application. Detailed Implementation

[0057] In the following description, if it is indicated that a specific diagram is referred to or as shown in a specific diagram, it is only to emphasize that most of the relevant content mentioned in the following description appears in that specific diagram, but does not limit the following description to refer only to that specific diagram.

[0058] Please refer to the following: Figure 1 and Figure 2 These are perspective views of the first embodiment of the aerial work platform automated guided vehicle (AGV) system of this application from different angles. The AAV system A of this application is fixedly installed near the ceiling in various factory buildings, and is particularly suitable for use in semiconductor factories. The AAV system A of this application includes: multiple straight lower tracks, multiple turning lower tracks, multiple upper track groups, and multiple automated guided vehicles 100. Each automated guided vehicle 100 is used to carry objects to be transported, and the automated guided vehicle 100 mainly moves within the factory building along the multiple straight lower tracks and multiple turning lower tracks. When the automated guided vehicle 100 travels along the straight lower tracks and turning lower tracks to a position requiring a turn, the automated guided vehicle 100 will be guided by the adjacent upper track group to make the turn.

[0059] In the drawings of this embodiment, only a portion of the straight lower track, a portion of the turning lower track, a portion of the upper track assembly, and a portion of the automated guided vehicle (AGV) vehicles included in the aerial work platform AGV system A are shown. In practical applications, the number of the straight lower track, turning lower track, upper track assembly, and AGV vehicles 100 included in the aerial work platform AGV system A can be planned and designed according to the actual factory space, and is not limited here.

[0060] Multiple straight and multiple curved down rails are installed near the ceiling of the factory building. In practical applications, each straight and curved down rail can be suspended from the ceiling using brackets. The multiple straight down rails are arranged side-by-side, forming at least one branching interval. Specifically, one end of two straight down rails on the same side can be positioned facing each other, forming a branching interval, and this end of the two straight down rails forming the branching interval can be connected to a curved down rail.

[0061] For ease of explanation, the four straight lower tracks shown in the diagram of this embodiment are defined as a first straight lower track RD1, a second straight lower track RD2, a third straight lower track RD3, and a fourth straight lower track RD4, respectively; and the four turning lower tracks shown in the diagram of this embodiment are defined as a first turning lower track RR1, a second turning lower track RR2, a third turning lower track RR3, and a fourth turning lower track RR4, respectively. One end of the first straight lower track RD1 and one end of the second straight lower track RD2 are arranged facing each other, forming a first branching interval Z1. This end of the first straight lower track RD1 is connected to the first turning lower track RR1, and this end of the second straight lower track RD2 is connected to the second turning lower track RR2. One end of the third straight lower track RD3 and one end of the fourth straight lower track RD4 are arranged facing each other, forming a second branching interval Z2. This end of the third straight lower track RD3 is connected to the third turning lower track RR3, and this end of the fourth straight lower track RD4 is connected to the fourth turning lower track RR4.

[0062] The first straight lower track RD1 and the second straight lower track RD2 are located on the same side, and are arranged side-by-side front and back. The third straight lower track RD3 and the fourth straight lower track RD4 are located on the same side, and are arranged side-by-side front and back. The first straight lower track RD1 and the third straight lower track RD3 are arranged side-by-side left and right, and the second straight lower track RD2 and the fourth straight lower track RD4 are arranged side-by-side left and right. In any branching interval, no straight lower track or turning lower track is provided. The distance between the two straight lower tracks forming the branching interval and the width of the track spacing can be designed according to the actual dimensions of the automated guided vehicle 100; the figure shown is only one example.

[0063] It should be noted that in the diagram of this embodiment, the first branching interval Z1 and the second branching interval Z2 are located on different sides as an example, but this is not a limitation. In practical applications, the location of the automatic transport vehicle 100 when it needs to turn can be determined to determine whether the two adjacent branching intervals are on the same side or different sides.

[0064] The two upper orbit groups are defined as the first upper orbit group RU1 and the second upper orbit group RU2, respectively. The first upper orbit group RU1 and the second upper orbit group RU2 are respectively located adjacent to the first branching interval Z1 and the second branching interval Z2.

[0065] The first upper track group RU1 includes a first straight upper track RU11 and a first turning upper track RU12, with one end of the first straight upper track RU11 connected to one end of the first turning upper track RU12. The first upper track group RU1 is located above the first straight lower track RD1 and the second straight lower track RD2, and a portion of the first straight upper track RU11 is located above the first branching interval Z1, while the first turning upper track RU12 is located above the first turning lower track RR1. It should be noted that in different embodiments, the first turning lower track RR1 may also be located above the second turning lower track RR2.

[0066] The second upper track group RU2 includes a second straight upper track RU21 and a second turning upper track RU22, with one end of the second straight upper track RU21 connected to one end of the second turning upper track RU22. The second upper track group RU2 is located above the third straight lower track RD3 and the fourth straight lower track RD4, and a portion of the second straight upper track RU21 is located above the second branching interval Z2, while the second turning upper track RU22 is located above the third turning lower track RR3. It should be noted that in different embodiments, the second turning lower track RR2 may also be located above the fourth turning lower track RR4.

[0067] It should be noted that not every straight lower track has an upper track group above it. Every upper track group is necessarily located adjacent to one of the branching intervals. In other words, an upper track group is only located above the branching interval.

[0068] Please see Figure 3 The diagram shows a cross-sectional view of the first straight upper track and the first turning upper track of the first upper track group. The straight-line distance between the lower edge of the first straight upper track RU11 of the first upper track group RU1 and the plane E1 where the first straight lower track RD1 is located is defined as a first height H1, while the straight-line distance between the lower edge of the first turning upper track RU12 and the plane E1 is defined as a second height H2. The first height H1 is greater than the second height H2, and the surface on which the drive wheel moves on the first straight lower track RD1 is located on the same plane as plane E1.

[0069] Please see Figure 4 The diagram shows a cross-sectional view of the second straight upper track and the second turning upper track of the second upper track group. The straight-line distance between the lower edge of the second straight upper track RU21 of the second upper track group RU2 and the plane E2 containing the adjacent third straight lower track RD3 is defined as a third height H3, while the straight-line distance between the lower edge of the second turning upper track RU22 and plane E2 is defined as a fourth height H4. The third height H3 is greater than the fourth height H4, and the surface on which the drive wheel moves on the third straight lower track RD3 is located in the same plane as plane E2.

[0070] Please see Figure 5 This is a schematic diagram of the automated guided vehicle (AGV) of this application. The AGV 100 may include, for example, two moving parts 1, a frame 2, and a carrier holding device 3. The two moving parts 1 are disposed above the frame 2. The frame 2 includes a receiving space 21 below it for accommodating a carrier. The carrier holding device 3 is disposed on the frame 2 and located within the receiving space 21 to hold the carrier. The carrier can be used to carry objects to be transferred. The AGV 100 mainly moves along straight lower tracks and curved lower tracks using the moving parts 1, and carries objects to be transferred using the frame 2 and the carrier holding device 3. It should be noted that, for clarity of the AGV 100's movement along the straight lower tracks, curved lower tracks, and upper track groups, only a single moving part 1 of the AGV 100 is shown as a representative example in the drawings of various embodiments, while other components included in the AGV 100 are omitted.

[0071] When the aerial work platform automated guided vehicle system A of this application is applied in a semiconductor factory, the carrier may be, for example, a chip carrier (e.g., various FOUPs), and the carrier holding device 3 may be a carrier that holds or does not hold chips. In different embodiments, the carrier holding device 3 may also be a carrier capable of rotating the chip it holds.

[0072] It should be noted that in this embodiment, the automated guided vehicle 100 is used in a semiconductor factory as an example, and the automated guided vehicle 100 includes two moving parts 1, a frame 2 and a carrier holding device 3. However, in different application scenarios, the automated guided vehicle 100 may only include a single moving part 1, and the automated guided vehicle 100 may not include the carrier holding device 3, while the frame 2 may be used directly to carry the object to be moved.

[0073] Please refer to the following: Figures 6 to 10 , Figure 6 and Figure 7 These are schematic diagrams from different perspectives showing the upper guide wheel of the mobile assembly of the aerial work platform automated guided vehicle of this application in the upper position. Figure 8 This is a schematic diagram showing the upper guide wheel of the mobile assembly of the aerial work platform automated guided vehicle of this application in the lower position. Figure 9 and Figure 10 These are rear views of the upper guide wheel of the mobile assembly of the aerial work platform automated guided vehicle of this application in the upper and lower positions, respectively.

[0074] The mobile kit 1 includes a main body 11, a control module 12, two drive wheel sets (a first drive wheel set and a second drive wheel set), four lower guide wheels (two first lower guide wheels 15A and two second lower guide wheels 15B), a guide wheel moving device 17, two switching modules 18, and four upper guide wheels (first upper guide wheels 19A and second upper guide wheels 19B). The control module 12, the two drive wheel sets, the guide wheel moving device 17, the two switching modules 18, the four lower guide wheels, and the four upper guide wheels are all located on the main body 11. The number of drive wheel sets, lower guide wheels, switching modules 18, and upper guide wheels included in the mobile kit 1 is not limited to that shown in the figure and can be varied according to actual needs.

[0075] The control module 12 can receive the vehicle information transmitted by an external electronic device (such as the central control system in the factory) and control the two drive wheel sets and the guide wheel moving device 17 so that the automated guided vehicle 100 can move straight and turn along the straight track and the turning track, so that the automated guided vehicle 100 can move to a designated location (such as the area of ​​the straight track adjacent to a certain workstation).

[0076] Two drive wheel sets are defined as a first drive wheel set and a second drive wheel set, respectively. The first drive wheel set and the second drive wheel set are located on opposite sides of the main body 11. The first drive wheel set may, for example, include a first drive wheel 13 and a drive motor, and the second drive wheel set may, for example, include a second drive wheel 14 and a drive motor. The first drive wheel 13 and the second drive wheel 14 are both located near the lower end of the main body 11 (i.e., the end of the main body 11 near the linear lower track). The control module 12 can control each drive motor according to the travel information, thereby causing the first drive wheel 13 and the second drive wheel 14 to rotate, so that the moving kit 1 can drive the automated guided vehicle 100 to move on the linear lower track. In different embodiments, the first drive wheel set and the second drive wheel set may share the same drive motor, and the same drive motor may drive the first drive wheel 13 and the second drive wheel 14 to rotate synchronously through related gears or belts or other transmission components.

[0077] Four lower guide wheels are rotatably mounted on the lower end of the main body 11. Each lower guide wheel can rotate independently relative to the main body 11, and each lower guide wheel rotates around a longitudinal axis; while each drive wheel assembly rotates around a transverse axis. That is, the two drive wheel assemblies roll against the top surface of the straight lower track, while each lower guide wheel moves against the side surface (the surface adjacent to the top surface) of the straight lower track. The design of the four lower guide wheels prevents the main body 11 from tilting when moving in a straight line along the straight lower track, allowing the main body 11 to move more stably along the straight lower track; it also prevents the main body 11 from swaying when moving through a curve along the curve lower track, allowing the main body 11 to move more stably when turning. For ease of explanation, the two lower guide wheels located on the same side of the main body 11 are defined as the first lower guide wheel 15A, and the two lower guide wheels on the other side are defined as the second lower guide wheel 15B.

[0078] The guide wheel moving device 17 is electrically connected to the control module 12. The guide wheel moving device 17 is also connected to two switching modules 18. One switching module 18 connects to two first upper guide wheels 19A, and the other switching module 18 connects to two second upper guide wheels 19B. The two switching modules 18, the two first upper guide wheels 19A, and the two second upper guide wheels 19B are located at an upper end of the body 11. The control module 12 can control the guide wheel moving device 17 to actuate the two switching modules 18, thereby allowing each upper guide wheel to move along an oblique path P towards or away from the body 11, and to a position away from the body 11 (e.g., at an upper position). Figure 9 (as shown) and a position near the body 11 (such as) Figure 10The upper guide wheels can move between the upper guide wheels (as shown). In practical applications, each upper guide wheel can move approximately towards the center of the body 11 along the diagonal path P, or approximately away from the center of the body 11 along the diagonal path P. Each upper guide wheel is used to abut against the upper track assembly, thereby allowing the body 11 to move along the straight upper track or the curved upper track of the upper track assembly.

[0079] In practical applications, each switching module 18 may include two inclined guide rails 181, two sliders 182, an upper stop member 183, and four lower stop members 184. The two inclined guide rails 181 may be arranged side by side on the upper end of the body 11, and one end of the two inclined guide rails 181 may be arranged adjacent to each other.

[0080] Each inclined guide rail 181 is equipped with a slider 182. One slider 182 is connected to two first upper guide wheels 19A, and each first upper guide wheel 19A can rotate independently on the slider 182. The other slider 182 is connected to two second upper guide wheels 19B, and each second upper guide wheel 19B can rotate independently on the slider 182. Each first upper guide wheel 19A and each second upper guide wheel 19B can rotate relative to the slider 182 about a longitudinal axis. In practical applications, each first upper guide wheel 19A, each second upper guide wheel 19B, each first lower guide wheel 15A, and each second lower guide wheel 15B rotates about mutually parallel longitudinal axes.

[0081] Each of the first upper guide wheels 19A can move along the inclined guide rail 181 via the corresponding slider 182, so as to move between the upper and lower positions along the inclined path P; each of the second upper guide wheels 19B can move along the inclined guide rail 181 via the corresponding slider 182, so as to move between the upper and lower positions along the inclined path P.

[0082] When the two first upper guide wheels 19A are in the upper position, they can be positioned approximately above the center of the body 11; while when the two first upper guide wheels 19A are in the lower position, they can be positioned approximately to one side of the body 11. Similarly, when the two second upper guide wheels 19B are in the upper position, they can be positioned approximately above the center of the body 11; while when the two second upper guide wheels 19B are in the lower position, they can be positioned approximately to one side of the body 11.

[0083] In other words, when either upper guide wheel (first upper guide wheel 19A or second upper guide wheel 19B) moves from a lower position to an upper position along the oblique path P with the slider 182, the upper guide wheel moves simultaneously towards the center of the body 11 and towards the side away from the body 11; conversely, when either upper guide wheel moves from an upper position to a lower position along the oblique path P with the slider 182, the upper guide wheel moves simultaneously towards the side away from the center of the body 11 and towards the side closer to the body 11.

[0084] The guide wheel moving device 17 may include a drive unit 171, a transmission assembly (not shown), and two linkage assemblies 172. The drive unit 171 is disposed on the body 11, and the drive unit 171 may be, for example, a motor. The transmission assembly is connected to the drive unit 171, and the transmission assembly may be, for example, a gear or a belt. Each linkage assembly 172 is connected to the drive unit 171 through the transmission assembly, and one linkage assembly 172 is connected to one slider 182, while the other linkage assembly 172 is connected to the other slider 182.

[0085] When the control module 12 controls the drive unit 171 of the guide wheel moving device 17 to operate, the drive unit 171 will cause the two linkage components 172 to rotate simultaneously through the transmission component. The two linkage components 172 that rotate synchronously will drive the slider 182 connected to them to move along the inclined path P on the inclined guide rail 181, so that the two upper guide wheels (first upper guide wheel 19A or second upper guide wheel 19B) set on each slider 182 can move to the upper or lower position away from or close to the body 11.

[0086] In different embodiments, the moving kit 1 may also include two guide wheel moving devices 17, one of which is connected to one of the switching modules 18, and the other is connected to another switching module 18. The control module 12 can control either guide wheel moving device 17 independently, so that the corresponding two upper guide wheels (the first upper guide wheel 19A or the second upper guide wheel 19B) move independently of the other two upper guide wheels (the second upper guide wheel 19B or the first upper guide wheel 19A) to the upper or lower position. That is, in one case, the two upper guide wheels (the first upper guide wheel 19A or the second upper guide wheel 19B) provided on one of the sliders 182 may be in the upper position, while the two upper guide wheels (the second upper guide wheel 19B or the first upper guide wheel 19A) provided on the other slider 182 may be in the lower position.

[0087] like Figure 6 , Figure 8 , Figure 9 and Figure 10An upper stop member 183 is disposed between the adjacent ends of two inclined guide rails 181. Two lower stop members 184 are disposed at the other end of one inclined guide rail 181, and the other two lower stop members 184 are disposed at the other end of the other inclined guide rail 181. When the two first upper guide wheels 19A and the two second upper guide wheels 19B are in the upper position, one side of the slider 182 will abut against the upper stop member 183, preventing the slider 182 from moving upwards. When the two first upper guide wheels 19A and the two second upper guide wheels 19B are in the lower position, one side of the slider 182 will abut against the lower stop member 184, preventing the slider 182 from moving downwards. The upper stop member 183 is mainly used to cooperate with the upper rail assembly to jointly restrict the slider 182 in the upper position; while the lower stop members 184 are mainly used to cooperate with the upper rail assembly to jointly restrict the slider 182 in the lower position.

[0088] It should be noted that, in this embodiment, each switching module 18 includes components such as an inclined guide rail 181 and a slider 182, so that the upper guide wheel (first upper guide wheel 19A or second upper guide wheel 19B) can move along the inclined path P between an upper position away from the body 11 and a lower position close to the body 11. However, the components included in each switching module 18 are not limited to those described in this embodiment. As long as each switching module 18 can be controlled by the control module 12 to move the upper guide wheel (first upper guide wheel 19A or second upper guide wheel 19B) along the inclined path P between an upper position away from the body 11 and a lower position close to the body 11, it should be within the scope of application of the switching module 18.

[0089] Please reconsider. Figure 1 In practical applications, the aerial work platform automated guided vehicle system A also includes multiple identification units 200, which are disposed on or adjacent to the straight track. The automated guided vehicle 100 also includes at least one sensor (not shown), which may be disposed on the body 11. The sensor can sense adjacent identification units 200 and generate position information accordingly.

[0090] For example, in one embodiment, the identification unit 200 can be various types of barcodes, and the identification unit 200 can be positioned on a linear track. The sensor can be a barcode reader; however, the identification unit 200 and the sensor are not limited to these. In different embodiments, the identification unit 200 can also be various types of smart tags (e.g., RFID tags, NFC tags, etc.), and therefore the sensor corresponds to a reader capable of reading smart tags. In different embodiments, the identification unit 200 can also be a reflective strip, a magnetic sensing element, etc., and therefore the sensor corresponds to a beam emitter / receiver, a magnetic sensor, etc.

[0091] It should be emphasized that in the drawings of this embodiment, the identification unit 200 is set on the lower straight track as an example, but the setting position of the identification unit 200 is not limited to this. In actual applications, the identification unit 200 can also be set independently on a bracket of the lower straight track and the upper track group, and one end of the bracket is fixed to the ceiling.

[0092] As previously stated, each upper track group is set adjacent to a branch interval. When the automated guided vehicle 100 passes through the branch interval, it will either go straight or turn. Therefore, in practical applications, the control module 12 will determine whether the automated guided vehicle 100 should go straight or turn when passing through the branch interval based on the vehicle travel information and position information, thereby controlling the guide wheel moving device 17 to make the switching module 18 drive the upper guide wheel to move to the upper or lower position.

[0093] More specifically, when the control module 12 determines, based on the vehicle information, that the automated guided vehicle 100 will move along a preset main moving path, the control module 12 will control the switching module 18 before the automated guided vehicle 100 enters the preset main moving path, so that the upper guide wheel is in an upper or lower position; and during the movement of the automated guided vehicle 100 along the preset main moving path, the control module 12 will no longer control the switching module 18 to operate, thus keeping the upper guide wheel in the upper or lower position. During the movement of the automated guided vehicle 100 along the preset main moving path, the automated guided vehicle 100 may pass through at least one branch interval and at least one upper track assembly.

[0094] In a preferred embodiment, when the two upper guide wheels (first upper guide wheel 19A or second upper guide wheel 19B) disposed on the same slider 182 are in the upper or lower position, the two upper guide wheels will abut against one side of one of the curved upper tracks, or the two upper guide wheels will abut against one side of one of the straight upper tracks, so that the body 11 is tilted. One of the drive wheels (first drive wheel 13 or second drive wheel 14) will not contact its adjacent straight lower track or curved lower track; that is, one drive wheel will be lifted and suspended in the air. The suspended drive wheel can then cross the branching interval or track interval. Of course, when the body 11 is tilted and one drive wheel does not contact its adjacent straight lower track or curved lower track, the other drive wheel will contact its adjacent straight lower track or curved lower track, and the two lower guide wheels (first lower guide wheel 15A or second lower guide wheel 15B) located on the same side will also abut against the inner side of the lower track.

[0095] In practical applications, the preset main movement path can be planned and designed by the relevant track construction personnel based on the route most frequently traveled by the automated guided vehicle 100, without any restrictions. For example, assuming that the route most frequently traveled by the automated guided vehicle 100 in the factory is straight, the relevant track construction personnel can set the preset main movement path to straight and design the upper rails and automated guided vehicle according to the preset main movement path.

[0096] More specifically, please refer to the following: Figure 1 , Figure 6 , Figures 11 to 13 , Figure 11 This is a top view schematic diagram of the automated guided vehicle (AGV) traveling in a straight line, according to the first embodiment of the aerial work platform AGV system of this application. Figure 12 and Figure 13 These are rear views of the automated guided vehicle (AGV) in different states, as described in this application.

[0097] Assuming in Figure 11 In the preset main movement path, the automatic transport vehicle 100 moves straight through the first upper track group RU1 and the second upper track group RU2. When the control module 12 determines that the automatic transport vehicle 100 has moved to the front of the first upper track group RU1 based on the vehicle information and position information, the control module 12 will control the guide wheel moving device 17, so that the two switching modules 18 drive the two first upper guide wheels 19A and the two second upper guide wheels 19B to move together to the upper position. During the process of the automatic transport vehicle 100 moving along the preset main movement path (straight), the control module 12 will no longer control the guide wheel moving device 17, so that the two first upper guide wheels 19A and the two second upper guide wheels 19B remain in the upper position. In other words, before the automated guided vehicle 100 passes through the first upper track group RU1, the control module 12 will control the two first upper guide wheels 19A and the two second upper guide wheels 19B to be in the upper position. During the period when the automated guided vehicle 100 passes through the first upper track group RU1, before passing through the second upper track group RU2, and during the period when passing through the second upper track group RU2, the two first upper guide wheels 19A and the two second upper guide wheels 19B will remain in the upper position, so that the control module 12 does not need to control the guide wheel moving device 17. In this way, the automated guided vehicle 100 can quickly pass through the first upper track group RU1 and the second upper track group RU2, thereby achieving the effect of passing through multiple branch intervals at a relatively high speed.

[0098] like Figure 12 As shown, when the automated guided vehicle 100 passes through the first upper track group RU1, the two first upper guide wheels 19A will abut against one side of the first straight upper track RU11, and the slider 182 connected to the two first upper guide wheels 19A will abut against the upper stop member 183, so that the automated guided vehicle 100 is positioned as... Figure 12The Automated Guide Cart 100 is tilted to the right. Because the Automated Guide Cart 100 is tilted, the first drive wheel 13 will be lifted, and the first drive wheel 13 and the first lower guide wheel 15A will not contact their adjacent first straight lower track RD1. That is, the first drive wheel 13 and the first lower guide wheel 15A will be suspended in the air. In contrast, the second drive wheel 14 and the second lower guide wheel 15B will contact the third straight lower track RD3, and the Automated Guide Cart 100 will move on the third straight lower track RD3 by means of the second drive wheel 14 and the second lower guide wheel 15B.

[0099] like Figure 11 and Figure 12 As shown, during the process of the automated guided vehicle 100 passing through the first upper track group RU1, since the automated guided vehicle 100 is in an inclined state, the first drive wheel 13 will not contact the first straight lower track RD1, allowing the first drive wheel 13 to cross the first branching interval Z1. In other words, by making the first upper guide wheel 19A abut against the first straight upper track RU11, and thus making the automated guided vehicle 100 tilted, the lifted first drive wheel 13 can cross the branching interval.

[0100] Conversely, assuming the automated guided vehicle 100 is not tilted when passing through the first branching interval Z1, the first drive wheel 13 will not be in contact with the first straight lower track RD1, causing the automated guided vehicle 100 to suddenly tilt when passing through the branching interval Z1 without tracks. Furthermore, after passing through the first branching interval Z1, the first drive wheel 13 may not be able to smoothly move to the upper surface of the second straight lower track RD2 because it is not in contact with the first straight lower track RD1. Therefore, by designing the automated guided vehicle 100 to be tilted by cooperating with the upper track assembly, the drive wheels of the automated guided vehicle 100 can smoothly cross the branching interval.

[0101] like Figure 11 and Figure 13 As shown, during the process of the automated guided vehicle 100 passing through the second upper track group RU2, the two second upper guide wheels 19B will abut against one side of the second straight upper track RU21, and the automated guided vehicle 100 will appear as follows. Figure 13 The image shows a tilted-to-the-left position. This is presented as a characteristic of the automated guided vehicle 100. Figure 13In the tilted state shown, the second drive wheel 14 will be lifted and will not contact the third straight lower track RD3, while the first drive wheel 13 and the first lower guide wheel 15A will contact the second straight lower track RD2. The automated guided vehicle 100 then moves along the second straight lower track RD2 using the first drive wheel 13 and the first lower guide wheel 15A. When the automated guided vehicle 100 is in the tilted state shown... Figure 13 As shown in the inclined shape, during the process of passing through the second upper track group RU2, the second drive wheel 14 will be able to smoothly cross the second branch interval Z2.

[0102] As described above, the control module 12 only needs to control the two first upper guide wheels 19A and the two second upper guide wheels 19B to move to the upper position before the automated guided vehicle 100 moves straight along the preset main moving path. After that, no matter how many upper rail groups the automated guided vehicle 100 passes through, the control module 12 does not need to change the position of the two first upper guide wheels 19A and the two second upper guide wheels 19B. In this way, the automated guided vehicle 100 can maintain a relatively high speed when moving straight along the preset main moving path, thereby effectively improving the transfer efficiency of the automated guided vehicle system.

[0103] It should be noted that in this embodiment, the example is taken as the automated guided vehicle 100 moving straight along a preset main moving path and passing through two upper track groups located on different sides. However, the number of upper track groups passed by the automated guided vehicle 100 during its straight movement along the preset main moving path, and whether the multiple upper track groups are located on different sides, can be varied according to actual needs. For example, in one variation of this embodiment, during the automated guided vehicle 100's straight movement along the preset main moving path, all the upper track groups passed by the automated guided vehicle 100 may be located on the same side, or some of the upper track groups may be located on the same side, and some of the upper track groups may be located on different sides.

[0104] Furthermore, it is worth mentioning that the first upper track group RU1 is only adjacent to the first branching interval Z1, and the second upper track group RU2 is only adjacent to the second branching interval Z2. Therefore, the automated guided vehicle 100 will only tilt when passing through the first upper track group RU1 and the second upper track group RU2; and the automated guided vehicle 100 will not tilt when moving without passing through the upper track groups. In other words, as Figure 11As shown, when the automated guided vehicle 100 passes through the first upper rail group RU1, the automated guided vehicle 100 will tilt, allowing the first drive wheel 13 to cross the first branching interval Z1. After the automated guided vehicle 100 passes through the first upper rail group RU1, the automated guided vehicle 100 will no longer tilt, and the first drive wheel 13 will contact the second straight lower rail RD2. When the automated guided vehicle 100 passes through the second upper rail group RU2, the automated guided vehicle 100 will tilt again, allowing the second drive wheel 14 to cross the second branching interval Z2. After the automated guided vehicle 100 passes through the second upper rail group RU2, the automated guided vehicle 100 will no longer tilt, and the second drive wheel 14 will abut against the fourth straight lower rail RD4.

[0105] Please refer to the following: Figure 1 , Figure 6 , Figures 14 to 16 , Figure 14 This is a top view of the turning of the automated guided vehicle (AGV) in the first embodiment of the aerial work platform AGV system of this application. Figure 15 This is a schematic diagram of the automated guided vehicle (AGV) turning in the first embodiment of the aerial work platform AGV system of this application. Figure 16 This is a rear view of the automated guided vehicle (AGV) of the first embodiment of the aerial work platform of this application when it is turning.

[0106] Continue uploading Figure 11 In the aforementioned embodiment, assuming the preset main movement path is straight, if the control module 12 determines, based on the vehicle information, that the automated guided vehicle 100 needs to turn when passing through the first upper track group RU1, then the control module 12 will control the guide wheel moving device 17 to simultaneously position the two first upper guide wheels 19A and the two second upper guide wheels 19B in the lower position.

[0107] like Figures 14 to 16 As shown, when the control module 12 positions both first upper guide wheels 19A and both second upper guide wheels 19B in the lower position, during the process of the automated guided vehicle 100 passing through the first upper track group RU1, the first upper guide wheel 19A will abut against one side of the first turning upper track RU12, and the slider 182, which is provided with the first upper guide wheel 19A, will abut against its adjacent lower stop member 184. Therefore, the automated guided vehicle 100 will present a positional relationship as shown by the relative positions of the first upper guide wheel 19A, slider 182, lower stop member 184, and first turning upper track RU12. Figure 16In the leftward tilted state shown, the second drive wheel 14 and the second lower guide wheel 15B will not contact the third straight lower track RD3 and will be in a suspended state, while the first drive wheel 13 and the first lower guide wheel 15A will sequentially abut against the first straight lower track RD1 and the first turning lower track RR1.

[0108] As mentioned above, when the two first upper guide wheels 19A abut against one side of the first turning upper rail RU12 and the automated guided vehicle 100 is tilted, the automated guided vehicle 100 will turn along the first turning upper rail RU12 and the first turning lower rail RR1. During the turning process of the automated guided vehicle 100, the raised second drive wheel 14 will cross the first track interval X1 between the third straight lower rail RD3 and the second straight lower rail RD2.

[0109] like Figure 14 and Figure 16 As shown, during the process of the automated guided vehicle 100 turning through the first upper track group RU1, the automated guided vehicle 100 will remain tilted, allowing the second drive wheel 14 to cross the first track interval X1. After the automated guided vehicle 100 passes through the first upper track group RU1, the automated guided vehicle 100 will no longer be tilted, allowing the second drive wheel 14 of the automated guided vehicle 100 to contact the second lower turning track RR2.

[0110] It is worth mentioning that, such as Figure 3 and Figure 6 As shown, since the first height H1 is greater than the second height H2, during the process of the automated guided vehicle 100 turning along the first upper track group RU1, the two second upper guide wheels 19B will pass under the first straight upper track RU11, and the two second upper guide wheels 19B will not contact the first straight upper track RU11.

[0111] In the existing technology, assuming that the speed of the automated guided vehicle (AGV) is 1 m / s when traveling straight, the speed of the AGV will be reduced to 0.4 to 0.5 m / s before turning. This allows the AGV's control module to control the operation of the turning-related components in real time and reduce the speed difference between the two drive wheels located on the inside and outside of the AGV, thereby allowing the AGV to turn smoothly.

[0112] In contrast, the aerial work platform automated guided vehicle (AGV) system and AGV of this application, because the AGV 100 is tilted during turning, and one of its drive wheels does not contact the adjacent straight or turning track, allows the AGV 100 to turn at a speed of 0.75 to 1 m / s, even if its straight-moving speed is 1 m / s. Therefore, compared to existing AGVs, the AGV of this application can turn at a relatively higher speed, resulting in better transfer efficiency.

[0113] Please refer to the following: Figure 17 and Figure 18 , Figure 17 This is a top view schematic diagram of the first embodiment of the aerial work platform automated guided vehicle system of this application, showing the automated guided vehicle first moving straight and then turning. Figure 18 This is a rear view of the automated guided vehicle (AGV) in this application when it is turning. (Continued from upload) Figure 11 In the aforementioned embodiment, assuming the preset main movement path is straight, if the control module 12 determines, based on the vehicle information, that the automated guided vehicle 100 needs to go straight when passing through the first upper track group RU1 and needs to turn when passing through the second upper track group RU2, then the control module 12, based on the position information, determines that the automated guided vehicle 100 is about to pass through the first upper track group RU1. In this way, the control module 12 will control the guide wheel moving device 17 so that the two first upper guide wheels 19A and the two second upper guide wheels 19B are simultaneously in the upper position. Thus, the automated guided vehicle 100 will go straight when passing through the first upper track group RU1.

[0114] When the automated guided vehicle 100 passes through the first upper track group RU1, and the control module 12 determines that the automated guided vehicle 100 is about to pass through the second upper track group RU2 based on the position information, the control module 12 will control the guide wheel moving device 17 to move the two first upper guide wheels 19A and the two second upper guide wheels 19B from the upper position to the lower position.

[0115] When the two first upper guide wheels 19A and the two second upper guide wheels 19B move to the lower position, when the automated guided vehicle 100 passes through the second upper track group RU2, the two second upper guide wheels 19B will abut against one side of the second turning upper track RU22, and the automated guided vehicle 100 will be tilted. The first drive wheel 13 and the first lower guide wheel 15A will not contact the second straight lower track RD2, and the first drive wheel 13 will be suspended in the air. The second drive wheel 14 and the second lower guide wheel 15B will abut against the third straight lower track RD3 and the third turning lower track RR3 in sequence. Thus, the automated guided vehicle 100 will turn along the third turning lower track RR3 and the second upper track group RU2.

[0116] During the process of the automated guided vehicle 100 passing through the second upper track group RU2, since the first drive wheel 13 is in a suspended state, the first drive wheel 13 can cross the second track interval X2 between the second straight lower track RD2 and the fourth straight lower track RD4.

[0117] In short, if the control module 12 determines that the automated guided vehicle 100 needs to turn when passing through a certain upper track group, the control module 12 will control the guide wheel moving device 17 to change the position of the four upper guide wheels before the automated guided vehicle 100 turns, based on the vehicle information and position information. This allows the automated guided vehicle 100, which was originally moving straight, to turn along the adjacent turning lower track and upper track group when passing through the next upper track group.

[0118] Furthermore, in existing technologies, if the movement path of an automated guided vehicle (AGV) is to travel straight first and then turn, if the AAV is traveling straight at a speed of 1 m / s, its speed must be reduced to 0.5 m / s before turning to allow sufficient time for the relevant components to operate, thus ensuring that the AAV can turn smoothly. Moreover, the operation of the relevant components before turning in existing AAVs can cause vibrations, which may affect the stability of the items being transferred.

[0119] In contrast, the automated guided vehicle 100 of this application, during its movement along the preset main moving path (first straight, then turning), does not have its control module 12 activate the guide wheel moving device 17. Therefore, the automated guided vehicle 100 can move along the preset main moving path at a speed of 1 m / s, first straight and then turning; and the automated guided vehicle 100 does not need to reduce its speed before or during a turn. Thus, the automated guided vehicle 100 of this application has better transfer efficiency compared to existing automated guided vehicles. Furthermore, because the control module 12 does not activate the guide wheel moving device 17 during the movement of the automated guided vehicle 100 along the preset main moving path (first straight, then turning), the automated guided vehicle 100 of this application does not experience the vibration issues that occur in existing automated guided vehicles.

[0120] It is worth mentioning that, Figure 17The example given is that the automated guided vehicle 100 first travels straight through the first upper track group RU1 and then turns along the second upper track group RU2. However, the automated guided vehicle 100 can also travel in the opposite direction. That is, the two first upper guide wheels 19A and the two second upper guide wheels 19B of the automated guided vehicle 100 can be in the lower position first, allowing the automated guided vehicle 100 to turn along the second upper track group RU2. Then, the control module 12 moves the two first upper guide wheels 19A and the two second upper guide wheels 19B to the upper position, thereby allowing the automated guided vehicle 100 to travel straight through the first upper track group RU1.

[0121] Please refer to the following: Figure 6 , Figures 19 to 21 , Figure 19 This is a perspective view of the automated guided vehicle (AGV) of the first embodiment of the aerial work platform system of this application, showing the AGV moving straight and then turning after entering the space. Figure 20 This is a cross-sectional schematic diagram of the third straight upper track and the third turning upper track of the third upper track group in the first embodiment of the aerial work platform automated guided vehicle system of this application. Figure 21 This is a top view of the first embodiment of the aerial work platform automated guided vehicle system of this application, showing the automated guided vehicle turning in, going straight, and then turning again.

[0122] This embodiment and Figure 11 The difference shown is that this embodiment also includes a fifth straight lower track RD5, a fifth turning lower track RR5 and a sixth turning lower track RR6. One end of the fifth straight lower track RD5 is connected to the fifth turning lower track RR5, and one end of the third straight lower track RD3 is connected to the sixth turning lower track RR6. The end of the fifth straight lower track RD5 connected to the fifth turning lower track RR5 and the end of the third straight lower track RD3 connected to the sixth turning lower track RR6 form a branching interval.

[0123] This embodiment is compared to Figure 11 The illustrated embodiment further includes a third upper track group RU3, which includes a third straight upper track RU31 and a third turning upper track RU32. The lower edge of the third straight upper track RU31 is a fifth height H5 at a straight distance from the plane E3 where the adjacent third straight lower track RD3 is located, and the lower edge of the third turning upper track RU32 is a sixth height H6 at a straight distance from the plane E3. The fifth height H5 is greater than the sixth height H6, and the surface on which the drive wheel moves on the third straight lower track RD3 is located on the same plane as the plane E3.

[0124] Continue uploading Figure 11In the aforementioned embodiment, assuming the preset main movement path is straight, if the control module 12 determines, based on the vehicle information, that the automated guided vehicle 100 will first turn along the third upper track group RU3, then go straight for a straight distance, and finally turn again along the first upper track group RU1, then the control module 12 will control the guide wheel moving device 17 before the automated guided vehicle 100 passes through the third upper track group RU3, so that the two first upper guide wheels 19A and the two second upper guide wheels 19B are simultaneously in the lower position. Thus, during the process of the automated guided vehicle 100 passing through the third upper track group RU3, the two second upper guide wheels 19B will abut against one side of the third turning upper track RU32, causing the automated guided vehicle 100 to turn.

[0125] During the turning process of the automated guided vehicle 100 along the third upper track group RU3, the automated guided vehicle 100 will be tilted and the first drive wheel 13 will be suspended in the air, so that the first drive wheel 13 can cross the third track interval X3 between the first straight lower track RD1 and the fifth straight lower track RD5.

[0126] If the control module 12 determines, based on the vehicle travel information, that the straight-line distance is less than a preset distance, then after the automated guided vehicle 100 passes the third upper rail group RU3, the control module 12 no longer controls the two first upper guide wheels 19A and the two second upper guide wheels 19B to change position, thereby maintaining the two first upper guide wheels 19A and the two second upper guide wheels 19B in the lower position. After the automated guided vehicle 100 passes the third upper rail group RU3 and moves the straight-line distance, the two first upper guide wheels 19A will abut against one side of the first turning upper rail RU12, and the automated guided vehicle 100 can continue to turn along the first upper rail group RU1.

[0127] In other words, during the process where the automated guided vehicle 100 first turns along the third upper track group RU3, then travels straight for a certain distance, and then turns again along the first upper track group RU1, the control module 12 only needs to control the guide wheel moving device 17 before the automated guided vehicle 100 passes through the third upper track group RU3, so that each upper guide wheel is in the lower position. After that, the control module 12 will not change the position of each upper guide wheel until the automated guided vehicle 100 has completely passed through the first upper track group RU1.

[0128] It should be noted that when the automated guided vehicle 100 is not passing the upper track assembly, it mainly moves on the straight lower track via its two drive wheels. Therefore, whether the upper guide wheels are in the upper or lower position when the automated guided vehicle 100 is not passing the upper track assembly will not affect its movement on the straight lower track. In other words, the aforementioned preset distance can be designed according to actual needs.

[0129] In addition, the automated guided vehicle 100 only tilts when passing through the upper track group. After passing through the upper track group, the automated guided vehicle 100 will no longer tilt, and each drive wheel of the automated guided vehicle 100 will contact its adjacent straight lower track, allowing the automated guided vehicle 100 to move along the straight lower track through its drive wheels.

[0130] In short, if the preset main movement path is to turn in, go straight, and then turn again, the control module 12 may not control any of the upper guide wheels to change position during the multiple turns of the automated guided vehicle 100. Instead, the control module 12 will only control at least one upper guide wheel to be in an upper or lower position before the automated guided vehicle 100 turns along the first upper track group.

[0131] In existing technologies, if an automated guided vehicle (AGV) needs to move straight and then turn after entering a position, it requires repeated switching of related components. This necessitates a significant reduction in the AGV's speed; otherwise, it will be unable to smoothly complete the straight-line and turn maneuver after entering a position. In contrast, the AGV of this application can move straight and then turn at a relatively faster speed after entering a position, thus achieving better transfer efficiency compared to existing AGVs.

[0132] Please refer to the following: Figures 22 to 25 , Figure 22 This is a perspective view of the second embodiment of the aerial work platform automated guided vehicle system of this application. Figure 23 This is a cross-sectional schematic diagram of the fourth straight upper track and the fourth turning upper track of the fourth upper track group in the second embodiment of the aerial work platform automated guided vehicle system of this application. Figure 24 This is a top view of the automated guided vehicle (AGV) traveling straight after turning, according to the second embodiment of the aerial work platform AGV system of this application. Figure 25 This is a rear view of the automated guided vehicle (AGV) turning, according to a second embodiment of the aerial work platform AGV system of this application.

[0133] This embodiment is the same as the aforementioned Figure 11 The first difference in the illustrated embodiment is that the preset main movement path is to turn first and then go straight. This embodiment differs from the aforementioned... Figure 11 The second difference in the embodiment shown is that the end of the third straight lower track RD3 that is connected to the third turning lower track RR3 is opposite to a sixth straight lower track RD6. The end of the sixth straight lower track RD6 that faces the third straight lower track RD3 is connected to a seventh turning lower track RR7. The end of the third straight lower track RD3 that faces the sixth straight lower track RD6 is connected to an eighth turning lower track RR8. A branching interval is formed between the third straight lower track RD3 and the sixth straight lower track RD6.

[0134] This embodiment is the same as the aforementioned Figure 11 The third difference in the illustrated embodiment is that this embodiment also includes a fourth upper track group RU4. The fourth upper track group RU4 includes a fourth straight upper track RU41 and a fourth turning upper track RU42. The fourth straight upper track RU41 is approximately located above the first straight lower track RD1, and the fourth turning upper track RU42 is approximately located above the eighth turning lower track RR8. The lower edge of the fourth straight upper track RU41 is a seventh height H7 at a straight-line distance from the plane E4 where the adjacent first straight lower track RD1 is located, and the lower edge of the fourth turning upper track RU42 is an eighth height H8 at a straight-line distance from the plane E4. The eighth height H8 is greater than the seventh height H7, and the surface on which the drive wheel moves on the first straight lower track RD1 is located on the same plane as plane E4.

[0135] like Figure 24 As shown, during the process of the automated guided vehicle 100 turning along the first turning upper track RU12 of the first upper track group RU1, the two second upper guide wheels 19B will abut against one side of the first turning upper track RU12, and the first drive wheel 13 will be lifted and the first drive wheel 13 will cross the first track interval X1.

[0136] like Figure 24 and Figure 25 As shown, since the preset main movement path is to turn first and then go straight, after the automated guided vehicle 100 turns along the first upper track group RU1, the control module 12 will no longer control the guide wheel moving device 17, and the two first upper guide wheels 19A and the two second upper guide wheels 19B will remain in the lower position. When the automated guided vehicle 100 moves along the fourth upper track group RU4, the two second upper guide wheels 19B will abut against one side of the fourth straight upper track RU41, and the automated guided vehicle 100 will be tilted. The first drive wheel 13 will not contact the third straight lower track RD3 and the sixth straight lower track RD6, allowing the first drive wheel 13 to cross a third branching interval Z3. The third branching interval Z3 is formed by one end of the sixth straight lower track RD6 and the seventh turning lower track RR7, and one end of the third straight lower track RD3 and the eighth turning lower track RR8.

[0137] like Figure 24As shown, it should be noted that in one of the variations of this embodiment, the preset main movement path can also be straight first and then turn. That is, the automated guided vehicle 100 first passes through the fourth upper track group RU4 and then turns along the first upper track group RU1. In this way, before the automated guided vehicle 100 passes through the fourth upper track group RU4, the control module 12 will control the two first upper guide wheels 19A and the two second upper guide wheels 19B to move to the lower position. Then, until the automated guided vehicle 100 has completely passed through the fourth upper track group RU4, the control module 12 does not need to control the two first upper guide wheels 19A and the two second upper guide wheels 19B to change their positions.

[0138] Please refer to the following: Figures 26 to 29 , Figure 26 This is a perspective view of the third embodiment of the aerial work platform automated guided vehicle system of this application. Figure 27 This is a cross-sectional schematic diagram of the fifth straight upper track and the fifth turning upper track of the fifth upper track group in the third embodiment of the aerial work platform automated guided vehicle system of this application. Figure 28 This is a top view of the automated guided vehicle (AGV) of the third embodiment of the aerial work platform system of this application, showing the AGV moving straight and then turning after entering the space. Figure 29 This is a rear view of the automated guided vehicle (AGV) turning in the third embodiment of the aerial work platform AGV system of this application.

[0139] This embodiment is the same as the aforementioned Figure 11 The first difference in the illustrated embodiment is that the preset main movement path is to turn first and then go straight. This embodiment differs from the aforementioned... Figure 11 The second difference in the embodiment shown is that the end of the third straight lower track RD3 that is connected to the third turning lower track RR3 is opposite to a seventh straight lower track RD7. The end of the seventh straight lower track RD7 that faces the third straight lower track RD3 is connected to a ninth turning lower track RR9. The end of the third straight lower track RD3 that faces the seventh straight lower track RD7 is connected to a tenth turning lower track RR10. A branching interval is formed between the third straight lower track RD3 and the seventh straight lower track RD7.

[0140] This embodiment is the same as the aforementioned Figure 11The third difference in the illustrated embodiment is that this embodiment also includes a fifth upper track group RU5. The fifth upper track group RU5 comprises a fifth straight upper track RU51 and a fifth turning upper track RU52. The fifth straight upper track RU51 is approximately located above the first straight lower track RD1, and the fifth turning upper track RU52 is approximately located above the ninth turning lower track RR9. The lower edge of the fifth straight upper track RU51 is at a straight-line distance of a ninth height H9 from the plane E5 where the adjacent first straight lower track RD1 is located, and the lower edge of the fifth turning upper track RU52 is at a straight-line distance of a tenth height H10 from the plane E5. The tenth height H10 is greater than the ninth height H9, and the surface on which the drive wheel moves on the first straight lower track RD1 is located on the same plane as plane E5.

[0141] like Figure 28 As shown, if the control module 12 determines, based on the vehicle information, that the automated guided vehicle will first go straight and then turn along the fifth upper track group RU5 after turning along the first upper track group RU1, then since the automated guided vehicle 100 does not move along the preset main movement path (turning first and then going straight), the control module 12 will control the two first upper guide wheels 19A and the two second upper guide wheels 19B to move from the lower position to the upper position after the automated guided vehicle 100 passes through the first upper track group RU1 and before the automated guided vehicle 100 enters the fifth upper track group RU5.

[0142] Following on, such as Figure 28 and Figure 29 As shown, during the process of the automated guided vehicle 100 passing through the fifth upper track group RU5, the two second upper guide wheels 19B located at the upper position will abut against one side of the fifth turning upper track RU52, and the automated guided vehicle 100 will be tilted, and the second drive wheel 14 will be suspended in the air. The second drive wheel 14 will be able to cross the fourth track interval X4 between the first straight lower track RD1 and the fifth straight lower track RD5. In contrast, the first drive wheel 13 and the first lower guide wheel 15A will move against the tenth turning lower track RR10.

[0143] Conversely, if the control module 12 determines, based on the vehicle information, that the automated guided vehicle 100 will proceed straight through the fifth upper track group RU5 after passing the first upper track group RU1, then the control module 12 will control the two first upper guide wheels 19A and the two second upper guide wheels 19B to be in the lower position before the automated guided vehicle 100 passes through the first upper track group RU1. After that, the control module 12 will not need to control the two first upper guide wheels 19A and the two second upper guide wheels 19B to change their positions until the automated guided vehicle 100 has completely passed through the fifth upper track group RU5.

[0144] Please refer to the following: Figure 30and Figure 31 , Figure 30 This is a top view of the fourth embodiment of the aerial work platform automated guided vehicle system of this application. Figure 31 This is a cross-sectional schematic diagram of the sixth straight upper track and the sixth turning upper track of the sixth upper track group in the fourth embodiment of the aerial work platform automated guided vehicle system of this application. This embodiment is similar to the aforementioned... Figure 11 The first difference in the embodiment shown is that this embodiment also includes: an eleventh-turn lower track RR11, a twelfth-turn lower track RR12, an eighth straight lower track RD8, a ninth straight lower track RD9, a tenth straight lower track RD10, and a sixth upper track group RU6.

[0145] The first turning lower track RR1, opposite to the end connected to the first straight lower track RD1, is also connected to an eleventh turning lower track RR11. The second turning lower track RR2, opposite to the end connected to the second straight lower track RD2, is also connected to a twelfth turning lower track RR12. The other end of the eleventh turning lower track RR11 is connected to an eighth straight lower track RD8, and the other end of the twelfth turning lower track RR12 is connected to a ninth straight lower track RD9. A section of the tenth straight lower track RD10 is arranged side by side with the eighth straight lower track RD8, and a section of the tenth straight lower track RD10 is arranged side by side with the ninth straight lower track RD9, with a fifth track gap X5 formed between the eighth straight lower track RD8 and the tenth straight lower track RD10. A branching gap is formed between the eighth straight lower track RD8 and the ninth straight lower track RD9.

[0146] The sixth upper track group RU6 includes a sixth straight upper track RU61 and a sixth turning upper track RU62. The sixth straight upper track RU61 is approximately located above the eighth straight lower track RD8 and the ninth straight lower track RD9, and the sixth turning upper track RU62 is approximately located above the twelfth turning lower track RR12. The lower edge of the sixth straight upper track RU61 is at an eleventh height H11 from the plane E6 where it is located, which is adjacent to the ninth straight lower track RD9. The lower edge of the sixth turning upper track RU62 is at a twelfth height H12 from the plane E6. The eleventh height H11 is greater than the twelfth height H12, and the surface on which the drive wheel moves on the ninth straight lower track RD9 is on the same plane as plane E6.

[0147] During the process of the automated guided vehicle 100 turning along the sixth upper track group RU6, the two second upper guide wheels 19B will abut against the sixth turning upper track RU62, and the automated guided vehicle 100 will be in an inclined state. The first drive wheel 13 will not contact the eighth straight lower track RD8 and the tenth straight lower track RD10, and the first drive wheel 13 will cross the fifth track interval X5.

[0148] Assuming the preset main movement path is straight, and the movement path of the automated guided vehicle 100 is: straight, continuous turning (turning along the first upper track group RU1, turning along the sixth upper track group RU6) and straight, the control module 12 only needs to position the two first upper guide wheels 19A and the two second upper guide wheels 19B in the lower position before the automated guided vehicle 100 passes through the first upper track group RU1. Then, until the automated guided vehicle 100 has completely passed through the sixth upper track group RU6, the control module 12 does not need to change the position of the two first upper guide wheels 19A and the two second upper guide wheels 19B.

[0149] In other words, if the preset main movement path is straight, and the automated guided vehicle 100 moves along... Figure 30 During the straight-line and continuous turning movement along the path, the control module 12 no longer needs to control the position changes of each upper guide wheel. Because the control module 12 does not need to frequently control the position changes of each upper guide wheel, the automated guided vehicle 100 can move more efficiently along the path. Figure 30 The path of movement.

[0150] In existing technology, if an automated guided vehicle needs to follow a certain path... Figure 30 The path movement requires the relevant control modules to repeatedly control the relevant components to ensure that the automated guided vehicle can smoothly pass through two turns in succession. This results in the automated guided vehicle having to move at a relatively low speed, which in turn reduces the transfer efficiency of the automated guided vehicle.

[0151] In summary, the aerial work platform automated guided vehicle system and automated guided vehicle of this application, through the aforementioned design of straight lower track, turning lower track, upper track assembly, and moving kit, allow relevant personnel to plan a preset main moving path according to the needs of the factory. This enables the automated guided vehicle to move along the main moving path at a relatively higher speed compared to existing technologies, thereby effectively improving the moving efficiency of the automated guided vehicle.

[0152] In the description and drawings of the above embodiments, it is taken as an example that one end of the straight upper track and one end of the curved upper track included in the upper track group are connected to each other. However, the straight upper track and the curved upper track included in the upper track group may not be connected to each other. That is, the straight upper track and the curved upper track may be independently suspended by relevant supports at a position near the ceiling of the factory building.

[0153] In addition, as described in the foregoing embodiments, the automated guided vehicle mainly uses the cooperation between the upper guide wheel and the straight or turning upper rail of the upper rail group to make the automated guided vehicle move straight or turn. Therefore, the positional relationship between the straight and turning upper rails of each upper rail group and the adjacent straight and turning lower rails can be designed according to actual needs.

[0154] It should be noted that the aforementioned curved lower tracks refer to those containing at least one curved track section; that is, in some cases, curved lower tracks may also contain a section that is partially straight. Conversely, the aforementioned straight lower tracks refer to those containing only straight sections. Furthermore, in practical applications, planes E1 to E6 can be located on the same horizontal plane.

[0155] Please refer to the following: Figure 32 and Figure 33 , Figure 32 and Figure 33 These are perspective and top views, respectively, of the fifth embodiment of the aerial work platform automated guided vehicle system of this application. This embodiment is related to... Figure 15 The biggest difference in the embodiment shown is that: instead of a first upper track group RU1, an auxiliary upper track RU7 is provided above the second lower track RR2, and the second lower track RR2 is connected to the third straight lower track RD3.

[0156] When the two second upper guide wheels 19B of the automated guided vehicle 100 are in the lower position and abut against the auxiliary turning upper rail RU7, the automated guided vehicle 100 will tilt (towards...). Figure 25 (The moving kit 1 shown is in the same posture), and the first drive wheel 13 of the automated guided vehicle 100 will be lifted so that the first drive wheel 13 does not contact the first straight lower track RD1 and the first turning lower track RR1, until the two second upper guide wheels 19B no longer abut against the auxiliary turning upper track RU7.

[0157] As described above, through the design of the auxiliary turning upper track RU7, during the turning process of the automated guided vehicle 100, the second drive wheel 14 and the second lower guide wheel 15B will abut against the third straight lower track RD3 and the second turning lower track RR2, while the first drive wheel 13 and the first lower guide wheel 15A will not abut against the first straight lower track RD1 and the first turning lower track RR1. With this design, the automated guided vehicle 100 can turn at a relatively high speed.

[0158] Please see Figure 34 and Figure 35 These are perspective and top views of the sixth embodiment of the aerial work platform automated guided vehicle system of this application. The biggest difference between this embodiment and the aforementioned fifth embodiment is that the auxiliary turning upper track RU8 is arranged adjacent to the upper part of the first turning lower track RR1, and during the process of the automated guided vehicle 100 turning along the auxiliary turning upper track RU8, the third straight lower track RD3 and the second turning lower track RR2, the two first upper guide wheels 19A are located in the upper position, and the automated guided vehicle 100 will be tilted (towards...). Figure 12 (The moving kit 1 shown is in the same posture), and the first drive wheel 13 of the automated guided vehicle 100 will be lifted so that the first drive wheel 13 does not contact the first straight lower track RD1 and the first turning lower track RR1, until the two first upper guide wheels 19A no longer abut against the auxiliary turning upper track RU8.

[0159] It should be noted that the automated guided vehicle and mobile kit in the aerial work platform system uploaded in this application can be manufactured, implemented and sold independently, and the automated guided vehicle mentioned above in this application is not limited to being manufactured, implemented or sold together with a straight lower track, a turning lower track and an upper track assembly.

[0160] The above description is only a preferred embodiment of this application and does not limit the scope of protection of this application. Therefore, all equivalent technical changes made based on the description and drawings of this application are included within the scope of protection of this application.

Claims

1. A high-altitude mobile automated guided vehicle system, characterized in that, The aerial work platform automated guided vehicle system includes: Multiple straight lower tracks are installed in a factory building near the ceiling; the multiple straight lower tracks are arranged side by side, with one end of two of the straight lower tracks on the same side spaced apart to form a branching interval; the ends of the two straight lower tracks that together form the branching interval are respectively connected to a turning lower track; the multiple straight lower tracks form at least one branching interval. Multiple upper track groups, each upper track group comprising a straight upper track and a curved upper track; each upper track group is disposed adjacent to one of the branching intervals, and the curved upper track is located above the curved lower track connected to one of the straight lower tracks forming the branching interval; and At least one automated guided vehicle, comprising: A vehicle frame, used to carry a load to be moved; and At least one mobility kit is disposed on the vehicle frame, the mobility kit comprising: One control module; At least one entity; At least two drive wheel sets are respectively disposed on opposite sides of the body, each drive wheel set is adjacent to a lower end of the body, and each drive wheel set includes at least one drive wheel; the control module can control each drive wheel set to make each drive wheel move on the straight track. Two switching modules are electrically connected to the control module; and At least two upper guide wheels, each upper guide wheel being connected to one of the switching modules, each upper guide wheel being located at an upper end of the body; each upper guide wheel being used to abut against the turning upper track or the straight upper track; the control module being able to control each of the switching modules to cause the corresponding upper guide wheel to move relative to the body along an oblique path toward or away from the body; The control module can receive a line of vehicle information; when the control module determines that the automated guided vehicle is about to pass the upper track group based on the line of vehicle information, the control module will control at least one of the switching modules to move the corresponding upper guide wheel along the oblique path toward or away from the main body; The distance between the lower edge of the straight upper track in the same upper track group and the plane where the straight lower track is located is not equal to the distance between the lower edge of the turning upper track in the same upper track group and the plane.

2. The aerial work platform automated guided vehicle system according to claim 1, characterized in that, The control module can control each of the switching modules to move the corresponding upper guide wheel along the oblique path between a lower position close to the body and an upper position far from the body; when one of the upper guide wheels located in the upper or lower position abuts against one of the turning upper rails or one of the straight upper rails, the body will be tilted, and one of the drive wheels will not contact the adjacent straight lower rail or turning lower rail.

3. The aerial work platform automated guided vehicle system according to claim 2, characterized in that, The control module can control at least one of the switching modules before the automated guided vehicle passes the upper track group, based on the driving information, so that at least one corresponding upper guide wheel moves to the upper position or the lower position; the moving kit also includes at least two lower guide wheels, one of which is adjacent to one of the drive wheels, and the other is adjacent to the other drive wheel; during the process of the automated guided vehicle passing the upper track group, the drive wheels that do not contact the adjacent straight lower track or the turning lower track will be able to cross the branching interval or a track interval; the track interval is composed of two straight lower tracks arranged side by side, or the track interval is composed of one straight lower track and one turning lower track; during the process of the automated guided vehicle passing the upper track group, one of the drive wheels and the adjacent lower guide wheel will not contact the adjacent straight lower track or the turning lower track, and the other drive wheel and the adjacent lower guide wheel will contact the adjacent straight lower track or the turning lower track.

4. The aerial work platform automated guided vehicle system according to claim 3, characterized in that, When the control module determines that the automated guided vehicle will move along a preset main moving path based on the driving information, the control module will control at least one of the switching modules before the automated guided vehicle moves along the preset main moving path, so that at least one of the corresponding upper guide wheels is in the upper position or the lower position. During the process of the automated guided vehicle moving along the preset main moving path, the control module will no longer control the switching module to operate. During the process of the automated guided vehicle moving along the preset main moving path, the automated guided vehicle passes through at least one branching interval and at least one upper track group.

5. The aerial work platform automated guided vehicle system according to claim 4, characterized in that, The preset main movement path is straight, turning first and then straight, or straight first and then turning. If the preset main movement path is straight, the control module will not control any of the upper guide wheels to change position during the continuous turning process of the automated guided vehicle. If the preset main movement path is straight, the control module will control at least one of the upper guide wheels to change position before the automated guided vehicle turns along the upper track group.

6. The aerial work platform automated guided vehicle system according to claim 1, characterized in that, The moving kit also includes a guide wheel moving device, which includes a drive unit and two linkage components. The guide wheel moving device is disposed on the main body. The drive unit is electrically connected to the control module. One end of each linkage component is connected to the drive unit, and the other end of each linkage component is connected to one of the switching modules. The control module can control the drive unit to drive the two switching modules through the two linkage components, so that each upper guide wheel moves along the oblique path toward or away from the main body.

7. The aerial work platform automated guided vehicle system according to claim 1, characterized in that, The aerial work platform automated guided vehicle system also includes multiple identification units, each of which is disposed on one of the straight lower rails, or each of which is disposed adjacent to one of the straight lower rails; the automated guided vehicle also includes at least one sensor, which can sense adjacent identification units and generate position information accordingly; the control module can determine, based on the vehicle travel information and the position information, whether it is necessary to control at least one of the switching modules to change the current position of at least one of the upper guide wheels before the automated guided vehicle passes through the upper rail group.

8. The aerial work platform automated guided vehicle system according to claim 1, characterized in that, Each of the switching modules includes two inclined guide rails, at least one upper stop member, and at least one lower stop member. Each of the inclined guide rails is provided with a slider, and each slider is connected to at least one upper guide wheel. The upper guide wheel can move along the inclined guide rail with the slider to move along the inclined path between an upper position away from the body and a lower position close to the body. The moving assembly also includes at least two lower guide wheels, one of which is adjacent to one of the drive wheels, and the other is adjacent to the other drive wheel. When one of the upper guide wheels abuts against the turning upper rail or the straight upper rail, and the corresponding slider abuts against the adjacent upper stop member or the lower stop member, the body will be tilted. One of the drive wheels and the adjacent lower guide wheel will not contact the adjacent straight lower rail or the turning lower rail, while the other drive wheel and the adjacent lower guide wheel will contact the adjacent straight lower rail or the turning lower rail.

9. The aerial work platform automated guided vehicle system according to claim 1, characterized in that, An auxiliary turning upper track is provided above at least one of the lower turning tracks; when one of the upper guide wheels located in the upper or lower position abuts against the auxiliary turning upper track, the body will be tilted.

10. An automated guided vehicle, characterized in that, The automated guided vehicle (AGV) is applicable to a high-altitude mobile AGV system. The high-altitude mobile AGV system includes multiple straight lower tracks and multiple upper track groups. The multiple straight lower tracks are installed near the ceiling of a factory building. The multiple straight lower tracks are arranged side-by-side, with one end of two straight lower tracks on the same side spaced apart to form a branching interval. The ends of the two straight lower tracks forming the branching interval are respectively connected to a turning lower track. The multiple straight lower tracks form at least one branching interval. Each upper track group includes a straight upper track and a turning upper track. Each upper track group is located adjacent to one of the branching intervals, and the turning upper track is located above the turning lower track connected to one of the straight lower tracks forming the branching interval. The AGV includes: A vehicle frame, used to carry a load to be moved; and At least one mobility kit is disposed on the vehicle frame, the mobility kit comprising: One control module; and At least one entity; At least two drive wheel sets are respectively disposed on opposite sides of the body, each drive wheel set is adjacent to a lower end of the body, and each drive wheel set includes at least one drive wheel; the control module can control each drive wheel set to make each drive wheel move on the straight track. Two switching modules are electrically connected to the control module; and At least two upper guide wheels, each upper guide wheel being connected to one of the switching modules, each upper guide wheel being located at an upper end of the body; each upper guide wheel being used to abut against the turning upper track or the straight upper track; the control module being able to control each of the switching modules to cause the corresponding upper guide wheel to move relative to the body along an oblique path toward or away from the body; The control module can receive a line of vehicle information; when the control module determines that the automated guided vehicle is about to pass the upper track group based on the line of vehicle information, the control module will control at least one of the switching modules to make the corresponding upper guide wheel move along the oblique path in a direction closer to or away from the main body; The distance between the lower edge of the straight upper track in the same upper track group and the plane where the straight lower track is located is not equal to the distance between the lower edge of the turning upper track in the same upper track group and the plane.

11. The automated guided vehicle according to claim 10, characterized in that, The control module can control each of the switching modules to move the corresponding upper guide wheel along the oblique path between a lower position close to the body and an upper position far from the body; when one of the upper guide wheels located in the upper or lower position abuts against one of the turning upper rails or one of the straight upper rails, the body will be tilted, and one of the drive wheels will not contact the adjacent straight lower rail or turning lower rail.

12. The automated guided vehicle according to claim 11, characterized in that, The control module can control at least one of the switching modules before the automated guided vehicle passes the upper track group, based on the driving information, so that at least one corresponding upper guide wheel moves to the upper position or the lower position; the moving kit also includes at least two lower guide wheels, one of which is adjacent to one of the drive wheels, and the other is adjacent to the other drive wheel; during the process of the automated guided vehicle passing the upper track group, the drive wheels that do not contact the adjacent straight lower track or the turning lower track will be able to cross the branching interval or a track interval; the track interval is composed of two straight lower tracks arranged side by side, or the track interval is composed of one straight lower track and one turning lower track; during the process of the automated guided vehicle passing the upper track group, one of the drive wheels and the adjacent lower guide wheel will not contact the adjacent straight lower track or the turning lower track, and the other drive wheel and the adjacent lower guide wheel will contact the adjacent straight lower track or the turning lower track.

13. The automated guided vehicle according to claim 12, characterized in that, When the control module determines that the automated guided vehicle will move along a preset main moving path based on the driving information, the control module will control at least one of the switching modules before the automated guided vehicle moves along the preset main moving path, so that at least one of the corresponding upper guide wheels is in the upper position or the lower position. During the process of the automated guided vehicle moving along the preset main moving path, the control module will no longer control the switching module to operate. During the process of the automated guided vehicle moving along the preset main moving path, the automated guided vehicle passes through at least one branching interval and at least one upper track group.

14. The automated guided vehicle according to claim 13, characterized in that, The preset main movement path is straight, turning first and then straight, or straight first and then turning. If the preset main movement path is straight, the control module will not control any of the upper guide wheels to change position during the continuous turning process of the automated guided vehicle. If the preset main movement path is straight, the control module will control at least one of the upper guide wheels to change position before the automated guided vehicle turns along the upper track group.

15. The automated guided vehicle according to claim 10, characterized in that, The moving kit also includes a guide wheel moving device, which includes a drive unit and two linkage components. The guide wheel moving device is disposed on the main body. The drive unit is electrically connected to the control module. One end of each linkage component is connected to the drive unit, and the other end of each linkage component is connected to one of the switching modules. The control module can control the drive unit to drive the two switching modules through the two linkage components, so that each upper guide wheel moves along the oblique path toward or away from the main body.

16. The automated guided vehicle according to claim 10, characterized in that, The automated guided vehicle (AGV) also includes at least one sensor, which can sense an adjacent identification unit and generate position information accordingly. The control module can determine, based on the vehicle travel information and the position information, whether it is necessary to control at least one switching module to change the current position of at least one upper guide wheel before the AAV passes the upper track group. The AAV system also includes multiple identification units, each of which is located on one of the straight lower tracks, or each of which is located adjacent to one of the straight lower tracks.

17. The automated guided vehicle according to claim 10, characterized in that, Each of the switching modules includes two inclined guide rails, at least one upper stop member, and at least one lower stop member. Each of the inclined guide rails is provided with a slider, and each slider is connected to at least one upper guide wheel. The upper guide wheel can move along the inclined guide rail with the slider to move along the inclined path between an upper position away from the body and a lower position close to the body. The moving assembly also includes at least two lower guide wheels, one of which is adjacent to one of the drive wheels, and the other is adjacent to the other drive wheel. When one of the upper guide wheels abuts against the turning upper rail or the straight upper rail, and the corresponding slider abuts against the adjacent upper stop member or the lower stop member, the body will be tilted. One of the drive wheels and the adjacent lower guide wheel will not contact the adjacent straight lower rail or the turning lower rail, while the other drive wheel and the adjacent lower guide wheel will contact the adjacent straight lower rail or the turning lower rail.

18. A mobile kit, characterized in that, The moving kit is mounted on the frame of an automated guided vehicle (AGV) for carrying an object to be transferred. The AGV can move along multiple straight lower tracks and multiple upper track groups included in an aerial work platform AGV system via the moving kit. The multiple straight lower tracks are positioned near the ceiling of a factory building, arranged side-by-side. Two of the straight lower tracks on the same side are spaced apart at one end, forming a branching interval. The ends of the two straight lower tracks forming the branching interval are respectively connected to a turning lower track. The multiple straight lower tracks form at least one branching interval. Each upper track group includes a straight upper track and a turning upper track. Each upper track group is positioned adjacent to one of the branching intervals, and the turning upper track is located above the turning lower track connected to one of the straight lower tracks forming the branching interval. The moving kit includes: One control module; At least one entity; At least two drive wheel sets are respectively disposed on opposite sides of the body, each drive wheel set is adjacent to a lower end of the body, and each drive wheel set includes at least one drive wheel; the control module can control each drive wheel set to make each drive wheel move on the straight track. Two switching modules are electrically connected to the control module; and At least two upper guide wheels, each upper guide wheel being connected to one of the switching modules, each upper guide wheel being located at an upper end of the body; each upper guide wheel being used to abut against the turning upper track or the straight upper track; the control module being able to control each of the switching modules to cause the corresponding upper guide wheel to move relative to the body along an oblique path toward or away from the body; The control module can receive a line of vehicle information; when the control module determines that the automated guided vehicle is about to pass the upper track group based on the line of vehicle information, the control module will control at least one of the switching modules to make the corresponding upper guide wheel move along the oblique path in a direction closer to or away from the main body; The distance between the lower edge of the straight upper track in the same upper track group and the plane where the straight lower track is located is not equal to the distance between the lower edge of the turning upper track in the same upper track group and the plane.

19. The mobile kit according to claim 18, characterized in that, The moving assembly also includes at least two lower guide wheels, one of which is located adjacent to one of the drive wheels, and the other of which is located adjacent to the other drive wheel; during the passage of the automated guided vehicle through the upper track assembly, one of the drive wheels and its adjacent lower guide wheel will not contact the adjacent straight lower track or the curved lower track, while the other drive wheel and its adjacent lower guide wheel will contact the adjacent straight lower track or the curved lower track.

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