Combined carrying system

Abstract

The invention discloses a combined carrying system which comprises an air walking carrying system and a walking shuttling system. A track of the walking shuttle vehicle is a circulating track with two closed ends; a plurality of aerial walking carrying systems are diverged around the track of the walking shuttle vehicle; when the air walking carrying vehicle of any air walking carrying system runs to the position closest to any walking shuttle vehicle of the walking shuttle system, the air walking carrying vehicles can grab away materials placed on the walking shuttle vehicles, and the materials are placed on the material placing stations through the air walking carrying vehicles. According to the combined type carrying system, transportation and carrying are separated, the transportation efficiency is improved while the transportation space is reduced, and the problems that in a traditional carrying system, due to the fact that transportation and carrying are combined together, the manufacturing cost, the maintenance cost and the like are high are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of logistics transportation, and in particular relates to a combined transportation system. Background Art

[0002] Unmanned handling systems have developed rapidly in recent years. The birth of unmanned handling systems in the logistics industry has greatly improved the development of the material industry. At present, the more common unmanned handling systems on the market are divided into two types: track-based and trackless. Trackless equipment mainly combines the operating mechanism and the robotic arm, with great freedom, but low operating efficiency; track-based equipment mainly combines large tracks and material handling vehicles, with high operating efficiency, but high construction and maintenance costs. It is necessary to lay tracks throughout the entire material transportation area, and multiple track change areas need to be set up. For material handling vehicles, a large number of sensor devices need to be set up to ensure the smooth progress of the transportation process.

[0003] Among the many modes of material transportation, there is a "segmented logistics" mode, which breaks down long-distance transportation tasks into multiple short-distance transportation segments, each segment is completed by a different driver or vehicle, and finally completes the entire transportation task. This mode helps to reduce transportation costs, improve transportation efficiency, and reduce the risk of driver fatigue driving.

[0004] Therefore, in order to solve the above-mentioned problems of the rail-type transport system in the prior art, a transport system that separates "transportation" and "moving" can be developed by referring to the "segmented logistics" model. Summary of the invention

[0005] The object of the present invention is to provide a combined transport system, which separates transportation and handling, reduces the transportation space while improving the transportation efficiency, and solves the problem of high manufacturing and maintenance costs caused by combining transportation and handling in traditional transport systems.

[0006] In order to achieve the above-mentioned purpose, the technical solution of the present invention is to design an aerial walking transport system and a walking shuttle system; the aerial walking transport system is composed of an aerial walking transport vehicle and its track; the walking shuttle system is composed of a walking shuttle vehicle and its track; The track of the walking shuttle is a circular track with closed ends, and a plurality of walking shuttles are running on the track; a plurality of aerial walking transport systems are radiated around the track of the walking shuttle, and the aerial walking transport vehicle of each aerial walking transport system can reciprocate along its track; When the aerial walking transport vehicle of any of the aerial walking transport systems runs to the position closest to any of the walking shuttle vehicles of the walking shuttle system, the aerial walking transport vehicle can grab the materials placed on the walking shuttle vehicle; the track of the aerial walking transport system passes through the material placement station, and the aerial walking transport vehicle places the materials on the material placement station.

[0007] Furthermore, the track of the walking shuttle includes a track changing section, a branch track and a circulating main line track. By changing the track through the track changing section, the walking shuttle can run to the branch track closest to a certain aerial walking transport system. After the aerial walking transport vehicle grabs the materials on the walking shuttle, the walking shuttle can return to its circulating main line track by changing the track through the track changing section.

[0008] Furthermore, the aerial walking transport vehicle comprises a walking component, a lifting component, a transverse moving power component, a mounting seat, a belt, and a gripper component; the walking component is a structure used for the aerial walking transport vehicle to move forward; the mounting seat comprises a mounting seat outer frame and a mounting seat inner frame, the mounting seat outer frame and the mounting seat inner frame constitute a double-layer drawer-type structure, the mounting seat inner frame and the transverse moving power component are both arranged on the inner side of the mounting seat outer frame, and the mounting seat inner frame is driven by the transverse moving power component to extend and retract outward along the outer frame; the action component is arranged on the outer frame of the mounting seat; the lifting component is arranged on the inner frame of the mounting seat; the lifting component is a mechanism that utilizes a belt for lifting and lowering, and one end of the belt of the lifting component is connected to the gripper component.

[0009] Furthermore, the lifting assembly includes a lifting base, a lifting drive motor, a winding wheel group, an idler wheel group, a shaking detection sensor and a gripper winding and positioning device; the lifting base is provided with a lifting drive motor, several groups of winding wheel groups and an idler wheel group, the rotating shaft of the lifting drive motor is connected to the winding wheel group, and the belt is wound around the winding wheel group and the idler wheel group; the lifting base is arranged on the inner surface of the inner frame of the mounting seat of the mounting seat; the gripper winding and positioning device is provided with a photoelectric switch, and the photoelectric switch controls the start and stop of the lifting drive motor.

[0010] Furthermore, the lateral movement power assembly includes a lateral movement drive motor and a meshing chain transmission device; the outer shell of the meshing chain transmission device is fixed on the inner side of the outer frame of the mounting seat, and the telescopic chain of the meshing chain transmission device is connected to the inner frame of the mounting seat, and the inner frame of the mounting seat is driven to slide outward along the slide rail through the telescopic chain of the meshing chain transmission device.

[0011] Furthermore, the gripper assembly includes a gripper seat, a limit baffle, a gripper winding positioning protrusion, and a connecting block; a plurality of connecting blocks are provided on the back side of the gripper seat, and the connecting blocks are connected to the belt; a limit baffle is provided on the front and rear side edges of the gripper seat; a gripper is provided at the front center of the gripper seat, and the gripper consists of a gripper shell, a gripper plate, a gripper plate hinge block, a clamping claw arm, and a screw motor; the gripper shell is placed in the center of the gripper seat, and a screw motor is provided in the gripper shell, the screw of the screw motor is a bidirectional screw, and two clamping claw arms that move synchronously in opposite directions are provided on the screw motor, and the outer ends of the two clamping claw arms are hinged with a gripper plate hinge block, and the gripper plate hinge block is hinged to the gripper plate.

[0012] Furthermore, a gripper reeling positioning protrusion is provided on the gripper seat; and a cable fixing bracket is also provided on the side edge of the gripper seat.

[0013] Furthermore, a mushroom head detection sensor is provided at the center of the outer side of the gripper housing.

[0014] Furthermore, a metal bar is provided on the track where the aerial walking transport vehicle is located, and power is transmitted to the aerial walking transport vehicle through the metal bar; a gripper power supply cable is also provided on the inner frame of the mounting seat, and power is supplied to the screw motor of the gripper assembly through the gripper power supply cable.

[0015] Furthermore, the walking shuttle vehicle includes a body, a material seat, a front wheel seat, a rear wheel seat, a rear wheel, and a front wheel; the front wheel seat and the rear wheel seat are movably installed under the front and rear of the body respectively, and the front wheel seat and the rear wheel seat can freely rotate counterclockwise or clockwise relative to the body; the front wheel seat is provided with two rows of front wheels arranged in parallel, and the rear wheel seat is provided with two rows of rear wheels arranged in parallel, and the track of the walking shuttle vehicle passes through the gap between the two rows of front wheels and the two rows of rear wheels; the front wheel is a driving wheel; a motor is arranged in the front wheel seat, the motor drives the front wheel to rotate, and the rear wheel is a driven wheel; a material seat is provided on the upper surface of the body.

[0016] Furthermore, a metal bar is provided on the track where the traveling shuttle is located, and power is transmitted to the traveling shuttle through the metal bar; a power-taking wheel is also provided in the front wheel seat of the traveling shuttle, and the power-taking wheel takes power from the metal bar on the track and supplies it to the motor in the front wheel seat.

[0017] The advantages and beneficial effects of the present invention are: 1) Compared with the handling equipment that integrates transportation and handling in the traditional handling system, the present invention is more cost-effective. The traditional handling system needs to lay a track that runs through the entire logistics area, and multiple track change facilities need to be set up in the track. Not only does the track occupy a large space, but it is also costly. In the present invention, the walking shuttle system is used as the "transfer area" of the entire handling system, and the materials are transferred on the walking shuttle system. During this process, multiple aerial walking handling systems arranged around the walking shuttle system can disperse and transport the materials on the walking shuttle system to material placement stations in different areas. It can be seen that the track of the walking shuttle system can be designed in the center of the entire logistics area, or in a location that is convenient for material transfer, and the track of each independent aerial walking handling system can also be set up in a single direction for a short distance without passing through the entire logistics area. Therefore, in terms of track layout, the track layout of the present invention is more flexible and the cost is lower.

[0018] 2) In traditional handling systems, since transportation and handling are integrated together, it is necessary to ensure smooth transportation and handling, and a large number of sensor devices need to be installed. For example, when the equipment needs to change tracks and turn, the connection between the track and the transport vehicle requires precision sensor equipment; for example, when the material is transported from the initial position to the transport vehicle, and then the material is transported from the transport vehicle to the handling station, the up and down process also requires sensor equipment for positioning, etc.; in the present invention, as long as the running tracks of the aerial walking transport vehicle and the walking shuttle vehicle are set in advance, it is ensured that when the aerial walking transport vehicle and the walking shuttle vehicle run to the nearest point, the aerial walking transport vehicle grabs the material on the walking shuttle vehicle, and then the aerial walking transport vehicle is responsible for moving the material to the handling station. During this process, the walking shuttle vehicle can maintain the original speed and does not need to stop, reducing the large number of sensor devices required when changing tracks in the traditional system.

[0019] 3) As mentioned above, the aerial walking transport system and the walking shuttle system operate independently and cooperate with each other to complete their own tasks. The aerial walking transport vehicle is responsible for point-to-point "moving", and the walking shuttle vehicle is responsible for "transportation" in centralized areas. Multiple aerial walking transport systems do not interfere with each other and can operate simultaneously, which greatly improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of the aerial transport vehicle.

[0021] Figure 2 This is a schematic diagram of the structure of the walking component.

[0022] Figure 3 A schematic diagram of the structure of the lifting component.

[0023] Figure 4 It is a schematic diagram of the front structure of the gripper assembly.

[0024] Figure 5 Schematic diagram of the back structure of the gripper assembly.

[0025] Figure 6 Schematic diagram of the internal structure of the gripper housing.

[0026] Figure 7 This is a schematic diagram of the structure of the walking shuttle from the front side perspective.

[0027] Figure 8 This is a schematic diagram of the structure of the walking shuttle from the bottom side perspective.

[0028] Fig. 9 Schematic diagram of the distribution of walking shuttles on the track.

[0029] Fig.10 It is a schematic diagram of the operation of the present invention.

[0030] Among them, the aerial walking transport vehicle 1, the walking component 1-1, the walking component mounting seat 1-1-1, the walking drive motor 1-1-2, the walking wheel 1-1-3, the lifting component 1-2, the lifting base 1-2-1, the lifting drive motor 1-2-2, the winding wheel group 1-2-3, the idler wheel group 1-2-4, the shaking detection sensor 1-2-5, the gripper winding positioning device 1-2-6, the gripper power supply cable 1-2-7, the lateral movement power component 1-3, the lateral movement drive motor 1-3-1, the meshing chain transmission device 1-3-2, the mounting seat 1-4, the mounting seat outer frame 1-4-1, the slide rail 1-4-2, the mounting seat inner frame 1-4-3, the belt 1-5 , gripper assembly 1-6, gripper seat 1-6-1, limit baffle 1-6-2, cable fixing bracket 1-6-3, gripper shell 1-6-4, mushroom head detection sensor 1-6-5, gripper plate 1-6-6, gripper plate hinge block 1-6-7, gripper winding positioning convex part 1-6-8, connecting block 1-6-9, first clamping jaw arm 1-6-10, second clamping jaw arm 1-6-11, limit plate 1-6-12, screw motor 1-6-13, walking assembly connecting block 1-7, walking shuttle 2, body 2-1, material seat 2-2, front wheel seat 2-3, rear wheel seat 2-4, rear wheel 2-5, front wheel 2-6, wafer box A, material placement station 3. DETAILED DESCRIPTION

[0031] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings and embodiments. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention. Example

[0032] like Figure 1 to Figure 9As shown, a combined transport system includes an aerial walking transport system and a walking shuttle system; the aerial walking transport system is composed of an aerial walking transport vehicle 1 and its track, and the walking shuttle system is composed of a walking shuttle vehicle 2 and its track; The track of the walking shuttle 2 is a circular track with closed ends, and a plurality of walking shuttles 2 are running on the track; a plurality of aerial walking transport systems are radiated around the track of the walking shuttle 2, and the aerial walking transport vehicle of each aerial walking transport system can reciprocate along its track; When the aerial walking transport vehicle 1 of any aerial walking transport system runs to the position closest to any walking shuttle vehicle 2 of the walking shuttle system, the aerial walking transport vehicle 1 can grab the materials placed on the walking shuttle vehicle 2; the track of the aerial walking transport system passes through the material placement station, and the aerial walking transport vehicle 1 places the materials on the material placement station.

[0033] The aerial walking transport vehicle 1 comprises a walking component 1-1, a lifting component 1-2, a lateral moving force component 1-3, a mounting seat 1-4, a belt 1-5, a gripper component 1-6, and a walking component connecting block 1-7.

[0034] The walking component 1 includes a walking component mounting seat 1-1-1, a walking drive motor 1-1-2, and a walking wheel 1-1-3; the walking component mounting seat 1-1-1 is provided with a walking drive motor 1-1-2 and a walking wheel 1-1-3, and the walking drive motor 1-1-2 drives the walking wheel 1-1-3.

[0035] The mounting seat 1-4 includes a mounting seat outer frame 1-4-1, a slide rail 1-4-2 and a mounting seat inner frame 1-4-3; the slide rails 1-4-2 are arranged on the inner walls of both sides of the mounting seat outer frame 1-4-1, the mounting seat inner frame 1-4-3 is located on the inner side of the mounting seat outer frame 1-4-1, and both sides of the mounting seat inner frame 1-4-3 slide on the slide rails 1-4-2.

[0036] The walking assembly mounting seat 1-1-1 of the walking assembly 1-1 is mounted on the outer surface of the mounting seat outer frame 1-4-1 of the mounting seat 1-4 through the walking assembly connecting block 1-7. A groove for the track to pass through is provided in the center of the walking assembly connecting block 1-7.

[0037] The lifting assembly 1-2 includes a lifting base 1-2-1, a lifting drive motor 1-2-2, a reel assembly 1-2-3, an idler assembly 1-2-4, a shaking detection sensor 1-2-5, a gripper reeling and positioning device 1-2-6, and a gripper power supply cable 1-2-7; the lifting base 1-2-1 is provided with a lifting drive motor 1-2-2, several reel assemblies 1-2-3 and an idler assembly 1-2-4, the rotating shaft of the lifting drive motor 1-2-2 is connected to the reel assembly 1-2-3, and the belt 1-5 is wound around the reel assembly 1-2-3 and the idler assembly 1-2-4. The lifting base 1-2-1 is provided with a shaking detection sensor 1-2-5 and a gripper reeling and positioning device 1-2-6, and the gripper reeling and positioning device 1-2-6 is provided with a photoelectric switch, which controls the start and stop of the lifting drive motor 1-2-2. The lifting base 1-2-1 is arranged on the inner surface of the mounting seat inner frame 1-4-3 of the mounting seat 1-4. A gripper power supply cable 1-2-7 is also arranged on the mounting seat inner frame 1-4-3.

[0038] The transverse movement force assembly 1-3 includes a transverse movement drive motor 1-3-1 and a meshing chain transmission device 1-3-2 (model ZCA35N500EL-J2F, brand: Tsubaki); the outer shell of the meshing chain transmission device 1-3-2 is fixed to the inner side of the mounting seat outer frame 1-4-1, and the telescopic chain of the meshing chain transmission device 1-3-2 is connected to the mounting seat inner frame 1-4-3, and the mounting seat inner frame 1-4-3 is driven to slide outward along the slide rail 1-4-2 through the telescopic chain of the meshing chain transmission device 1-3-2.

[0039] The gripper assembly 1-6 includes a gripper seat 1-6-1, a limit baffle 1-6-2, a cable fixing bracket 1-6-3, a gripper winding positioning protrusion 1-6-8, and a connecting block 1-6-9.

[0040] A plurality of connecting blocks 1-6-9 are provided on the back side of the gripper seat 1-6-1, and the connecting blocks 1-6-9 are connected to the belt 1-5. Limit baffles 1-6-2 for limiting the wafer box A body and the end cover are provided on the front and rear side edges of the gripper seat 1-6-1; a gripper winding positioning convex part 1-6-8 is provided on the gripper seat 1-6-1. When the belt 1-5 is wound upward, the gripper seat 1-6-1 rises to a position close to the bottom of the lifting base 1-2-1, and the tip of the gripper winding positioning convex part 1-6-8 extends into the gripper winding positioning device 1-2-6, and triggers the photoelectric switch located in the gripper winding positioning device 1-2-6 to stop the winding of the belt 1-5.

[0041] A cable fixing bracket 1-6-3 is also provided on the side edge of the gripper seat 1-6-1.

[0042] A gripper is provided at the front center of the gripper seat 1-6-1, and the gripper consists of a gripper housing 1-6-4, a mushroom head detection sensor 1-6-5, a gripper plate 1-6-6, a gripper plate hinge block 1-6-7, a first clamping claw arm 1-6-10, a second clamping claw arm 1-6-11, a limit plate 1-6-12, and a screw motor 1-6-13; the gripper housing 1-6-4 is arranged at the center of the gripper seat 1-6-1, and a screw motor 1-6-13 is provided in the gripper housing 1-6-4, and the screw motor 1-6-13 The screw rod is a bidirectional screw rod, and a first clamping arm 1-6-10 and a second clamping arm 1-6-11 are provided on the screw rod motor 1-6-13, and a limit plate 1-6-12 is arranged in the center of the screw rod. As the screw rod rotates, the first clamping arm 1-6-10 and the second clamping arm 1-6-11 are driven to move synchronously toward or away from each other, and a grab plate hinge block 1-6-7 is hinged at the outer end of the first clamping arm 1-6-10 and the second clamping arm 1-6-11, and the grab plate hinge block 1-6-7 is hinged to the grab plate 1-6-6.

[0043] A mushroom head detection sensor 1-6-5 is provided in the center of the outer side of the gripper shell 1-6-4, and a groove is provided on the top of the wafer box A for the mushroom head detection sensor 1-6-5 to be inserted into. When the gripper assembly 1-6 moves to the upper part of the wafer box A, the mushroom head detection sensor 1-6-5 inserts into the groove on the top of the wafer box A. At this time, the mushroom head detection sensor 1-6-5 triggers the gripper assembly 1-6 to grab the wafer box A.

[0044] The gripper power supply cable 1-2-7 of the lifting assembly 1-2 supplies power to the screw motor 1-6-13 of the gripper assembly 1-6.

[0045] A metal bar is provided on the track where the aerial transport vehicle 1 is located, and power is transmitted to the aerial transport vehicle through the metal bar.

[0046] The walking shuttle 2 comprises a body 2-1, a material seat 2-2, a front wheel seat 2-3, a rear wheel seat 2-4, a rear wheel 2-5 and a front wheel 2-6; the front wheel seat 2-3 and the rear wheel seat 2-4 are movably mounted at the front and rear lower parts of the body 2-1, respectively, and both the front wheel seat 2-3 and the rear wheel seat 2-4 can freely rotate counterclockwise or clockwise relative to the body 2-1; the front wheel seat 2-3 is provided with two rows of front wheels 2-6 arranged in parallel, and the rear wheel seat 2-4 is provided with two rows of rear wheels 2-5 arranged in parallel, and the track of the walking shuttle 2 passes through the gap between the two rows of front wheels 2-6 and the two rows of rear wheels 2-5; the front wheel 2-6 is a driving wheel, and a motor is arranged in the front wheel seat 2-3, the motor drives the front wheel 2-6 to rotate, and the rear wheel 2-5 is a driven wheel; a material seat 2-2 is provided on the upper surface of the body 2-1.

[0047] like Fig.10 As shown, arrow a represents the path of the walking shuttle vehicle 2 along its track; arrow b represents the reciprocating movement of the aerial walking transport vehicle 1 along its track.

[0048] The walking shuttle 2 is responsible for transporting the wafer material box A, while the aerial walking transfer vehicle 1 is responsible for grabbing the wafer material box A from the walking shuttle 2 and placing it on the material placement station 3.

[0049] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A combined handling system, characterized in that: It includes an aerial walking transport system and a walking shuttle system; the aerial walking transport system is composed of an aerial walking transport vehicle and its track; the walking shuttle system is composed of a walking shuttle vehicle and its track; The track of the walking shuttle is a circular track with closed ends, and a plurality of walking shuttles are running on the track; a plurality of aerial walking transport systems are radiated around the track of the walking shuttle, and the aerial walking transport vehicle of each aerial walking transport system can reciprocate along its track; When the aerial walking transport vehicle of any of the aerial walking transport systems runs to the position closest to any of the walking shuttle vehicles of the walking shuttle system, the aerial walking transport vehicle can grab the materials placed on the walking shuttle vehicle; the track of the aerial walking transport system passes through the material placement station, and the aerial walking transport vehicle places the materials on the material placement station.

2. A combined handling system according to claim 1, characterized in that: The track of the walking shuttle includes a track changing section, a branch track and a circulating main line track. The walking shuttle can be changed by changing the track by the track changing section to run to the branch track closest to a certain aerial walking transport system. After the aerial walking transport vehicle grabs the materials on the walking shuttle, the walking shuttle can be changed by changing the track by the track changing section to return to its circulating main line track.

3. A combined handling system according to claim 1, characterized in that: The aerial walking transport vehicle comprises a walking component, a lifting component, a lateral movement power component, a mounting seat, a belt, and a gripper component; the walking component is a structure used for the aerial walking transport vehicle to move forward; the mounting seat comprises a mounting seat outer frame and a mounting seat inner frame, the mounting seat outer frame and the mounting seat inner frame constitute a double-layer drawer-type structure, the mounting seat inner frame and the lateral movement power component are both arranged on the inner side of the mounting seat outer frame, and the mounting seat inner frame is driven by the lateral movement power component to extend and retract outward along the outer frame; the moving component is arranged on the outer frame of the mounting seat; the lifting component is arranged on the inner frame of the mounting seat; the lifting component is a mechanism that uses a belt for lifting and lowering, and one end of the belt of the lifting component is connected to the gripper component.

4. A combined handling system according to claim 3, characterized in that: The lifting assembly includes a lifting base, a lifting drive motor, a winding wheel group, an idler wheel group, a shaking detection sensor and a gripper winding and positioning device; the lifting base is provided with a lifting drive motor, several groups of winding wheel groups and an idler wheel group, the rotating shaft of the lifting drive motor is connected to the winding wheel group, and the belt is wound around the winding wheel group and the idler wheel group; the lifting base is arranged on the inner surface of the inner frame of the mounting seat of the mounting seat; the gripper winding and positioning device is provided with a photoelectric switch, and the photoelectric switch controls the start and stop of the lifting drive motor.

5. A combined handling system according to claim 3, characterized in that: The lateral movement power assembly includes a lateral movement drive motor and a meshing chain transmission device; the outer shell of the meshing chain transmission device is fixed on the inner side of the mounting seat outer frame, the telescopic chain of the meshing chain transmission device is connected to the mounting seat inner frame, and the telescopic chain of the meshing chain transmission device drives the mounting seat inner frame to slide outward along the slide rail.

6. A combined handling system according to claim 3, characterized in that: The gripper assembly includes a gripper seat, a limit baffle, a gripper winding positioning protrusion, and a connecting block; a plurality of connecting blocks are provided on the back side of the gripper seat, and the connecting blocks are connected to the belt; a limit baffle is provided on the front and rear side edges of the gripper seat; a gripper is provided at the front center of the gripper seat, and the gripper consists of a gripper shell, a gripper plate, a gripper plate hinge block, a clamping claw arm, and a screw motor; the gripper shell is placed in the center of the gripper seat, and a screw motor is provided in the gripper shell, the screw of the screw motor is a bidirectional screw, and two clamping claw arms that move synchronously in opposite directions are provided on the screw motor, and the outer ends of the two clamping claw arms are hinged with a gripper plate hinge block, and the gripper plate hinge block is hinged to the gripper plate.

7. A combined handling system according to claim 6, characterized in that: The gripper seat is provided with a gripper winding and positioning protrusion; the side edge of the gripper seat is also provided with a cable fixing bracket.

8. A combined handling system according to claim 6, characterized in that: A mushroom head detection sensor is arranged at the center of the outer side of the gripper housing.

9. A combined handling system according to claim 6, characterized in that: A metal bar is arranged on the track where the aerial walking transport vehicle is located, and power is transmitted to the aerial walking transport vehicle through the metal bar; a gripper power supply cable is also arranged on the inner frame of the mounting seat, and power is supplied to the screw motor of the gripper assembly through the gripper power supply cable.

10. The combined handling system according to claim 1, characterized in that: The walking shuttle vehicle comprises a vehicle body, a material seat, a front wheel seat, a rear wheel seat, a rear wheel, and a front wheel; the front wheel seat and the rear wheel seat are movably installed under the front and rear of the vehicle body, respectively, and the front wheel seat and the rear wheel seat can freely rotate counterclockwise or clockwise relative to the vehicle body; the front wheel seat is provided with two rows of front wheels arranged in parallel, and the rear wheel seat is provided with two rows of rear wheels arranged in parallel, and the track of the walking shuttle vehicle passes through the gap between the two rows of front wheels and the two rows of rear wheels; the front wheel is a driving wheel; a motor is arranged in the front wheel seat, the motor drives the front wheel to rotate, and the rear wheel is a driven wheel; a material seat is provided on the upper surface of the vehicle body.

11. A combined handling system according to claim 10, characterized in that: A metal bar is arranged on the track where the traveling shuttle is located, and power is transmitted to the traveling shuttle through the metal bar; a power-taking wheel is also arranged in the front wheel seat of the traveling shuttle, and the power-taking wheel takes power from the metal bar on the track and supplies it to the motor in the front wheel seat.

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