Supporting, connecting and lifting control system of aerial transport vehicle

Abstract

The invention relates to a supporting and connecting lifting control system of an air transport vehicle. The supporting and connecting lifting control system comprises a lifting power component; the lifting component is connected with the output end of the lifting power component through a belt and comprises a lifting track arranged in the horizontal direction and a leaning connection assembly arranged at the end of the lifting track; the supporting and connecting component is arranged on one side, in the horizontal direction, of the lifting component and comprises a butt joint rail and a supporting and connecting device, the supporting and connecting device is installed at the end of the butt joint rail, and the supporting and connecting device comprises a supporting and connecting plate capable of moving in the horizontal direction, a material pressing piece and a driving assembly; and the control unit is used for controlling the lifting of the lifting component and the work of the driving assembly according to a butt joint control instruction or a separation control instruction, so that the butt joint assembly is in butt joint with or separated from the supporting device. The supporting and connecting device and the leaning and connecting assembly are used in cooperation, so that the belt lifting supporting and connecting system can serve as a part of an air track, and a crown block can stably walk at a high speed when passing through the lifting component.

Description

Technical Field

[0001] This application relates to the technical field of semiconductor handling equipment, and particularly to a belt supporting and lifting control system for an overhead transporter. Background Art

[0002] In a semiconductor manufacturing workshop, an automatic material system is adopted to achieve automatic handling of materials. The automatic material system mainly includes a handling system and a storage system. Among them, the handling system mainly includes an overhead track suspended from the ceiling and an overhead transporter traveling on the overhead track. The overhead transporter transports wafer carriers between stations such as the storage system and process machines. A lift is used to lift the overhead transporter on the ground side, thereby allowing the overhead transporter to drive into the overhead track from the lift; or when it is necessary to transfer the overhead transporter from the overhead track to the ground, the overhead transporter is allowed to drive into the lift from the overhead track and then descend to the ground. The aforementioned lifts mainly have two types: tower lifts and belt lifts.

[0003] The advantages of the belt lift are flexible operation and no occupation of ground space. The disadvantages of the belt lift are that the lifting components use a belt to wind and lift. The belt has no rigidity, sways left and right during lifting, and the lifting components will float up and down when passing over the overhead transporter after lifting. The overhead transporter can only run slowly on the lift and cannot run at high speed; the lifting components rely on the belt to provide the lifting force, and the long-term walking of the overhead transporter on the lifting components will cause problems such as belt deformation and damage to the lifting motor.

[0004] When the overhead transporter runs at high speed on the belt lift, the belt lift needs to have a lifting function in the Z-axis direction, a limiting function in the XY direction, and a function to prevent the lifting end from tilting up; in the wafer processing workshop, the layouts of various equipment are compact, and the belt lift can only be configured in a relatively small space; therefore, the belt lift needs to achieve multiple functions in a very small space, which is difficult to achieve for conventional mechanisms. Summary of the Invention

[0005] Based on this, in view of the problem of the stable and high-speed driving of the overhead transporter on the belt lift, it is necessary to provide a belt supporting and lifting control system for the overhead transporter.

[0006] According to one aspect of the present application, a docking and lifting control system for an aerial transporter includes: a lifting power component, which is installed on an aerial installation base; a lifting component, which is connected to the output end of the lifting power component through a belt so as to be able to lift and lower in the vertical direction under the drive of the lifting power component. The lifting component includes a lifting track arranged in the horizontal direction and a leaning connection component arranged at the end of the lifting track; a docking component, which is arranged on one side of the lifting component in the horizontal direction. The docking component includes a docking track and a docking device. The guiding direction of the docking track is arranged in the horizontal direction and is fixedly connected to the aerial installation base. The docking device is installed at the end of the docking track. The docking device includes a docking plate capable of moving in the horizontal direction, a pressing member and a driving assembly; a control unit, which is used to control the lifting of the lifting component and the operation of the driving assembly according to a docking control instruction or a separation control instruction, so as to dock or separate the leaning connection component and the docking device; wherein, when the leaning connection component and the docking device are in a separated state, when a docking control instruction is received, under the control of the control unit, when the lifting component rises to a second position, the driving assembly drives the docking plate to move towards the lifting component to an extended position to support the leaning connection component; when the lifting component descends from the second position to a third position, the driving assembly drives the pressing member to move towards the lifting component to press against the leaning connection component.

[0007] The above-mentioned docking and lifting control system of the aerial transporter, through the cooperation of the docking device and the leaning connection component, enables the belt lifting and docking system to be used as part of the aerial track and can also lift the overhead crane. After the docking device and the leaning connection component are combined, a stable and smooth walking path for the overhead crane is formed, enabling the overhead crane to walk at a high speed and stably when passing through the lifting component, just as smoothly as walking on a straight track, and then stably transferring between the aerial track and the lifting component. Brief Description of the Drawings

[0008] Figure 1a It is a schematic structural diagram of a belt lifting and docking system provided by an embodiment of the present application.

[0009] Figure 1b It is a top view schematic diagram of the connection between the substrate and the aerial installation base.

[0010] Figure 1c It is a side view schematic diagram of the connection between the substrate and the aerial installation base.

[0011] Figure 2 It is a schematic diagram when the leaning connection component on the lifting component is docked with the docking device on the docking component, where the pressing member has not pressed against the leaning connection component.

[0012] Figure 3Schematic diagram when the abutting component on the lifting component docks with the docking device on the supporting component, where the material pressing piece presses on the abutting component.

[0013] Figure 4 Working principle diagram of the cooperation between the first detection piece, the second detection piece, and each sensor.

[0014] Figure 5 Schematic diagram of the docking process of the abutting component and the docking device, showing the relative positions of each sensor, the first detection piece, and the second detection piece during the docking process.

[0015] Figure 6 Partial structural schematic diagram of the docking device of the present application fixed to the inner docking rail.

[0016] Figure 7 Structural schematic diagram of the docking device of the present application.

[0017] Figure 8a For Figure 7 Structural schematic diagram of one perspective of the docking device in

[0018] Figure 8b Cross-sectional view when the abutting component overlaps on the docking device.

[0019] Figure 9 For Figure 7 Structural schematic diagram of another perspective of the docking device in

[0020] Figure 10 For Figure 7 Front view of the docking device of

[0021] Figure 11 For Figure 10 Cross-sectional view in the A-A direction in

[0022] Figure 12 Structural schematic diagram of the lifting component of the present application.

[0023] Figure 13 Structural schematic diagram of the abutting component of the present application.

[0024] Figure 14 For Figure 13 Rear view of the abutting component of

[0025] Figure 15 For Figure 14 Cross-sectional view in the B-B direction in

[0026] Figure 16 For Figure 14 Cross-sectional view in the C-C direction in

[0027] Figure 17 Explosion diagram one of the abutting component of the present application.

[0028] Figure 18 Explosion of the docking assembly for this application Figure Two .

[0029] Figure 19 It is a schematic structural diagram of the wheel track baffle in the docking assembly of the present application.

[0030] Figure 20 It is a schematic diagram of the wheel track baffle and the supporting plate when they are in linkage cooperation.

[0031] Figure 21 This is a schematic diagram of the docking assembly of the present application and the maintenance vehicle.

[0032] Figure 22 It is a structural schematic diagram of a one-way control mechanism.

[0033] Description of reference numerals:

[0034] 1. Belt lifting and supporting system; 100. Lifting power component; 110. Base plate; 111. Groove; 112. Through hole;

[0035] 120. Power assembly; 130. Belt; 200. Lifting component; 201. Positioning sleeve; 210. Lifting track; 211. Outer lifting track; 212. Inner lifting track; 213. Belt clamping device; 214. Positioning plate; 215. Coarse positioning pin; 220. Leaning connection component; 221. First detection piece; 222. Second detection piece; 223. Mounting seat; 2231. Accommodation cavity; 2232. First slider; 2233. Second slider; 224. Telescopic component; 2241. Wheel track baffle; 2241a. First groove; 2241b. Second groove; 2241c. Third groove; 2242. Block slide rail; 2243. Telescopic slide rail; 2244. Wheel block; 2245. Guide piece; 225. Reset component; 2251. Connecting shaft; 2252. Fixing piece; 2253. Reset spring; 226. Wear-resistant block; 300. Supporting component; 310. Docking track; 311. Outer docking rail; 312. Inner docking rail; 301. Mounting base plate; 320. Supporting device; 321. Sensor group; 321a. Deceleration position sensor; 321b. Material pressing position sensor; 321c. Extended position sensor; 321d. Extreme position sensor; 322. Supporting plate; 3221. Pressing sensor; 3222. Conical guide pin; 3223. Path groove; 3223a. First section; 3223b. Second section; 3223c. Third section; 323. Material pressing piece; 3231. Non-metallic material pressing block; 324. Driving component; 3241. Supporting plate driving slide rail; 3242. Material pressing piece driving slide rail; 3243. Material pressing driving piece; 3244. Material pressing telescopic spring; 3245. Supporting plate stop piece; 3246. Supporting plate limiting piece; 3247. Power mechanism; 32471. Lead screw motor; 32472. Lead screw; 3248. Material pressing piece limiting piece; 325. Material blocking fixed slide rail; 326. Vehicle material blocking block; 3261; Cam follower; 327. Material blocking detection sensor; 328. Supporting plate induction piece; 329a. Retracted position sensor; 329b. Supporting position sensor; 329c. Material pressing sensor; 330. Fixed frame; 340. Sensor fixing bracket;

[0036] 400. Maintenance trolley; 410. Connecting track; 411. Outer connecting rail; 412. Inner connecting rail; 420. One-way passing control mechanism; 421. Body; 422. Baffle; 423. Torsion spring;

[0037] 2. Aerial installation base; 21. First clamping block; 22. Second clamping block;

[0038] 3. Adjustable connection structure; 31. Connecting bolt; 31a. First limiting shoulder; 31b. Second limiting shoulder; 32. Spacer block;

[0039] 4. Stud; 5. Auxiliary nut. Detailed Implementation Modes

[0040] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe the detailed implementation modes of the present application in conjunction with the accompanying drawings. Many specific details are set forth in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0041] In the description of the present application, it should be understood that if terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the accompanying drawings. These are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application.

[0042] In addition, if terms such as "first" and "second" appear, these terms are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0043] In the present application, unless otherwise clearly specified and limited, if terms such as "installation", "connection", "connection", "fixation", etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0044] In this application, unless otherwise clearly specified and defined, if there is a description such as a first feature being "on" or "under" a second feature, its meaning can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the horizontal height of the first feature is less than that of the second feature.

[0045] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If any, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0046] This application proposes a belt supporting and lifting control system for an air transporter, including a belt lifting and supporting system 1 and its control unit (not shown). The belt lifting and supporting system 1 can be used to lift and lower the air transporter so that the air transporter can be transferred from the ground to the air track, or vice versa. The control unit is, for example, a PLC industrial control computer, but is not limited thereto, as long as it can control the belt lifting and supporting system 1.

[0047] Reference Figure 1a 、 Figure 1b 、 Figures 1c to 3 As shown in

[0048] 、 Figure 1aA belt 130 running in the Z direction, or the height direction. The substrate 110 is fixed to the ceiling. The lifting member 200 is connected to the output end of the lifting power member 100 through the belt 130. The lifting member 200 includes a lifting track 210 arranged in the horizontal direction and an abutting assembly 220 provided at the end of the lifting track 210.

[0049] The supporting member 300 is provided on one side of the lifting member 200 in the horizontal direction ( Figure 1a the X direction in it). The supporting member 300 includes a docking track 310 and a supporting device 320. The guiding direction of the docking track 310 is arranged in the horizontal direction and is fixedly connected to the aerial installation foundation. The guiding direction of the docking track 310 refers to the traveling direction when the aerial transporter travels on the docking track 310.

[0050] The supporting device 320 is installed on the docking track 310. The supporting device 320 includes a supporting plate 322 capable of moving in the horizontal direction, a pressing member 323 and a driving assembly 324. The driving assembly 324 is configured to drive the supporting plate 322 to move towards the lifting member 200 to the extended position to support the abutting assembly 220, and to drive the pressing member 323 to move towards the lifting member 200 to press against the abutting assembly 220.

[0051] In some embodiments, the substrate 110 is fixed to the aerial installation foundation 2 with an adjustable height position, so as to adjust the height of the docking track 310, thereby adjusting the docking accuracy between the lifting track 210 and the docking track 310, or adjusting the docking accuracy between the end of the docking track 310 far from the lifting track 210 and other tracks (not shown).

[0052] Reference Figure 1a 、 Figure 1b and Figure 1c and, the substrate 110 is connected to the aerial installation foundation 2 through an adjustable connection structure 3. Specifically, the adjustable connection structure 3 includes a connection bolt 31 and a spacer 32. The first end of the connection bolt 31 is provided with a first limiting shoulder 31a and a second limiting shoulder 31b at intervals. The second end of the connection bolt 31 is threadedly connected to the aerial installation foundation and locked with a nut.

[0053] The lower surface (the surface facing the ground) of the substrate 110 is provided with a groove 111; a through hole 112 penetrating the substrate 110 is opened on the top wall of the groove 111.

[0054] The spacer 32 is arranged in the groove 111 and is located between the first limiting shoulder 31a and the second limiting shoulder 31b, and the height of the spacer 32 is less than the distance between the first limiting shoulder 31a and the second limiting shoulder 31b. The spacer 32 is specifically U-shaped. The first end of the connection bolt 31 passes through the spacer, and the first limiting shoulder 31a is received in the through hole 112.

[0055] When it is necessary to adjust the height of the substrate 110 to adjust the docking accuracy between the lifting track 210 and the docking track 310 or to adjust the docking accuracy between the end of the docking track 310 away from the lifting track 210 and other tracks (not shown). First, loosen the nut, and then adjust the mating position of the nut on the column of the connecting bolt 31 to adjust the height of the support pad 32 of the second limiting shoulder 31b. After adjusting the substrate 110 to an appropriate height, lock the nut again. At this time, the substrate 110 fixedly connected to the pad can float up and down.

[0056] Furthermore, in order to further ensure the reliability of the connection between the substrate 110 and the aerial installation base 2 and ensure that the substrate 110 can remain at the adjusted height even when subjected to external forces. A stud 4 is threadedly connected to the lower surface of the substrate 110; a clamping mechanism is provided on the aerial installation base 2. The clamping mechanism clamps the stud 4.

[0057] Exemplarily, the clamping mechanism includes a fixed first clamping block 21 and a second clamping block 22 connected to the first clamping block 21 by bolts. The end of the stud 4 extends between the first clamping block 21 and the second clamping block 22 and is clamped.

[0058] Furthermore, an auxiliary nut 5 is threadedly connected to the stud 4. The auxiliary nut 5 abuts against the lower surface of the substrate 110. The auxiliary nut disperses the force at the connection between the substrate 110 and the stud, avoiding stress concentration.

[0059] The docking track 310 is connected to the substrate 110 through a fixing frame 330. One end of the docking track 310 is an open end for docking with the lifting track 210. The other end of the docking track 310 is used for docking with an aerial track (not shown). A wear-resistant plate may be provided at the open end of the docking track 310 for docking with the lifting track 210 and avoiding abrasion of the lifting track 210. The wear-resistant plate and the end of the lifting track 210 may be overlapped.

[0060] The supporting device 320 is used for docking and cooperating with the abutting component 220. The supporting device 320 is fixed to the docking track 310 and can be fixed by screws and nuts to solve the problem of inconsistent protruding positions of the supporting device 320 caused by track installation errors. The supporting device 320 is specifically fixed to the outer side of the docking track 310, so that the upper end surface of the inner side of the docking track 310 serves as a running surface, and the wheels of the aerial transport vehicle are carried on the aforementioned running surface and can thus travel along the track.

[0061] The pressing member 323 is used to press the abutting component 220. A non-metallic pressing block 3231 may be inlaid on a part of the lower end surface of the pressing member 323. The non-metallic pressing block 3231 is used as a wear-resistant plate to prevent dust from being generated due to friction when the pressing end floats during the travel of the aerial transport vehicle on the lifting component 200, so as to meet the use requirements of the clean room.

[0062] The working principle of the belt lifting and supporting system 1 of the present application is as follows:

[0063] The lifting component 200 rises under the drive of the lifting power component 100, thereby driving the lifting track 210 to move to a position corresponding to the docking track 310 in the vertical direction. At this time, the lifting track 210 and the docking track 310 are at the same height position in the vertical direction, and their left and right positions correspond to each other in the horizontal direction.

[0064] Refer to Figure 2 As shown, the supporting plate 322 of the supporting device 320 can extend to a position for supporting the leaning component 220, and this position is called the extended position of the supporting plate 322. The pressing member 323 is used to press the leaning component 220. Refer to Figure 3 As shown, the pressing member 323 can move to a position for pressing the leaning component 220, and this position is called the pressing position of the pressing member 323.

[0065] In the present application, by using the supporting device 320 in cooperation with the leaning component 220, the belt lifting and supporting system 1 can be used as a part of the aerial track and can also lift the aerial transport vehicle. After the supporting device 320 and the leaning component 220 are combined, a stable and smooth walking path for the aerial transport vehicle is formed, so that the aerial transport vehicle can walk at a high speed and stably when passing through the lifting component 200, just as smoothly as walking on a straight track, and then stably transfer between the aerial track and the lifting component 200.

[0066] Refer to Figure 1a 、 Figure 1b 、 Figures 1c to 3 As shown, in the present application, the lifting track 210 specifically includes an outer lifting rail 211 and an inner lifting rail 212. The outer lifting rail 211 and the inner lifting rail 212 respectively correspond to the outer wheels and inner wheels of the aerial transport vehicle. Similarly, the docking track 310 specifically includes an outer docking rail 311 and an inner docking rail 312. The outer docking rail 311 and the inner docking rail 312 respectively correspond to the outer wheels and inner wheels of the aerial transport vehicle. In addition, in the present application, the above-mentioned supporting components 300 are provided on both the left and right sides of the lifting component 200 in the horizontal direction.

[0067] Specifically, a supporting device 320 is respectively provided at the right ends of the outer docking rail 311 and the inner docking rail 312 of the supporting component 300 on the left side. A supporting device 320 is respectively provided at the left ends of the outer docking rail 311 and the inner lifting rail 212 of the supporting component 300 on the right side. At the same time, a leaning component 220 is respectively provided at the left and right ends of the outer lifting rail 211, and a leaning component 220 is respectively provided at the left and right ends of the inner lifting rail 212.

[0068] In this way, when the lifting member 200 drives the lifting track 210 to rise to the same height position as the docking track 310 in the vertical direction, a matching structure of the four abutting assemblies 220 and the supporting device 320 can be formed, so that the aerial transporter on the lifting member 200 can be transferred to either side; and the aerial transporters on both sides can also be transferred to the middle lifting member 200.

[0069] It should be noted that the lifting member 200 may be provided with the above-mentioned supporting member 300 on only one side. At this time, the aerial transporter on the lifting member 200 can only move to one side to be transferred to the aerial track.

[0070] Reference Figure 1a 、 Figure 1b 、 Figure 1c and Figure 2 As shown in

[0071] a belt clamping device 213 and a positioning plate 214 are connected to the lifting track 210. The belt clamping device 213 clamps the belt 130, and a plurality of rough positioning pins 215 are provided at the top of the positioning plate 214. The belt clamping device 213 clamps the belt 130 to provide a suspension support force for the lifting member 200. The rough positioning pins 215 are arranged in one-to-one correspondence with the belt 130 to provide an initial positioning for the lifting member 200 and prevent the lifting member 200 from swinging significantly left and right after rising.

[0071] In order to accurately control the docking of the lifting track 210 and the docking track 310 and make the supporting device 320 and the abutting assembly 220 be accurately and reliably docked and matched, further improvements are made in this application.

[0072] Reference Figure 4 and Figure 5 、 Figure 8a and Figure 8b a first detection piece 221 and a second detection piece 222 are provided on the abutting assembly 220. The supporting device 320 includes a deceleration position sensor 321a, a material pressing position sensor 321b, an extending position sensor 321c, and an extreme position sensor 321d arranged in sequence from bottom to top. The deceleration position sensor 321a, the material pressing position sensor 321b, the extending position sensor 321c, and the extreme position sensor 321d constitute a sensor group 321.

[0073] Each sensor, driving assembly 324 and lifting power component 100 are configured as follows: when the first detection piece 221 rises to the first position during the lifting component 200 ascending, the deceleration position sensor 321a is triggered, and the lifting power component 100 controls the lifting component 200 to decelerate. When the first detection piece 221 rises to the second position, the extension position sensor 321c is triggered, and the driving assembly 324 controls the supporting plate 322 to move toward the lifting component 200 to the bottom of the leaning assembly 220. The lifting power component 100 controls the lifting component 200 to descend, and when the second detection piece 222 descends to the third position, the material pressing position sensor 321b is triggered, and the driving assembly 324 drives the material pressing piece 323 to move toward the lifting component 200 to press the leaning assembly 220. The limit position sensor 321d is used to detect the second detection piece 222 to indicate the upper limit position of the lifting track 210 when the lifting component 200 ascends.

[0074] Specifically, the heights of the deceleration position sensor 321a, the material pressing position sensor 321b, the extension position sensor 321c and the limit position sensor 321d in the vertical direction are H1, H2, H3 and H4, and they increase in sequence. The first detection piece 221 and the second detection piece 222 are used to cooperate with the above-mentioned sensors, so that each sensor can be triggered to send a signal representing the height position information of the lifting component 200 to the control unit of the belt lifting and supporting system 1, so that the control unit can control the operation of the lifting power component 100 and the driving component 324.

[0075] In this embodiment, the supporting parts 300 are provided on the left and right sides of the lifting part 200, and the deceleration position sensor 321a, the material pressing position sensor 321b, the extension position sensor 321c and the limit position sensor 321d can be dispersedly arranged on the left and right sides of the lifting part 200. For example, the deceleration position sensor 321a and the extension position sensor 321c are arranged on the left side, and the material pressing position sensor 321b and the limit position sensor 321d can be arranged on the right side. For the first detection piece 221 and the second detection piece 222, they can also be arranged separately. Specifically, the first detection piece 221 is arranged at the left end of the lifting track 210, and the second detection piece 222 is arranged at the right end of the lifting track 210.

[0076] refer to Figure 4 , Figure 8a , Figure 8b and Figure 9, the docking component 300 includes a sensor fixing bracket 340. The sensor fixing bracket 340 is fixed to the mounting base plate 301 and is located at one end of the docking device 320 facing the lifting component 200. Among them, the deceleration position sensor 321a, the material pressing position sensor 321b, the extended position sensor 321c, and the extreme position sensor 321d described above are arranged on the sensor fixing bracket 340 and are located on the side of the sensor fixing bracket 340 facing the lifting component 200.

[0077] In this application, docking components 300 are provided on both sides of the lifting component 200, with a total of four docking components 300 distributed in a rectangular shape. Among them, a deceleration position sensor 321a and an extended position sensor 321c are provided on each of a pair of diagonally arranged docking components 300. Correspondingly, first detection pieces 221 are provided at the ends of a pair of diagonally arranged tracks of the lifting track 210 in the lifting component 200. A material pressing position sensor 321b and an extreme position sensor 321d are provided on each of the other pair of diagonally arranged docking components 300. Correspondingly, second detection pieces 222 are provided at the ends of the other pair of diagonally arranged tracks of the lifting track 210 in the lifting component 200.

[0078] Through the above settings, multiple sensors adopt a detection method with diagonals as a group, which not only ensures the stability of the detection signal of the lifting component 200 but also facilitates the adjustment of the sensors, and realizes the adjustment of the sensors and the viewing of the personnel's vision by using a compact space.

[0079] It should be emphasized that the position settings of the sensors and the two detection pieces are not limited to the above methods, as long as the control unit can obtain the required height position information of the lifting track 210.

[0080] Reference Figure 4 and Figure 5 , a movement process for lifting the lifting component 200 and docking it with the docking device 320 is as follows:

[0081] S110. Control the lifting component 200 to rise.

[0082] S120. When the control unit receives the trigger signal of the deceleration position sensor 321a, the control unit controls the lifting component 200 to decelerate through the lifting power component 100;

[0083] S130. When the control unit receives the trigger signal of the extended position sensor 321c, the control unit controls the lifting component 200 to stop moving, and controls the docking plate 322 to move towards the lifting component 200 to below the abutting component 220 through the driving component 324;

[0084] S140. The control unit controls the lifting component 200 to descend through the lifting power component 100;

[0085]

[0085] When the control unit receives the trigger signal from the material pressing position sensor 321b, the control unit drives the material pressing member 323 towards the lifting member 200 through the driving assembly 324 to press against the abutting assembly 220. In step S110, in the initial position, the lifting track 210 is located below the deceleration position sensor 321a, such as near the ground. Then, the lifting member 200 rises under the drive of the lifting power member 100.

[0086] In step S120, specifically, when the first detection piece 221 rises to the first position, the deceleration position sensor 321a is triggered, and the control unit controls the lifting member 200 to decelerate through the lifting power member 100. The first position is also called the deceleration position. Before rising to the first position, the lifting member 200 can rise at a relatively high speed, thereby shortening the overall docking time.

[0087] In step S130, specifically, when the first detection piece 221 rises to the second position, the extended position sensor 321c is triggered, and the lifting member 200 stops moving. The driving assembly 324 controls the supporting plate 322 to move towards the lifting member 200 to below the abutting assembly 220, and the lifting power member 100 controls the lifting member 200 to descend. The second position is higher than the first position. At this time, the bottom of the abutting assembly 220 is higher than the lifting height position of the supporting plate 322, so as to allow the supporting plate 322 to extend. It is easy to understand that the extension length of the supporting plate 322 should meet the requirement of being able to move below the abutting assembly 220. The second position can also be called the extended position.

[0088] In step S140, the lifting power member 100 controls the lifting member 200 to descend.

[0089] In step S150, specifically, when the second detection piece 222 descends to the third position, the material pressing position sensor 321b is triggered, and the driving assembly 324 drives the material pressing member 323 towards the lifting member 200 to press against the abutting assembly 220. The height of the third position should meet the requirement that the top of the abutting assembly 220 is lower than the pressing surface of the material pressing member 323. The third position can also be called the material pressing position.

[0090] The extreme position sensor 321d in this application is used to detect the second detection piece 222 to indicate the upper extreme position of the lifting track 210 when the lifting member 200 rises. When the extended position sensor 321c is triggered, the lifting power member 100 controls the lifting member 200 to descend. During this process, in order to avoid sudden stop, the lifting member 200 can decelerate and rise until the extreme position sensor 321d is triggered and then stop.

[0091] In this application, by providing a deceleration position sensor 321a, a material pressing position sensor 321b, an extending position sensor 321c, and a cooperating first detection piece 221 and second detection piece 222, precise control of the height position during the upward movement of the lifting track 210 can be achieved, thereby improving the docking efficiency between the lifting component 200 and the supporting device 320.

[0092] Reference Figures 6 to 11 , in this application, the driving component 324 drives the supporting plate 322 and the material pressing member 323 to extend towards the lifting component 200 so as to move to their respective extending positions.

[0093] The driving component 324 includes a supporting plate driving slide rail 3241, a material pressing member driving slide rail 3242, a material pressing driving member 3243, a material pressing telescopic spring 3244, a supporting plate stop member 3245, a supporting plate limiting member 3246, a power mechanism 3247, and a material pressing member limiting member 3248.

[0094] The supporting plate driving slide rail 3241 is connected to the docking track 310 and is in sliding fit with the supporting plate 322. The supporting plate driving slide rail 3241 is specifically fixed to the docking track 310 through a mounting base plate 301. The guiding direction of the supporting plate driving slide rail 3241 is consistent with the guiding direction of the docking track 310. The supporting plate 322 can be slidably assembled on the supporting plate driving slide rail 3241. In this way, the supporting plate driving slide rail 3241 can move towards the lifting component 200 (specifically to Figure 1a , Figure 7 , Figure 8a and Figure 8b it moves to the right in) to perform the extending action, or move away from the lifting component 200 (specifically to Figure 1a , Figure 7 , Figure 8a and Figure 8b it moves to the left in) to perform the retracting action.

[0095] The material pressing member driving slide rail 3242 is connected to the docking track 310 and is in sliding fit with the material pressing member 323. The material pressing member driving slide rail 3242 is fixed to the docking track 310 through the above-mentioned mounting base plate 301. The guiding direction of the material pressing member driving slide rail 3242 is consistent with the guiding direction of the docking track 310. The material pressing member 323 can be slidably assembled on the material pressing member driving slide rail 3242. In this way, the material pressing member 323 can move towards the lifting component 200 to extend, or move away from the lifting component 200 to retract.

[0096] The output end of the power mechanism 3247 is connected to the blanking driving member 3243 to drive the blanking driving member 3243 to move in the horizontal direction. The blanking driving member 3243 is connected to the blanking member 323. The blanking driving member 3243 is arranged on the side of the blanking member 323 facing away from the lifting member 200. The blanking telescopic spring 3244 is located between the blanking driving member 3243 and the supporting plate 322 and elastically connects the blanking driving member 3243 and the supporting plate 322. The supporting plate stop member 3245 is connected to the supporting plate 322. Among them, in the horizontal direction, the distance between the blanking driving member 3243 and the blanking member limiting member 3248 is the first distance, and the distance between the supporting plate stop member 3245 and the supporting plate limiting member 3246 is the second distance, and the first distance is greater than the second distance.

[0097] The working principle of the driving assembly 324 in this application is as follows:

[0098] Refer to Figure 1a , Figure 1b , Figure 1c , Figure 7 , Figure 8a and Figure 8b , when the extended position sensor 321c is triggered, the power mechanism 3247 drives the blanking driving member 3243 to move towards the lifting member 200 on the right side and compresses the blanking telescopic spring 3244, so that the thrust of the power mechanism 3247 is transmitted to the supporting plate 322 through the blanking telescopic spring 3244, thereby driving the supporting plate 322 to also move towards the right side. When the supporting plate stop member 3245 moves a first distance and abuts against the supporting plate limiting member 3246, the supporting plate 322 stops moving. At this time, the supporting plate 322 extends to below the abutting assembly 220, and the supporting plate 322 is in its extended position.

[0099] After that, when the blanking position sensor 321b is triggered, in the vertical direction, the top of the abutting assembly 220 is at a height position lower than the pressing surface of the blanking member 323. The power mechanism 3247 can drive the blanking drive to move towards the lifting member 200 on the right side and continue to compress the blanking telescopic spring 3244. Since the supporting plate stop member 3245 and the supporting plate limiting member 3246 have abutted, the supporting plate 322 will not continue to move to the right. The blanking driving member 3243 only makes the blanking member 323 continue to move and extend above the abutting assembly 220, so that the blanking member 323 is in its extended position. When the blanking driving member 3243 abuts against the blanking member limiting member 3248, the blanking driving member 3243 stops moving after moving a second distance, so that the blanking member 323 stops moving.

[0100] A gap, such as 0.5-1 mm, may be reserved between the pressing surface of the pressing piece 323 and the top of the abutting component 220 , but the size of the gap is not specifically limited as long as it allows the pressing piece 323 to move rightward to the top of the abutting component 220 .

[0101] Optional, see 7. Figure 8a and Figure 8b The power assembly 120 includes a screw motor 32471, a screw 32472, and a screw nut (not shown). The screw motor 32471 is connected to the screw 32472 and drives the screw 32472 to rotate. The screw nut is sleeved on the screw 32472 and connected to the material pressing driving member 3243. The screw 32472 passes through the material pressing driving member 3243.

[0102] When the supporting device 320 is docked with the leaning assembly 220, the screw motor 32471 drives the screw 32472 to rotate, so that the screw nut drives the pressing member 3243 to move linearly toward the right, thereby driving the pressing member 323 to move toward the right.

[0103] The process of undocking is the reverse process of the above process, wherein when the supporting device 320 is separated from the docking assembly 220, the screw motor 32471 drives the screw 32472 to rotate, so that the screw nut drives the pressure driving member 3243 to move to the left, and the pressure telescopic spring 3244 resets the supporting plate 322 and the pressure member 323.

[0104] Optionally, the power assembly 120 may also be other types of linear motion output mechanisms, such as a linear motor. Optionally, the support plate stopper 3246 is a bolt.

[0105] Further, refer to Figure 7 A pressure sensor 3221 is provided on the top of the supporting plate 322 ; the driving component 324 is also configured as follows: when the pressure sensor 3221 is triggered, the driving component 324 drives the pressing member 323 to move toward the lifting component 200 to press the leaning component 220 .

[0106] The pressing sensor 3221 is used to detect whether the leaning assembly 220 is placed in place. Specifically, when the leaning assembly 220 is correctly supported on the supporting plate 322, the pressing sensor 3221 is triggered, so that the dynamic pressing member 323 of the driving assembly 324 moves toward the lifting component 200 to press the leaning assembly 220. When the leaning assembly 220 is not placed correctly, the pressing sensor 3221 will not be triggered. In this way, the misalignment or failure of the leaning assembly 220 to land in place can be detected, and when the aerial transport vehicle is traveling on the lifting component 200 at high speed, any corner tilting can be effectively detected, thereby ensuring the safety of the aerial transport vehicle traveling on the track.

[0107] Further, referring to Figure 7 and Figure 8a , a conical guide pin 3222 is further provided on the top of the docking plate 322. The conical guide pin 3222 can cooperate with the positioning sleeve 201 at the bottom of the abutting component 220. The design of using conical guide fit can effectively locate the positioning accuracy in all directions in the horizontal plane, and helps to reduce the friction between the conical guide pin 3222 and the positioning sleeve 201, improving the smoothness during docking fit. When the conical guide pin 3222 is provided, only after the conical guide pin 3222 is docked with the positioning sleeve 201, the pressing sensor 3221 will be triggered.

[0108] Referring to Figure 8a , Figures 8b to 11 , the docking device 320 further includes a material blocking fixed slide rail 325, a vehicle material blocking block 326, and a cam follower 3261. When the docking plate 322 extends or retracts, it can drive the vehicle material blocking block 326 to extend or retract relative to the docking plate 322 through the cam follower 3261, so as to be able to limit the aerial transporter in the horizontal direction, or release the above-mentioned limit.

[0109] The docking plate 322 is provided with a path groove 3223. The path groove 3223 includes a first section 3223a, a second section 3223b, and a third section 3223c that are connected in sequence. Both the first section 3223a and the third section 3223c are parallel to the guiding direction of the docking plate driving slide rail 3241, and the second section 3223b forms an acute angle with the guiding direction of the docking plate driving slide rail 3241.

[0110] The material blocking fixed slide rail 325 is connected to the docking track 310 and is slidably matched with the vehicle material blocking block 326. The guiding direction of the material blocking fixed slide rail 325 is perpendicular to the guiding direction of the docking plate driving slide rail 3241. The material blocking fixed slide rail 325 can specifically be provided on the mounting base plate 301, for example.

[0111] The cam follower 3261 is connected to the vehicle material blocking block 326, and the cam follower 3261 is movably received in the path groove 3223. When the cam follower 3261 cooperates with the second section 3223b, in response to the docking plate 322 moving towards the lifting member 200, the cam follower 3261 drives the vehicle material blocking block 326 to rise relative to the docking plate 322; in response to the docking plate 322 moving away from the lifting member 200, the cam follower 3261 drives the vehicle material blocking block 326 to descend relative to the docking plate 322. It should be noted that the rise or fall described here is with reference to the orientation in Figure 11 . When the vehicle material blocking block 326 moves relative to the docking plate 322, the vehicle material blocking block 326 moves away from or closer to the inner side of the docking track 310 in the horizontal plane.

[0112] Specifically, referring toFigure 11 When the supporting plate 322 moves towards the lifting member 200, i.e., when the supporting plate 322 extends, the path groove 3223 of the supporting plate 322 gradually transitions from the first section 3223a to the third section 3223c in cooperation with the cam follower 3261. Among them, when the first section 3223a cooperates with the cam follower 3261, the supporting plate 322 moves towards the lifting member 200 but does not drive the cam follower 3261. When the second section 3223b cooperates with the cam follower 3261, as the supporting plate 322 moves towards the lifting member 200, the cam follower 3261 will move obliquely upward, causing the vehicle stop block 326 to extend relative to the supporting plate 322 (specifically moving upward in Figure 11 ). When the third section 3223c cooperates with the cam follower 3261, the vehicle stop block 326 moves to a position where it can block the wheels of the overhead transporter and remains in this position.

[0113] When the supporting plate 322 moves away from the lifting member 200, i.e., when the supporting plate 322 retracts, the relative positional relationship between the cam follower 3261 and each section in the path groove 3223 is exactly opposite to the above process. Among them, when the second section 3223b cooperates with the cam follower 3261, as the supporting plate 322 moves away from the lifting member 200, the vehicle stop block 326 retracts relative to the supporting plate 322 (specifically, the vehicle stop block 326 will move downward in Figure 11 ). When the supporting plate 322 moves to the first section 3223a of the path groove 3223 and the cam follower 3261, the vehicle stop block 326 moves to a position where it can release the wheels of the overhead transporter and remains in this position.

[0114] In this application, during the movement of the supporting plate 322, the cooperation between the path groove 3223 in the supporting plate 322 and the cam follower 3261 can convert the forward and backward driving force of the lead screw motor 32471 into a driving force perpendicular to the forward and backward direction. The extension movement of the supporting plate 322 causes the path groove 3223 thereon to drive the cam follower 3261 to act, thereby driving the vehicle stop block 326 to extend to a position where it can block the wheels of the overhead transporter. Similarly, the retraction movement of the supporting plate 322 drives the cam follower 3261 through the path groove 3223, thereby driving the wheel stop block to retract to a position where it does not block the wheels of the overhead transporter. The supporting device 320 has both the supporting function and the wheel blocking function, making the entire belt lifting and supporting system 1 have continuous movement, ensuring the driving safety of the overhead transporter, saving costs, and increasing the space utilization rate.

[0115] Further, referring to Figure 2 , Figure 9, the docking component 300 further includes a material blocking detection sensor 327, which is used to provide a detection signal representing the position of the vehicle material blocking block 326. The material blocking detection sensor 327 is arranged on the docking track 310 and is located on the side of the docking plate 322 facing away from the lifting component 200. The material blocking detection sensor 327 can feedback whether the vehicle material blocking block 326 is in the extended state or the retracted state.

[0116] When the telescopic abnormality of the wheel blocking assembly corresponds, the material blocking detection sensor 327 can detect the telescopic abnormality of the wheel blocking assembly, so that the control unit controls whether the aerial transporter can pass, thus ensuring the safety when the aerial transporter passes.

[0117] Reference Figure 9 , in order to precisely control the movement of the docking plate 322 and the material pressing member 323, the docking component 300 further includes a docking plate induction sheet 328, a retracted position sensor 329a, a docking position sensor 329b and a material pressing sensor 329c. The docking plate induction sheet 328 is connected to the material pressing driving member 3243. The retracted position sensor 329a, the docking position sensor 329b and the material pressing sensor 329c are arranged in sequence along the direction close to the lifting component 200. Optionally, the retracted position sensor 329a, the docking position sensor 329b and the material pressing sensor 329c are all fixed to the docking track 310.

[0118] In the initial state, the docking plate 322 is in the retracted position, and at this time the docking plate induction sheet 328 triggers the retracted position sensor 329a. The retracted position sensor 329a sends a signal to the control unit, so that the control unit knows that the current docking plate 322 is in the retracted position.

[0119] When the docking plate 322 moves towards the leaning component 220 to the extended position, the material pressing driving member 3243 drives the docking plate induction sheet 328 to move until it triggers the docking position sensor 329b.

[0120] After the docking plate 322 moves to the extended position, when the material pressing driving member 3243 drives the material pressing member 323 to extend above the leaning component 220, the material pressing driving member 3243 drives the docking plate induction sheet 328 to move to the position where it triggers the material pressing sensor 329c. Therefore, when the material pressing sensor 329c is triggered, it indicates that the material pressing member 323 is in the extended position.

[0121] In this embodiment, by setting the docking plate induction sheet 328, the retracted position sensor 329a, the docking position sensor 329b and the material pressing sensor 329c, when the lifting component 200 rises to the corresponding height, the control unit can accurately control the movement stroke of the docking plate 322 and the material pressing driving member 3243, so as to ensure the accuracy when the docking plate 322 holds the leaning component 220 and the accuracy when the material pressing member 323 presses the leaning component 220.

[0122] In this application, the lifting component 200 and the supporting component 300 are automatically docked and disassembled by the control unit. The working processes of docking and separation are introduced in detail below.

[0123] The control process for the docking of the lifting component 200 and the supporting component 300 is as follows:

[0124] S210. When receiving the docking control instruction, the control unit controls the lifting component 200 to rise.

[0125] In the initial position, the lifting track 210 is located below the deceleration position sensor 321a, such as near the ground. When receiving the docking control instruction, the control unit controls the lifting component 200 to rise.

[0126] S220. When the control unit receives the trigger signal from the deceleration position sensor 321a, the control unit controls the lifting component 200 to decelerate and rise through the lifting power component 100.

[0127] Specifically, when the first detection piece 221 rises to the first position, i.e., the height H1, the deceleration position sensor 321a is triggered, and the control unit controls the lifting component 200 to decelerate through the lifting power component 100.

[0128] S230. When the control unit receives the trigger signal from the extended position sensor 321c, the control unit controls the support plate 322 to move towards the lifting component 200 through the driving component 324 until it is below the abutting component 220.

[0129] When the first detection piece 221 rises to the second position, i.e., the height H3, the extended position sensor 321c is triggered, and the lifting component 200 stops moving. The driving component 324 starts to drive the support plate 322 to move towards the lifting component 200 until it is below the abutting component 220.

[0130] S240. The control unit controls the lifting component 200 to descend through the lifting power component 100.

[0131] S250. When the control unit receives the trigger signal from the material pressing position sensor 321b, the control unit drives the material pressing piece 323 to move towards the lifting component 200 through the driving component 324 to press the abutting component 220.

[0132] Further, step S230 includes:

[0133] S231. The driving component 324 drives the support plate 322 to move towards the lifting component 200;

[0134] S232. When the control unit receives the trigger signal from the docking position sensor 329b, the driving assembly 324 stops driving the docking plate 322 to move. At this time, the docking plate stop member 3245 abuts against the docking plate limiting member 3246. The bottom of the leaning contact assembly 220 is higher than the top surface of the docking plate 322, but there is no contact between them. Also, the conical guide pin 3222 is axially aligned with the positioning sleeve 201, but there is no contact.

[0135] Further, step S250 includes:

[0136] S251. When the control unit receives the trigger signal from the blank holding position sensor 321b, the control unit stops the lifting member 200 from moving. At this time, the lifting member 200 descends to the third position, i.e., the height H2.

[0137] S252. When the control unit receives the trigger signal from the pressing sensor 3221, the control unit drives the blank holding member 323 to move towards the lifting member 200 through the driving assembly.

[0138] When both the blank holding position sensor 321b and the pressing sensor 3221 are triggered, it indicates that the leaning contact assembly 220 of the lifting member 200 correctly abuts against the docking device. At this time, the conical guide pin 3222 is engaged with the positioning sleeve 201.

[0139] S253. When the control unit receives the trigger signal from the blank holding sensor 329c, the driving assembly stops driving the blank holding member 323 to move. At this time, the blank holding driving member 3243 just abuts against the blank holding member limiting member 3248.

[0140] The control process for disassembling the lifting member 200 from the docking member 300 is as follows:

[0141] S310. When receiving the separation control instruction, the control unit drives the blank holding member 323 to move away from the lifting member 200 through the driving assembly 324.

[0142] Before receiving the separation control instruction, the lifting member 200 and the docking member 300 are in the docking state. The lifting member 200 is at the height H2. At this time, the control unit simultaneously receives the trigger signals from the blank holding position sensor 321b, the pressing sensor 3221, and the blank holding sensor 329c.

[0143] After receiving the separation control instruction, the control unit decomposes the control signal and makes the driving pressure member 323 move away from the lifting member 200 through the driving assembly 324. Specifically, compared with the docking process, the lead screw motor 32471 rotates reversely, causing the pressure driving member 3243 to move away from the lifting member 200, so that the pressure driving member 3243 no longer abuts against the pressure member 323. Under the elastic force of the pressure telescopic spring 3244, the pressure member 323 moves away from the lifting member 200; the supporting plate 322 also moves away from the lifting member 200.

[0144] S320. When the control unit receives the trigger signal from the supporting position sensor 329b, the driving assembly 324 stops the movement of the pressure member 323 and controls the lifting member 200 to start rising. Specifically, the lead screw motor 32471 stops working, and the pressure driving member 3243 stops moving, causing the pressure member 323 to pause.

[0145] S330. When the control unit receives the trigger signal from the extended position sensor 321c, the control unit stops the movement of the lifting member 200 and makes the supporting plate 322 move away from the lifting member 200 through the driving assembly 324.

[0146] When the extended position sensor 321c is triggered, the lifting member 200 is at the height H3. At this time, in the height direction, there is a safety gap between the lifting member 200 and the supporting member 300. The lead screw motor 32471 of the driving assembly 324 continues to rotate reversely, causing the pressure driving member 3243 to move away from the lifting member 200, and the pressure telescopic spring 3244 drives the supporting plate 322 to move away from the lifting member 200.

[0147] In step S330, when the control unit fails to stop the movement of the lifting member 200, the lifting member 200 may continue to rise to the height H4 and then trigger the extreme position sensor 321d, and the control unit forcibly stops the lifting member 200.

[0148] S340. When the control unit receives the trigger signal from the retracted position sensor 329a, the control unit controls the lifting member 200 to start descending. When the retracted position sensor 329a is triggered, it indicates that the supporting device 320 of the supporting member 300 has moved away from below the abutting component 220. The lifting member 200 starts to descend from the height H3.

[0149] S350. When the control unit receives the trigger signal from the deceleration position sensor 321a, the control unit controls the lifting member 200 to accelerate its descent through the lifting power component 100. Thus, it can return to a position close to the ground as soon as possible.

[0150] To ensure the stability of the aerial transport vehicle when it is carried on the abutting component 220, the present application further improves the abutting component 220.

[0151] Reference Figures 12 to 19 As shown in FIGS. and

[0152] , the abutting component 220 includes a mounting base 223, a telescopic component 224 and a wheel stopper 2244. The mounting base 223 is disposed on the lifting track 210. The telescopic component 224 is disposed on the mounting base 223, and the output end of the telescopic component 224 is connected to the wheel stopper 2244. The telescopic component 224 is used to drive the wheel stopper 2244 to telescopically move relative to the mounting base 223.

[0152] In some embodiments, the telescopic component 224 includes a wheel track baffle 2241 and a stopper slide rail 2242. The wheel track baffle 2241 is slidably engaged with the mounting base 223 in the horizontal direction. A guiding groove is provided on the wheel track baffle 2241. The guiding groove includes a first groove 2241a, a second groove 2241b and a third groove 2241c that are sequentially connected (see FIGS. Figure 15 and Figure 19 ). Both the first groove 2241a and the third groove 2241c are parallel to the horizontal direction, and the second section 3223b forms an acute angle with the horizontal direction. The stopper slide rail 2242 is slidably engaged with the mounting base 223, and the guiding direction of the stopper slide rail 2242 is perpendicular to the horizontal direction. The wheel stopper 2244 is fixedly connected to the stopper slide rail 2242, and a guiding member 2245 is connected to the wheel stopper 2244. The guiding member can be movably received in the guiding groove. When the guiding member 2245 cooperates with the second groove 2241b, in response to the wheel track baffle 2241 moving away from the lifting component 200, the guiding member 2245 drives the vehicle baffle 326 to retract relative to the mounting base 223; in response to the wheel track baffle 2241 moving closer to the lifting component 200, the guiding member 2245 drives the vehicle baffle 326 to extend relative to the mounting base 223.

[0153] Specifically, the stopper slide rail 2242 is slidably engaged with a slider in the mounting base 233. The vehicle baffle 326 is connected to the stopper slide rail 2242. When the stopper slide rail 2242 moves relative to the mounting base 233, it can extend out of the mounting base 223 to utilize the space outside the mounting base 223, thereby saving the size of the mounting base 223, and then reducing the space occupied by the telescopic component 224.

[0154] The mounting base 223 is the mounting foundation for other components in the telescopic component 224. The mounting base 223 is fixed to the lifting track 210. Optionally, along the guiding direction of the lifting track 210, the mounting base 223 is provided with a through accommodating cavity 2231, see FIGS. Figure 17 and . Figure 17

[0155] Reference Figure 17 and Figure 18 As shown in FIGS. Figure 17 and Figure 18 , the wheel track baffle 2241 is fixedly connected to a telescopic slide rail 2243. The telescopic slide rail 2243 is slidably engaged with a first slider 2232 fixed on the mounting base 223. ​​​​​

[0156] The stop rail 2242 is in sliding fit with the accommodation cavity 2231. Among them, a second slider 2233 that cooperates with the stop rail 2242 is provided on the end surface of the mounting seat 223 facing the lifting track 210.

[0157] The working principle of the telescopic assembly 224 is as follows:

[0158] Taking Figure 13 、 Figure 15 the paper surface direction of as a reference. When the wheel track baffle 2241 is driven to move towards the left in the figure, the wheel track baffle 2241 drives the wheel stop 2244 to move to the right through the guiding groove. Among them, when the first groove 2241a cooperates with the guiding member 2245, the wheel track baffle 2241 does not drive the guiding member 2245 to move. When the second groove 2241b cooperates with the guiding member 2245, the second groove 2241b drives the guiding member to drive the wheel stop 2244 to move to the right. When the third groove 2241c cooperates with the guiding member 2245, the guiding member 2245 drives the vehicle baffle 326 to move to a position where it can block the wheels of the aerial transporter and stay at this position.

[0159] On the contrary, when the wheel track baffle 2241 is driven to move towards the right in the figure, the relative position change between the guiding groove and the guiding member 2245 is exactly opposite to the above process, and the guiding member 2245 drives the vehicle baffle 326 to move to a position where it cannot block the wheels of the aerial transporter and stay at this position.

[0160] In this embodiment, the movement of the wheel track baffle 2241 drives the wheel stop 2244 to extend or retract, so that the abutting assembly 220 of the present application has the function of blocking the wheels, avoiding the aerial transporter rushing out of the lifting track 210 during the lifting process. It should be noted that referring to Figure 2 , when two abutting assemblies 220 are provided at both the left and right ends of the docking track 310, only one of the two abutting assemblies 220 at both the left and right ends can have the function of blocking materials.

[0161] In the present application, there are differences in the structures of the abutting assemblies 220 on the outer lifting rail 211 and the inner lifting rail 212. Specifically, the above-mentioned wheel track baffle 2241 is not provided on the abutting assembly 220 on the outer lifting rail 211. In this way, the abutting assembly 220 on the outer lifting rail 211 has a small volume, and the position of the belt clamping device 213 provided on the outer lifting rail 211 can be different from the position of the belt clamping device 213 provided on the inner lifting rail 212, thus creating space for the setting of the belt 130.

[0162] Optionally, the telescopic component 224 can be controlled by the control unit to work, so that the wheel stopper 2244 can be telescoped relative to the mounting seat 223, so that it can move to a position where the wheels of the aerial transporter can be blocked, or move to a position where the wheels of the aerial transporter cannot be blocked.

[0163] Optionally, referring to Figure 20 , the telescopic component 224 is configured to: during the process that the docking plate 322 moves to the extended position, the telescopic component 224 drives the wheel stopper 2244 to move to a position where the wheels of the aerial transporter cannot be blocked.

[0164] Specifically, one end of the wheel track baffle 2241 faces the abutting component 220. The wheel track baffle 2241 is configured to: when the docking plate 322 moves towards the lifting component 200, the wheel track baffle 2241 moves under the drive of the docking plate 322 and drives the wheel stopper 2244 to retract relative to the mounting seat 223. Wherein, a wear-resistant block 226 is provided at one end of the wheel track baffle 2241. When the docking plate 322 moves towards the lifting component 200, the docking plate 322 can abut against the wear-resistant block 226 to avoid wearing the wheel track baffle 2241, so that the wheel track baffle 2241 drives the wheel stopper 2244 to retract relative to the mounting seat 223.

[0165] In this embodiment, by means of linkage drive, the drive mechanism of the wheel track baffle 2241 is omitted, the cost is reduced, and while ensuring successful docking, the aerial transporter is also in a state where it can run towards the docking track 310, so as to facilitate the rapid transfer of the aerial transporter.

[0166] Furthermore, referring to Figure 13 、 Figure 17 and Figure 18 , the abutting component 220 further includes a reset component 225. The reset component 225 is used to manually adjust the position of the wheel track baffle 2241.

[0167] The reset component 225 includes a connecting shaft 2251, a fixing member 2252 and a reset spring 2253. The connecting shaft 2251 is fixed to the mounting seat 223.

[0168] The fixing member 2252 can be slidably sleeved on the connecting shaft 2251, and the fixing member 2252 is connected to the wheel track baffle 2241.

[0169] The reset spring 2253 is sleeved on the connecting shaft 2251. The two ends of the reset spring 2253 are respectively limited by the fixing member 2252 and the mounting seat 223. The reset spring 2253 is configured to provide an elastic force for making the wheel track baffle 2241 move towards the docking component 300.

[0170] When the wheel track baffle 2241 is driven towards Figure 13When moving to the left in the figure, the return spring 2253 is compressed to store energy. When the wheel track baffle 2241 moves towards the right in the figure, the return spring 2253 provides a restoring force, enabling the wheel track baffle 2241 to automatically reset or quickly reset. Refer to Figure 13 , Figure 14 and Figure 16 , optionally, the top of the fixing member 2252 is exposed above the mounting seat 223. The lower end of the fixing member 2252 extends into the mounting seat 223 to be connected to the wheel track baffle 2241.

[0171] The top of the fixing member 2252 being exposed above the mounting seat 223 facilitates manual operation. Among them, when it is necessary for the wheel track baffle 2241 to be driven towards Figure 13 the left in the figure, the operator can hold the top of the fixing member 2252 and then drive the wheel track baffle 2241 to move towards the left in the figure.

[0172] Refer to Figure 21 and Figure 22 , the belt lifting and supporting system of the aerial transporter in this application further includes a maintenance cart 400. The maintenance cart 400 can be used together with the lifting component 200 to exchange the aerial transporter near the ground. The maintenance cart 400 includes a connecting track 410 for supporting the leaning and connecting component 220. There are two one-way passing control mechanisms 420 spaced apart on the connecting track 410. A positioning space is formed between the two one-way passing control mechanisms 420. The one-way passing control mechanism 420 includes a body 421, a baffle 422 movably connected to the body 421 and opening towards the inner side of the positioning space under the action of an external force, and a torsion spring 423 for limiting the baffle 422. The connecting track 410 specifically includes an outer connecting rail 411 and an inner connecting rail 412.

[0173] When transferring the aerial transporter from the lifting component 200 to the maintenance cart 400, the connecting track 410 supports the leaning and connecting component 220. When the aerial transporter moves towards the positioning space, the baffle 422 is opened towards the inner side of the positioning space, and then it enters and is positioned in the positioning space.

[0174] When transferring the aerial transporter from the maintenance cart 400 to the lifting component 200, first open the baffle near the lifting component 200 towards the inner side of the positioning space, and then the aerial transporter can drive towards the lifting component 200.

[0175] Finally, it should be noted that the technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0176] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patented application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A lifting control system for an aerial transport vehicle, characterized in that: include: A lifting power component, wherein the lifting power component is installed on an aerial installation foundation; A lifting component, wherein the lifting component is connected to the output end of the lifting power component through a belt so as to be able to be lifted and lowered in a vertical direction under the drive of the lifting power component, and the lifting component comprises a lifting track arranged in a horizontal direction and a leaning assembly arranged at an end of the lifting track; A supporting component is arranged on one side of the lifting component in the horizontal direction, the supporting component comprises a docking track and a supporting device, the guiding direction of the docking track is arranged along the horizontal direction and is fixedly connected to the aerial installation base, the supporting device is installed at the end of the docking track, and the supporting device comprises a supporting plate, a pressing piece and a driving assembly that can move in the horizontal direction; A control unit, the control unit is used to control the lifting and lowering of the lifting component and the operation of the driving component according to the docking control instruction or the separation control instruction, so that the leaning component and the supporting device dock or separate; wherein, When the leaning assembly and the supporting device are in a separated state, upon receiving a docking control instruction, under the control of the control unit, when the lifting component rises to the second position, the driving component drives the supporting plate to move toward the lifting component to the extended position to support the leaning assembly; when the lifting component descends from the second position to the third position, the driving component drives the pressing piece to move toward the lifting component to press the leaning assembly.

2. The aerial transport vehicle lifting control system according to claim 1, characterized in that: The leaning assembly is provided with a first detection piece and a second detection piece; The supporting device is provided with a material pressure level sensor and an extension position sensor. When the extension position sensor is triggered by the first detection piece, a trigger signal indicating that the lifting component is in the second position is generated; when the material pressure level sensor is triggered by the second detection piece, a trigger signal indicating that the lifting component is in the third position is generated.

3. The aerial transport vehicle support lifting control system according to claim 2, characterized in that: The supporting device further includes a deceleration position sensor, wherein the deceleration position sensor, the material pressing position sensor and the extension position sensor are arranged in sequence from bottom to top, and when the deceleration position sensor is triggered by the first detection piece, a trigger signal indicating that the lifting component is in the first position is generated; wherein During the ascending process of the lifting component, when the deceleration position sensor is triggered, the lifting power component controls the lifting component to decelerate; and / or, during the descending process of the lifting component, when the deceleration position sensor is triggered, the lifting power component controls the lifting component to accelerate.

4. The aerial transport vehicle support lifting control system according to claim 2, characterized in that: The supporting device also includes a supporting plate sensing sheet, a retracted position sensor, a supporting position sensor and a material pressing sensor. The supporting plate sensing sheet is used to trigger the retracted position sensor, the supporting position sensor and the material pressing sensor. When the retracted position sensor is triggered, it indicates that the supporting plate is in a retracted position; when the supporting position sensor is triggered, it indicates that the supporting plate is in an extended position; when the material pressing sensor is triggered, it indicates that the material pressing piece is in an extended position.

5. The aerial transport vehicle toggle lifting control system according to claim 4, characterized in that: During the docking process, under the control of the control unit, the first detection piece rises to the second position and when the extended position sensor is triggered, the driving assembly drives the supporting plate to move toward the lifting component; Furthermore, when the supporting position sensor is triggered, the driving assembly stops driving the supporting plate to move.

6. The aerial transport vehicle support and lifting control system according to claim 4, characterized in that: When the leaning component and the supporting device are in a docking state, upon receiving a separation control instruction, under the control of the control unit, the driving component drives the pressing piece and the supporting plate to move away from the lifting component. When the supporting position sensor is triggered, the driving component stops driving the pressing piece and the supporting plate, and the control unit controls the lifting component to start rising.

7. The aerial transport vehicle toggle lifting control system according to claim 6, characterized in that: During the separation process, when the extended position sensor is triggered, the control unit stops the lifting component from moving, and moves the supporting plate away from the lifting component through the driving assembly; when the retracted position sensor is triggered, the control unit controls the lifting component to start descending.

8. The aerial transport vehicle toggle lifting control system according to claim 4, characterized in that: A pressure sensor is provided on the top of the supporting plate, and when the pressure sensor is triggered, a trigger signal is generated indicating that the leaning component is leaning against the supporting device; The supporting device further comprises a material pressing sensor, which generates a trigger signal indicating that the material pressing member moves to a material pressing position when the material pressing sensor is triggered.

9. The aerial transport vehicle toggle lifting control system according to claim 8, characterized in that: During the docking process, under the control of the control unit, when the second detection piece descends to the third position and when the material pressure level sensor is triggered, the control unit controls the lifting component to stop moving; and when the pressure sensor is triggered, the driving assembly drives the material pressure piece to move toward the lifting component; Furthermore, when the material pressing sensor is triggered by the supporting plate sensing sheet, the driving component stops driving the material pressing member.

10. The aerial transport vehicle support lifting control system according to any one of claims 1 to 9, characterized in that: The driving assembly includes a supporting plate driving slide rail, a pressing piece driving slide rail, a pressing piece driving piece, a pressing piece telescopic spring, a supporting plate stop piece, a supporting plate limiting piece, a power mechanism and a pressing piece limiting piece, wherein: The supporting plate driving slide rail is connected to the docking rail and slidably cooperates with the supporting plate; The pressing piece driving slide rail is connected to the supporting plate and is slidably matched with the pressing piece; The material pressing driving member is connected to the material pressing member; the material pressing telescopic spring connects the material pressing driving member and the supporting plate; The output end of the power mechanism is connected to the material pressing driving member to drive the material pressing driving member to move in the horizontal direction; The spacing between the material pressing driving member and the material pressing member limiting member is a first spacing, the spacing between the supporting plate stop member and the supporting plate limiting member is a second spacing, and the first spacing is greater than the second spacing.

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