Aerial walking carrying system and transportation control system

Abstract

The invention discloses an air walking carrying system and a transportation control system, and the air walking carrying system comprises a first carrying vehicle which is configured to move on an air track and can carry only one material box; the second carrying vehicle is configured to move on the aerial track and can carry a plurality of material boxes at the same time; the transportation control system is used for determining whether a carrying task is a single-piece carrying task or a batch carrying task when receiving the carrying task, and determining a second carrying vehicle to execute the batch carrying task when determining that the carrying task is the batch carrying task; when it is determined that the task is the single-piece carrying task, the transport control system determines a first carrier to execute the single-piece carrying task. When the material box is carried, whether the carrying task is a single-piece carrying task or a batch carrying task is identified, and the batch carrying task corresponds to a plurality of carrying requirements at a time, so that the number of the carrying tasks sent to a transportation control system can be effectively reduced, and the processing pressure of the transportation control system is reduced.

Description

Technical Field

[0001] The present invention relates to the field of automatic material box handling, in particular to an aerial conveying system and a transportation control system. Background Art

[0002] In automated factories such as wafer fabs, overhead transport systems (OHT systems) are often used to transport cassettes.

[0003] Conventional overhead conveying systems, such as those disclosed in patent application publication number CN119240514A, are limited by the OHT (overhead crane) structure. During transport control, the transport control system typically only receives a transport task for one material box each time.

[0004] Because the entire aerial transport system is very large, there are often large-scale transport demands in a short period of time. Each transport demand requires sending a transport task to the transport control system, which causes the transport control system to receive many transport tasks at the same time. This greatly increases the processing pressure of the transport control system and raises the requirements for the transport control system. Summary of the Invention

[0005] The purpose of the present invention is to solve the above problems existing in the prior art and to provide an aerial walking conveying system and a transportation control system.

[0006] The purpose of the present invention is achieved through the following technical solutions: Aerial transport system, including: A first transport vehicle is configured to move on an aerial track and is capable of transporting only one material box; a second transport vehicle configured to move on an overhead track and capable of simultaneously transporting a plurality of boxes; The transportation control system communicates with the first transport vehicle and the second transport vehicle and controls their operation. When receiving a transport task, the transportation control system determines whether the transport task is a single-piece transport task or a batch transport task. When it is determined that the transport task is a batch transport task, the transportation control system determines a second transport vehicle to perform the batch transport task; when it is determined that the transport task is a single-piece transport task, the transportation control system determines a first transport vehicle to perform the single-piece transport task.

[0007] Preferably, the transport task is sent from the material control system to the transportation control system, and when the material control system receives multiple transport requirements, it confirms whether at least two of the multiple transport requirements can be performed by a second transport vehicle; For multiple transport requirements that can be performed by a second transport vehicle, the material control system aggregates them into a batch transport task; For each transport requirement that cannot be performed by a second transport vehicle, the material control system generates a single transport task.

[0008] Preferably, when the material control system determines that the starting points of a plurality of transport demands are located in the same area and the end points are located in the same area, it determines that the plurality of transport demands can be performed by one second transport vehicle and generates a batch transport task.

[0009] Preferably, the material control system eliminates the transport requirements that need to be processed first when generating batch transport tasks.

[0010] Preferably, after receiving a batch transport task, the transportation control system first determines the starting point of which transport requirement of the batch transport task the second transport vehicle should first move to, and then determines a second transport vehicle to perform the batch transport task based on the starting point to which the second transport vehicle should first move to.

[0011] Preferably, the second transport vehicle comprises a storage portion and a transfer portion, the storage portion is capable of storing a plurality of material boxes, and the transportation control system instructs the transfer portion to move behind the storage portion.

[0012] Preferably, the storage portion and the transfer portion are detachably connected via a connector.

[0013] Preferably, when the second transport vehicle moves in a straight line, the storage part and the transfer part are connected together and move synchronously; when the second transport vehicle is about to enter a turning section or a fork position or a merging position, the storage part and the transfer part are disconnected and each passes through the turning section or the fork position or the merging position; after the storage part and the transfer part pass through the turning section or the fork position or the merging position in turn, the transfer part and the storage part are connected together and move synchronously.

[0014] Preferably, the second transport vehicle places two material boxes on two material placement plates on a storage assembly according to the following process: When the second transport vehicle controls its transfer part to grab a material box onto the top of the storage assembly, the second transport vehicle controls the support frame of the storage assembly to move outward from the fixed frame so that the upper material discharge plate located at the first end of the support frame is located below the material box; The second transport vehicle controls the transfer unit to place the material box on the upper material placement plate, and then controls the support frame to move back into the fixed frame; After the support frame moves back into the fixed frame, the second transport vehicle controls the upper unloading plate to move to the second end of the support frame; When the second transport vehicle controls its transfer part to grab another material box onto the storage assembly, the second transport vehicle controls the support frame to move outward from the fixed frame again so that the lower material discharge plate located at the first end of the support frame is located below the material box; After the second transport vehicle controls the transfer portion to place the material box on the lower material placement plate, it controls the support frame to move back into the fixed frame.

[0015] The transportation control system communicates with the first transport vehicle and the second transport vehicle and controls their operation. When receiving a transport task, the transportation control system determines whether the transport task is a single-piece transport task or a batch transport task. When it is determined that the transport task is a batch transport task, the transportation control system determines a second transport vehicle to perform the batch transport task; when it is determined that the transport task is a single-piece transport task, the transportation control system determines a first transport vehicle to perform the single-piece transport task.

[0016] The advantages of the technical solution of the present invention are mainly reflected in: When handling boxes, the overhead transport system of the present invention identifies whether the transport task is a single-piece or batch transport task. Since batch transport tasks can handle multiple transport requests at a time, this can effectively reduce the number of transport tasks sent to the transport control system, thereby reducing the processing pressure of the transport control system. Furthermore, batch transport helps reduce the cross-region movement of the first transport vehicle, reducing equipment operating energy consumption and improving overall transport efficiency.

[0017] The starting points and end points of each transporting requirement of the batch transporting task of the present invention are in the same area, and the transport of multiple material boxes can be effectively achieved through one cross-regional movement of the second transport vehicle, reducing cross-regional movement, which is beneficial to improving the processing efficiency of multiple transporting requirements and ensuring the execution of normal processing procedures.

[0018] The batch handling tasks of the present invention eliminate tasks that need to be processed in priority, which can effectively ensure that urgent tasks are processed in a timely manner and avoid delays caused by being aggregated into batch handling tasks.

[0019] The second transport vehicle of the present invention adopts a storage part and a transfer part in combination, and the transfer part moves along with the storage part, which can effectively save the moving path planning of the transfer part, thereby avoiding adding extra path planning tasks to the transportation control system.

[0020] The storage part and the transfer part of the present invention are connected by a detachable connector. When moving in a straight line, the storage part and the transfer part are connected, and the power of the transfer part can be used to assist the movement of the storage part, which is beneficial to reduce the power requirement of the storage part. At the same time, when turning, the storage part and the transfer part are automatically separated, so that the two can pass through the turning section smoothly respectively, avoiding the problem of requiring a larger turning radius due to the large size when the two are integrated, and can effectively meet the expansion needs of the existing track structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a partial schematic diagram of the aerial walking transport system of the present invention; Figure 2 is a perspective view of a storage unit of a second transport vehicle of the present invention, wherein the connecting beam on the bottom side of the fixed frame is omitted; Figure 3 is a partial schematic diagram of a support frame of a storage portion of a second transport vehicle of the present invention, partially extending outside a fixed frame; Figure 4 It is a partial schematic diagram of the aerial transport system of the present invention provided with an OHB; Figure 5 is a schematic structural diagram of a second transport vehicle of the present invention in which a storage portion and a transfer portion are connected together; Figure 6 Schematic diagram of the process of transport control system of the present invention for carrying task identification; Figure 7 This is a flow chart of the manufacturing control system, material control system and transportation control system of the present invention cooperating to control the transportation of material boxes. DETAILED DESCRIPTION

[0022] The objects, advantages, and features of the present invention are illustrated and explained through the following non-limiting description of preferred embodiments. These embodiments are merely typical examples of the application of the technical solutions of the present invention, and any technical solutions formed by equivalent substitution or equivalent transformation fall within the scope of protection claimed by the present invention.

[0023] In the description of the scheme, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplification. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Example

[0024] The aerial transport system disclosed by the present invention will be described below with reference to the accompanying drawings. Figure 1 As shown, it includes: The first transport vehicle 100 is configured to move on the overhead track 200 and can only transport one material box 700; The second transport vehicle 300 is configured to move on the overhead rail 200 and can transport a plurality of magazines 700 at the same time.

[0025] The aerial track 200 may be a known feasible structure, such as the track structure disclosed in patent documents such as application publication number CN 114955458A, or the grid track structure disclosed in patent document such as application publication number CN114080364A.

[0026] The first transport vehicle 100 may be a structure disclosed in the prior art such as the patent literature cited in the background art, and will not be described in detail here.

[0027] The structure of the second transport vehicle 300 can adopt different structures as needed.

[0028] In one embodiment, as shown in the attached Figure 1 As shown, the second transport vehicle 300 includes a storage portion 301 and a transfer portion 302 that are separated from each other.

[0029] The storage unit 301 includes a first moving component 303 and a memory 304 disposed below the first moving component 303 . The specific structure of the first moving component 303 may be the same as the known OHT walking structure, which will not be described in detail here.

[0030] As attached Figure 2 As shown, the storage unit 304 includes a hollow fixed frame 305, which is a rectangular parallelepiped structure assembled from multiple horizontal and vertical bars. The rear side of the fixed frame 305 serves as an entrance and exit, and the rear side is defined as the side facing backward when the storage unit 301 is in motion. The fixed frame 305 can be provided with a single layer of storage components 306, or multiple layers of storage components 306.

[0031] When a layer of storage assembly 306 is provided on the fixed frame 305, the storage assembly 306 includes multiple storage locations 307. The multiple storage locations 307 can be different locations on a discharge plate 308. In this case, the multiple storage locations 307 on a discharge plate 308 can be horizontally distributed along direction 1 D1, wherein direction 1 D1 is perpendicular to direction 2 D2, and direction 2 is defined as the axial direction of the moving wheel of the first movable assembly 303. Of course, in other embodiments, the multiple storage locations 307 of a storage assembly 306 can also be multiple independent discharge plates 308, each storage location 307 is provided on a discharge plate 308, and the multiple discharge plates 308 can be of the same height or have a certain height difference. In addition, each storage location is provided with a positioning structure, such as multiple positioning pins 309, or other structures, such as positioning slots.

[0032] When multiple layers of storage components 306 are provided on the fixed frame 305, each storage component 306 includes at least one storage location 307. For example, the storage components 306 are provided in two layers, each layer of storage components 306 may have only one storage location 307, and the height difference between the storage locations 307 of the two layers of storage components 306 is not less than the height of the magazine 700, so that the magazine 700 can be placed in storage locations 307 at different heights.

[0033] In a preferred embodiment, as shown in the attached Figure 2 As shown, the fixed frame 305 is provided with two layers of storage assemblies 306, and each layer of storage assemblies 306 includes at least one unloading plate 308. Each unloading plate 308 is provided with at least one storage location and is movably mounted on the fixed frame 305 along a direction -D1. For example, both sides of the unloading plate 308 are connected to the fixed frame 305 via drawer slide rails. Furthermore, the unloading plate 308 is connected to a first drive assembly that drives the unloading plate 308 to move along a direction -D1, and can move the storage locations on the unloading plate 308 to the outside of the entrance and exit of the fixed frame 305. At this time, the unloading plate 308 is partially confined within the fixed frame 305.

[0034] The specific structure of the first driving component can be designed as needed. For example, it can be a structure composed of a motor and a screw, or a structure composed of a motor and a synchronous belt mechanism, or a known servo module can be directly used to drive the discharge plate 308 to reciprocate.

[0035] In a more preferred embodiment, each of the storage components 306 includes two layers of discharge plates 308, each layer of discharge plates 308 is provided with a storage position, and a small gap is maintained between the two layers of discharge plates 308 to avoid interference with the relative movement of the two layers. Each of the discharge plates 308 is connected to one of the first drive components. At the same time, the size of the fixed frame 305 satisfies that the two discharge plates 308 can be distributed in the fixed frame 305 in a staggered direction D1.

[0036] In a further preferred embodiment, as shown in the attached Figure 2 As shown, each layer of storage assembly 306 can also be provided with two layers of discharge plates 308, and each discharge plate 308 is provided with a storage position. The two discharge plates 308 are provided on a support frame 310. The support frame 310 is a U-shaped frame, but of course it can also be other shapes, such as an I-shaped frame, which is not limited here. The two side rods 311 of the support frame 310 are movably provided on the fixed frame 305, and the side rods 311 extend along direction -D1. In order to minimize the size as much as possible, a movable bar 312 extending along direction -D1 is provided on the outer side of each side rod 311. The length of the movable bar 312 is consistent with the length of the side rod 311, of course, this is not required. Meanwhile, guide grooves 314 are provided on the inner sides of the two connecting beams 313 of the fixed frame 305, matching the movable bars 312. The connecting beams 313 extend along direction D1, and the two movable bars 312 are embedded in the two guide grooves 314, thereby enabling the support frame 310 to slide relative to the fixed frame 305. Furthermore, to facilitate smoother movement of the support frame, a set of rollers 329 are provided on the connecting beams 313, attached to the top and bottom surfaces of the movable bars 312.

[0037] As attached Figure 2 As shown, the support frame is connected to a second drive component 315 that drives it to reciprocate along direction D1. The second drive component 315 is arranged on the connecting beam 313. Its specific structure can be designed with reference to the first drive component and is not limited here.

[0038] As attached Figure 3 As shown, the second driving assembly 315 can drive a portion of the support frame 310 to extend outside the fixed frame 305. The portion of the support frame 310 extending outside the fixed frame 305 satisfies the position of the unloading plate 308 located at the first end 316 of the support frame 310 outside the fixed frame 305. The first end is the end of the support frame 310 extending outside the fixed frame 305, and the other end of the support frame 310 opposite to the first end is the second end.

[0039] Furthermore, the size of the support frame 310 is such that the two layers of the unloading plates 308 can be staggered in direction one D1. Of course, this is not necessary, as long as the storage positions on the two unloading plates are staggered.

[0040] For the sake of convenience, the upper one of the two discharge plates 308 of a storage component 306 is defined as an upper discharge plate, and the lower one is defined as a lower discharge plate. The lower discharge plate can be fixed to the first end 316 of the support frame 310.

[0041] As attached Figure 2 As shown, the upper unloading plate is arranged between the two side rods 311 of the support frame 310 so as to be movable along direction -D1. Accordingly, to reduce the size, the inner sides of the two side rods 311 are provided with chutes 317 for the upper unloading plate to move. At the same time, to reduce the resistance to the movement of the upper unloading plate, each chute 317 is provided with a set of upper limit wheels 318 attached to the upper part of the upper unloading plate and lower limit wheels 319 attached to the lower part of the upper unloading plate. The two sides of the upper unloading plate move between the upper limit wheels 318 and the lower limit wheels 319.

[0042] As attached Figure 2 As shown, the upper unloading plate is connected to a third drive assembly 320, which is arranged at the top or bottom of the side rod 311. The specific structure of the third drive assembly 320 can be designed with reference to the first drive assembly and is not limited here. The third drive assembly 320 drives the upper unloading plate to move between the first end 316 and the second end of the support frame 310. When the upper unloading plate is at the first end 316 of the support frame 310, the upper and lower unloading plates are aligned in the upper and lower positions. When the upper unloading plate is at the second end of the support frame 310, the upper and lower unloading plates are staggered in direction - D1.

[0043] Of course, in another embodiment, the two discharge plates 308 can also be fixed on the support frame 310 and cannot move along direction D1. In this case, the support frame 310 needs to extend a longer length to enable the two discharge plates 308 to move to the outside of the fixed frame 305.

[0044] As attached Figure 1 As shown, the transfer unit 302 includes a second moving assembly 321 and a pick-and-place device 322 disposed below the second moving assembly 321. The specific structure of the second moving assembly 321 is the same as the walking structure of a conventional OHT and will not be described in detail here. The specific structure of the pick-and-place device 322 can be designed as needed.

[0045] Specifically, since the storage position can be moved to the outside of the fixed frame 305, at this time, as shown in the attached Figure 1 As shown, the picker and placer 322 includes a height adjustment component 323 and a clamping component 324 driven up and down by the height adjustment component 323. The height adjustment component 323 can lift the material box 700 grasped by the clamping component 324 to different heights. The specific structure of the height adjustment component 323 and the clamping component 324 can refer to the known OHT structure and will not be repeated here.

[0046] Further, as attached Figure 1 , Attachment Figure 4 As shown, when an OHB (over head buffer) is configured next to the aerial track 200 in the aerial walking and transporting system, the picker and placer 322 also needs to include a transverse movement component 325. The transverse movement component 325 is connected to the height adjustment component 323 and drives the height adjustment component 323 to move along direction two D2. The specific structure of the transverse movement component 325 can be designed as needed, for example, the structure disclosed in patent documents such as authorization announcement numbers CN217050302U and CN221253649U.

[0047] And if necessary, the transverse moving assembly 325 can also be set below the rotating assembly (not shown in the figure), and the rotating assembly drives the transverse moving assembly 325 to rotate horizontally, so that the transverse moving direction of the transverse moving assembly 325 can be adjusted.

[0048] In the above embodiment, the storage unit 301 and the transfer unit 302 are two independent devices. Of course, in another embodiment, the storage unit 301 and the transfer unit 302 may be a single, integrated device. In this case, the first movable assembly 303 of the storage unit 301 and the second movable assembly 321 of the transfer unit 302 may be connected as a single unit. In a more preferred embodiment, the storage unit 301 and the transfer unit 302 may be connected as a single unit in a detachable manner.

[0049] Specifically, as attached Figure 5As shown, the opposing ends of the first movable assembly 303 and the second movable assembly 321 are connected by a detachable connector, such as an electromagnet 326 and an adsorbed member 327 that can be attracted by the electromagnet 326. Preferably, the electromagnet 326 is disposed on the second movable assembly 321, and the adsorbed member 327 is disposed on the first movable assembly 303. When the first movable assembly 303 and the second movable assembly 321 need to be connected as one, the electromagnet 326 generates a magnetic force to attract the adsorbed member 327, thereby allowing the first movable assembly 303 and the second movable assembly 321 to move synchronously as one. When the first movable assembly 303 and the second movable assembly 321 need to be separated, allowing the first movable assembly 303 and the second movable assembly 321 to move independently, the electromagnet 326 is de-energized, and stops attracting the adsorbed member 327, thereby disconnecting the first movable assembly 303 and the second movable assembly 321, allowing the storage unit 301 and the transfer unit 302 to move independently.

[0050] Furthermore, to avoid vibration during connection, the electromagnet 326 and / or the attracted part 327 can be connected to the second movable assembly 321 and / or the first movable assembly 303 via a known elastic shock absorber 328. Furthermore, to ensure that the first movable assembly 303 and the second movable assembly 321 are connected in an appropriate state, a distance sensor (not shown) is provided on the transfer unit 302. The transfer unit 302 can determine whether the distance between the transfer unit 302 and the storage unit 301 meets the requirements based on the signal from the distance sensor. When the distance meets the requirements, the transfer unit 302 can control the electromagnet 326 to attract the attracted part 327. When the distance does not meet the requirements, the transfer unit can be accelerated first. When it is determined that the distance between the transfer unit 302 and the storage unit 301 is appropriate, the transfer unit controls the electromagnet to attract the attracted part 327, while maintaining the same speed for the transfer unit and the storage unit.

[0051] Of course, in other embodiments, the connector may also adopt a known tool quick-change tray, or other feasible structures, which will not be described here in detail.

[0052] As attached Figure 1 , Attachment Figure 6As shown, the aerial walking transport system also includes a transport control system (TCS). The transport control system 400 communicates with the first transport vehicle 100 and the second transport vehicle 300 and controls their operation. When receiving a transport task, the transport control system 400 determines whether the transport task is a single-piece transport task or a batch transport task. When it is determined that the transport task is a batch transport task, the transport control system 400 determines a second transport vehicle 300 to perform the batch transport task; when it is determined that the transport task is a single-piece transport task, the transport control system 400 determines a first transport vehicle 100 to perform the single-piece transport task.

[0053] As attached Figure 1 , Attachment Figure 7 As shown, the handling task received by the transportation control system 400 is issued by the material control system (MCS) communicating with it, the material control system 500 communicates with the manufacturing control system (MES), the manufacturing control system 600 generates a handling requirement according to the production plan and sends it to the material control system 500, and the material control system 500 generates a handling task according to the handling requirement and sends it to the transportation control system 400.

[0054] When receiving multiple transport requirements, the material control system determines whether at least two of the multiple transport requirements can be performed by a second transport vehicle 300; For multiple transport requirements that can be performed by one second transport vehicle 300, the material control system aggregates them into a batch transport task; For each transport requirement that cannot be performed by a second transport vehicle 300 , the material control system generates a single transport task.

[0055] When the material control system determines whether there are multiple transport requirements that can be executed by a second transport vehicle 300, it determines based on the positions of the starting points and end points of the multiple transport requirements, the starting point being the initial location of the material box 700 to be transported, and the end point being the location to which the material box 700 to be transported is to be transported; if the starting points of multiple transport requirements are located in the same area and the end points are located in the same area, it is determined that the multiple transport requirements can be executed by a second transport vehicle 300 and a batch transport task is generated.

[0056] The areas can be divided in different ways, for example, according to the distribution of the aerial tracks, or according to the number of points where the magazine 700 can be placed, as shown in the attached figure. Figure 4As shown, the point can be port 910 of processing equipment 900, cache location 810 of OHB 800, or storage location of a stocker device (not shown). Of course, the areas can also be divided according to different process flows. For example, processing equipment 900 in the same process can be divided into one area. Of course, other division methods are also possible and are not limited here.

[0057] The following is an example of dividing the processing equipment 900 for the same process into an area. Suppose there are 6 processes in a processing plant, and the processing equipment 900 for the 6 processes are divided into the first area, the second area, the third area, ..., the sixth area in sequence.

[0058] Assuming that among the multiple transport requirements received by the material control system, the starting points of four transport requirements are all in the first area and the end points are all in the second area, the material control system will generate a batch transport task including the transport information of these four transport requirements and send it to the transportation control system 400.

[0059] In addition, since the batch handling task requires the sequential handling of multiple material boxes 700, it cannot meet the timely processing needs of the handling requirements that need to be processed first. Therefore, when generating the batch handling task, the material control system will eliminate the handling requirements that need to be processed first.

[0060] Let's continue with the example of four transport requests. Assuming all four transport requests originate in the first area and end in the second area, and one of them requires priority processing, when generating the batch transport task, the prioritized transport request is removed and a single transport task is generated for it. In this case, if no other transport request originates in the first area and ends in the second area, the batch transport task includes information about the remaining three transport requests.

[0061] Furthermore, since the carrying capacity of a second transport vehicle 300 (the number of material boxes 700 that can be stored) is limited, when the number of multiple transport requirements that can be executed by a second transport vehicle 300 is one more than the carrying capacity of the second transport vehicle 300, the material control system can select a group of transport requirements corresponding to the carrying capacity of the second transport vehicle 300 from the multiple transport requirements according to a certain screening principle to generate a batch of transport tasks. The screening principle can be set as needed, for example, random selection, or selection in sequence according to the order in which the material control system receives multiple transport requirements, or selection of transport requirements corresponding to several starting points with the shortest total distance or the shortest estimated total travel time when the second transport vehicle moves between the starting points, etc., which is not limited here.

[0062] For example, the carrying capacity of the second transport vehicle 300 is 4, and when the material control system receives 5 transport requirements whose starting points and end points are located in the same area, the material control system selects 4 from the 5 transport requirements according to the screening principle to generate a batch of transport tasks.

[0063] Assume that the five starting points are position A, position B, position C, position D and position E, and the total distance the second transport vehicle moves from position A to position B, position C, and position D is 50 meters, the total distance the second transport vehicle moves from position A to position C, position D, and position E is 55 meters, the total distance the second transport vehicle moves from position B to position C, position D, and position E is 60 meters, and so on. If it is determined that the total distance of 50 meters that the second transport vehicle moves from position A to position B, position C, and position D is the smallest value among all total distances, the material control system selects the handling requirements corresponding to position A, position B, position C, and position D to generate a batch handling task.

[0064] After determining the first transport vehicle 100 to perform a single-piece transport task, the transportation control system 400 controls the first transport vehicle 100 to perform the transport according to a known control method, which will not be described in detail here.

[0065] After receiving a batch transport task, the transportation control system 400 can first determine the starting point of the transport requirement of the batch transport task to which the second transport vehicle should first move, and then determine a second transport vehicle 300 to perform the batch transport task based on the starting point to which the second transport vehicle 300 should first move.

[0066] When determining the order in which the second transport vehicle 300 moves to the starting points of each transport requirement of the batch transport task, it can be determined according to the position order of each starting point on the aerial track. For example, the four starting points of the four transport requirements are position A, position B, position C, and position D, and their order from upstream to downstream on the aerial track is position B, position A, position C, and position D. Then the transportation control system 400 determines that the second transport vehicle 300 needs to move to position B, position A, position C, and position D in sequence, so that the starting point to which the second transport vehicle 300 is to move first is position B. Therefore, the transportation control system 400 determines the specific second transport vehicle 300 based on position B. At this time, the second transport vehicle 300 that is closest to position B or has the shortest travel time and is idle can be selected to perform the batch transport task.

[0067] Of course, the order in which the second transport vehicle moves to the starting points of the batch transport task can also be determined in other ways. For example, it can be determined based on the estimated total travel time of the second transport vehicle 300 moving to the starting points in different orders. The corresponding technology is known technology and will not be described in detail here.

[0068] After determining the second transport vehicle 300 that performs the batch transport task and the order in which the second transport vehicle moves to each starting point, the transportation control system 400 plans a moving path for the second transport vehicle 300 in stages.

[0069] For example, in the above example, after a second transport vehicle 300 is identified, the operation control system first plans a movement path for the second transport vehicle 300 from its current position to the position B. When the second transport vehicle 300 is loading a cassette 700 at position B (placing the cassette 700 on a loading plate 308 of the second transport vehicle 300), the transportation control system 400 plans a movement path for the second transport vehicle 300 from position B to position A. Similarly, when the second transport vehicle 300 is loading a cassette 700 at position A, the transportation control system 400 plans a movement path for the second transport vehicle 300 from position A to position C. Similarly, when the second transport vehicle 300 is loading a cassette 700 at position C, the transportation control system 400 plans a movement path for the second transport vehicle 300 from position C to position D.

[0070] The specific timing of determining the moving path each time can be set as needed. For example, the path planning can be performed at any time within the time period from when the transfer unit 302 starts to drive the material box 700 downward to when the material box 700 is placed on the extended discharge plate 308.

[0071] Each time the transport control system 400 plans a movement path, it instructs the second transport vehicle 300 to move along the planned movement path. When instructing the second transport vehicle 300 to move, the transport control system 400 instructs the transfer unit 302 to move behind the storage unit 301. Furthermore, if the transfer unit 302 and the storage unit 301 are connected via a detachable connector, then when the second transport vehicle 300 moves in a straight line, the storage unit 301 and the transfer unit move synchronously while connected. When the second transport vehicle 300 is about to enter a turning section or a fork position (one track is divided into two tracks) or a merging position (two tracks merge into one track), the transfer part 302 controls the connector to disconnect the transfer part 302 and the storage part 301. At this time, the storage part 301 and the transfer part 302 can move separately; after the storage part 301 and the transfer part 302 pass through the turning section or the fork position or the merging position in turn, the transfer part 302 controls the two parts of the connector to restore to the connected state, so that the transfer part 302 and the storage part 301 are connected together and move synchronously.

[0072] When the second transport vehicle 300 loads the material box 700 at the starting position of each transport requirement, the material box 700 needs to be placed on the upper material discharge plate of a storage component 306 first, and then placed on the lower material discharge plate.

[0073] When the second transport vehicle 300 moves to a starting point, the transfer part 302 of the second transport vehicle 300 grabs the material box 700 at the starting point and lifts it above a layer of storage components. At this time, part of the support frame 310 of the storage component extends out of the fixed frame 305. At the same time, the upper material discharge plate is located at the first end 316 of the support frame 310 and is located below the material box 700 grabbed by the transfer part 302. At this time, the transfer part 302 places the grabbed material box 700 on the upper material discharge plate. After the transfer part 302 releases the material box 700 and the clamping claw assembly 324 moves up, the support frame 310 retracts to complete the loading of one material box 700.

[0074] After loading a magazine 700, the upper unloading plate moves to the second end of the support frame 310. At this time, the lower unloading plate is located at the first end 316 of the support frame 310. When moving to the starting point of the next transfer requirement, the same process is followed to first lift the magazine 700 above the storage assembly. Then, the support frame 310 is extended. At this time, the lower unloading plate is located below the magazine 700. After the transfer unit 302 places the magazine 700 on the lower unloading plate, the support frame 310 retracts.

[0075] Furthermore, when unloading a material box on a storage component 306, it is necessary to first remove the material box 700 on the lower material discharge plate, and then remove the material box 700 on the upper material discharge plate. Moreover, after the material box 700 on the lower material discharge plate is removed, the upper material discharge plate can be moved from the second end of the support frame 310 to the first end 316.

[0076] After all the material boxes 700 required for the batch handling task are loaded onto the second transport vehicle 300, the transportation control system 400 determines the unloading order of the material boxes 700 according to the positions of the material boxes 700 on the second transport vehicle 300, that is, the order in which the material boxes 700 are moved off the second transport vehicle 300.

[0077] For example, the storage part of the second transport vehicle is loaded with 4 material boxes, which are defined as material box one, material box two, material box three and material box four in sequence. Material box one is located on the upper material discharge board of the upper storage component, and material box two is located on the lower material discharge board of the upper storage component; material box three is located on the upper material discharge board of the lower storage component, and material box four is located on the lower material discharge board of the lower storage component.

[0078] Therefore, when unloading, it is necessary to unload box 2 and box 4 first. After loading is completed, when the transportation control system determines that the travel time for the second transport vehicle to move from its current position to the destination to which box 2 is to be transported is less than the travel time for the second transport vehicle to move to the destination to which box 4 is to be transported, box 2 is determined to be unloaded first. When the second transport vehicle unloads box 2 at the destination to which box 2 is to be transported, the transportation control system determines the travel time for the second transport vehicle to move from its current position to the destinations to which box 4 and box 1 are to be transported, respectively. Assuming that the travel time for the second transport vehicle to move to the destination to which box 4 is to be transported is less than the travel time for the second transport vehicle to move to the destination to which box 1 is to be transported, box 4 is determined to be unloaded second. Finally, the travel time for the second transport vehicle to move from its current position to the destinations to which box 1 and box 3 are to be transported is determined. Assuming that the travel time for the second transport vehicle to move from the destination to which box 4 is to be transported to the destination to which box 1 is to be transported is less than the travel time for the second transport vehicle to move from the destination to which box 4 is to be transported to the destination to which box 1 is to be transported is less than the travel time for the second transport vehicle to move to the destination to which box 3 is to be transported, box 1 is determined to be unloaded third, and box 3 is unloaded last.

[0079] Of course, other principles may also be used to determine the unloading order. For example, in each path planning mentioned above, the order may be determined based on priority rather than travel time. This is not limited here.

[0080] After determining the unloading sequence, the transport control system 400 similarly plans a phased movement path for the second transport vehicle 300, controlling the second transport vehicle 300 to sequentially unload the magazines 700 to their intended locations. When unloading a magazine, the transfer unit controls its gripper assembly to move above a storage assembly. The storage assembly's support frame then extends, positioning a magazine below the gripper assembly. The gripper assembly then descends, grabs the magazine, and lifts it. The support frame then retracts into its fixed frame, and the gripper assembly places the magazine in place before resetting.

[0081] The present invention has multiple implementation modes, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present invention.

Claims

1. Aerial transport system, characterized by: include: A first transport vehicle is configured to move on an aerial track and is capable of transporting only one material box; a second transport vehicle configured to move on an overhead track and capable of simultaneously transporting a plurality of boxes; The transportation control system communicates with the first transport vehicle and the second transport vehicle and controls their operation. When receiving a transport task, the transportation control system determines whether the transport task is a single-piece transport task or a batch transport task. When it is determined that the transport task is a batch transport task, the transportation control system determines a second transport vehicle to perform the batch transport task; when it is determined that the transport task is a single-piece transport task, the transportation control system determines a first transport vehicle to perform the single-piece transport task.

2. The aerial transport system according to claim 1, characterized in that: The transport task is sent by the material control system to the transportation control system. When the material control system receives multiple transport requirements, it determines whether at least two of the multiple transport requirements can be performed by a second transport vehicle. For multiple transport requirements that can be performed by a second transport vehicle, the material control system aggregates them into a batch transport task; For each transport requirement that cannot be performed by a second transport vehicle, the material control system generates a single transport task.

3. The aerial transport system according to claim 2, characterized in that: When the material control system determines that the starting points of the plurality of transport demands are located in the same area and the end points are located in the same area, the plurality of transport demands are determined to be executable by one second transport vehicle and a batch transport task is generated.

4. The aerial transport system according to claim 2, characterized in that: When generating batch handling tasks, the material control system eliminates handling requirements that need to be processed with priority.

5. The aerial transport system according to claim 1, characterized in that: After receiving a batch transport task, the transportation control system first determines the starting point of the transport requirement of the batch transport task to which the second transport vehicle should first move, and then determines a second transport vehicle to perform the batch transport task based on the starting point to which the second transport vehicle should first move.

6. The aerial transport system according to any one of claims 1 to 5, characterized in that: The second transport vehicle includes a storage portion and a transfer portion, the storage portion is capable of storing a plurality of magazines, and the transport control system instructs the transfer portion to move behind the storage portion.

7. The aerial transport system according to claim 6, characterized in that: The storage portion and the transfer portion are detachably connected via a connector.

8. The aerial transport system according to claim 7, characterized in that: When the second transport vehicle moves in a straight line, the storage part and the transfer part are connected together and move synchronously; when the second transport vehicle is about to enter a turning section, a fork position or a merging position, the storage part and the transfer part are disconnected and each passes through the turning section, the fork position or the merging position; after the storage part and the transfer part have passed through the turning section, the fork position or the merging position in turn, the transfer part and the storage part are connected together and move synchronously.

9. The aerial transport system according to claim 7, characterized in that: The second transport vehicle places two magazines on two placing plates on a storage assembly according to the following process: When the second transport vehicle controls its transfer part to grab a material box onto the top of the storage assembly, the second transport vehicle controls the support frame of the storage assembly to move outward from the fixed frame so that the upper material discharge plate located at the first end of the support frame is located below the material box; The second transport vehicle controls the transfer unit to place the material box on the upper material placement plate, and then controls the support frame to move back into the fixed frame; After the support frame moves back into the fixed frame, the second transport vehicle controls the upper unloading plate to move to the second end of the support frame; When the second transport vehicle controls its transfer part to grab another material box onto the storage assembly, the second transport vehicle controls the support frame to move outward from the fixed frame again so that the lower material discharge plate located at the first end of the support frame is located below the material box; After the second transport vehicle controls the transfer portion to place the material box on the lower material placement plate, it controls the support frame to move back into the fixed frame.

10. A transport control system, communicating with the first transport vehicle and the second transport vehicle and controlling their operation, characterized in that: When receiving a transport task, the transportation control system determines whether the transport task is a single-piece transport task or a batch transport task. When it is determined that the transport task is a batch transport task, the transportation control system determines a second transport vehicle to perform the batch transport task; when it is determined that the transport task is a single-piece transport task, the transportation control system determines a first transport vehicle to perform the single-piece transport task.

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