Overhead conveyance system and transport control system

Abstract

The application discloses an aerial walking conveying system and a transportation control system, wherein the aerial walking conveying system comprises a first carrier configured to move on an aerial track and capable of carrying only one material box; a second carrier configured to move on the aerial track and capable of carrying multiple material boxes simultaneously; and the transportation control system, upon receiving a carrying task, determines whether the carrying task is a single-piece carrying task or a batch carrying task, and when determining that the carrying task is a batch carrying task, the transportation control system determines a second carrier to execute the batch carrying task; and when determining that the carrying task is a single-piece carrying task, the transportation control system determines a first carrier to execute the single-piece carrying task. When carrying the material boxes, the application can effectively reduce the number of carrying tasks sent to the transportation control system and reduce the processing pressure of the transportation control system by identifying whether the carrying task is a single-piece carrying task or a batch carrying task, and since the batch carrying task can correspond to multiple carrying requirements at a time.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic material box handling, in particular to an overhead traveling conveyance system and a transportation control system. BACKGROUND

[0002] In an automated factory such as a wafer processing factory, an overhead traveling conveyance system (OHT system) is often used to handle material boxes.

[0003] A conventional overhead traveling conveyance system, as shown in the patent document with the application publication number CN119240514A, due to the limitation of the OHT (overhead traveling crane) structure, when transporting control, the transportation control system usually only targets one material box for each handling task received.

[0004] Since the entire overhead traveling conveyance system is very large, a large number of handling requirements often occur in a short period of time, and each handling requirement needs to send a handling task to the transportation control system, which causes the transportation control system to receive a large number of handling tasks at the same time, greatly increasing the processing pressure of the transportation control system and improving the requirements for the transportation control system. SUMMARY

[0005] The purpose of the present application is to solve the above-mentioned problems existing in the prior art, and to provide an overhead traveling conveyance system and a transportation control system.

[0006] The purpose of the present application is achieved by the following technical solutions:

[0007] The overhead traveling conveyance system comprises:

[0008] The first handling vehicle is configured to move on the overhead track and can only handle one material box;

[0009] The second handling vehicle is configured to move on the overhead track and can simultaneously handle multiple material boxes;

[0010] The transportation control system communicates with and controls the operation of the first handling vehicle and the second handling vehicle, and when receiving a handling task, determines whether the handling task is a single handling task or a batch handling task. When determining that the handling task is a batch handling task, the transportation control system determines a second handling vehicle to execute the batch handling task; when determining that the handling task is a single handling task, the transportation control system determines a first handling vehicle to execute the single handling task.

[0011] Preferably, the handling task is issued to the transportation control system by a material control system, and the material control system determines whether at least two of the multiple handling requirements can be executed by one second handling vehicle when receiving multiple handling requirements.

[0012] For a plurality of handling requirements that can be executed by a second handling vehicle, the material control system aggregates them into a batch handling task;

[0013] For each handling requirement that cannot be executed by a second handling vehicle, the material control system generates a single handling task.

[0014] Preferably, the material control system determines that a plurality of handling requirements can be executed by a second handling vehicle and generates a batch handling task when the starting points of the plurality of handling requirements are located in the same area and the ending points of the plurality of handling requirements are located in the same area.

[0015] Preferably, the material control system excludes handling requirements that need to be prioritized when generating a batch handling task.

[0016] Preferably, the transportation control system determines, after receiving a batch handling task, which starting point of the handling requirements of the batch handling task the second handling vehicle needs to move to first, and determines a second handling vehicle to execute the batch handling task according to the starting point that the second handling vehicle needs to move to first.

[0017] Preferably, the second handling vehicle comprises a storage part and a transfer part, the storage part is capable of storing a plurality of boxes, and the transportation control system instructs the transfer part to move behind the storage part.

[0018] Preferably, the storage part and the transfer part are detachably connected through a connector.

[0019] Preferably, when the second handling vehicle moves in a straight line, the storage part and the transfer part are connected together and move synchronously; when the second handling vehicle is about to enter a turning section or a bifurcation position or a merging position, the storage part and the transfer part are disconnected and pass through the turning section or the bifurcation position or the merging position respectively; after the storage part and the transfer part pass through the turning section or the bifurcation position or the merging position in sequence, the transfer part and the storage part are connected together and move synchronously.

[0020] Preferably, the second handling vehicle places two boxes on two box placing plates of a storage assembly according to the following process:

[0021] When the second handling vehicle controls the transfer part to grasp a box above the storage assembly, the second handling vehicle controls the support frame of the storage assembly to move out of the fixed frame so that the upper box placing plate located at the first end of the support frame is below the box;

[0022] After the second handling vehicle controls the transfer part to place the box on the upper box placing plate, the second handling vehicle controls the support frame to move back into the fixed frame;

[0023] After the support frame moves back into the fixed frame, the second transfer vehicle controls the upper layer of the material box to move to the second end of the support frame;

[0024] When the second transfer vehicle controls the transfer part to grab another material box above the storage assembly, the second transfer vehicle controls the support frame to move out of the fixed frame again so that the lower layer of the material box at the first end of the support frame is located below the material box;

[0025] After the second transfer vehicle controls the transfer part to place the material box on the lower layer of the material box, the support frame is moved back into the fixed frame.

[0026] A transport control system in communication with the first transfer vehicle and the second transfer vehicle and controlling their operation, when receiving a transfer task, determining whether the transfer task is a single piece transfer task or a batch transfer task, when determining that the transfer task is a batch transfer task, the transport control system determines a second transfer vehicle to execute the batch transfer task; when determining that the transfer task is a single piece transfer task, the transport control system determines a first transfer vehicle to execute the single piece transfer task.

[0027] The advantages of the technical scheme of the present application mainly include:

[0028] The air walking transfer system of the present application can effectively reduce the number of transfer tasks sent to the transport control system when performing material box transfer by identifying whether the transfer task is a single piece transfer task or a batch transfer task, thereby reducing the processing pressure of the transport control system. At the same time, batch transfer is beneficial to reduce the cross-regional movement of the first transfer vehicle, and is beneficial to reduce the energy consumption of the equipment operation and improve the overall transfer efficiency.

[0029] The starting point and the ending point of each transfer requirement of the batch transfer task of the present application are in the same region, which can effectively realize the transfer of multiple material boxes through one cross-regional movement of the second transfer vehicle, reduce cross-regional movement, and improve the processing efficiency of multiple transfer requirements and ensure the execution of normal processing flow.

[0030] The batch transfer task of the present application can effectively ensure that urgent tasks are processed in time and avoid delay caused by aggregation into batch transfer tasks.

[0031] The second transfer vehicle of the present application uses a storage part and a transfer part in cooperation, and the transfer part moves with the storage part, which can effectively save the movement path planning of the transfer part, thereby not increasing the path planning task of the transport control system.

[0032] The storage part and the transfer part of the present application are connected by separable connectors, when moving in a straight line, the storage part and the transfer part are connected, the movement of the storage part can be assisted by the power of the transfer part, thereby facilitating the reduction of 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 both of them can smoothly pass through the turning section, and the problem of large turning radius due to large size when they are integrated is avoided, which can effectively meet the expansion needs of the existing track structure. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a partial schematic view of the aerial walking conveying system of the present application;

[0034] Figure 2 is a perspective view of the storage of the storage part of the second carrier of the present application, the connecting beam on one side of the bottom of the fixed frame is hidden;

[0035] Figure 3 is a partial schematic view of the support frame of the storage part of the second carrier of the present application, which is partially extended out of the fixed frame;

[0036] Figure 4 is a partial schematic view of the aerial walking conveying system of the present application provided with an OHB;

[0037] Figure 5 is a structural schematic view of the storage part and the transfer part of the second carrier of the present application being connected together;

[0038] Figure 6 is a process schematic view of the conveying control system of the present application for identifying the conveying task;

[0039] Figure 7 is a flow chart of the manufacturing control system, the material control system and the conveying control system of the present application cooperating to control the conveying of the material box. DETAILED DESCRIPTION

[0040] The purposes, advantages and characteristics of the present application will be illustrated and explained by the following non-limiting description of the preferred embodiments. These embodiments are only typical examples of the application of the technical solutions of the present application, and any technical solutions formed by equivalent replacement or equivalent transformation fall within the scope of the present application.

[0041] In the description of the schemes, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplification of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for the purpose of description and cannot be understood as indicating or implying relative importance. Embodiments

[0042] The air walking conveying system disclosed in the present application will be described below in conjunction with the accompanying drawings, such as the accompanying drawings Figure 1 as shown, which comprises:

[0043] The first carrier 100 is configured to move on the air track 200 and can only carry one box 700;

[0044] The second carrier 300 is configured to move on the air track 200 and can carry multiple boxes 700 at the same time.

[0045] The air track 200 can be a known feasible structure, such as the track structure disclosed in the patent documents with application publication number CN114955458A and the like. Of course, it can also be the grid-shaped track structure disclosed in the patent document with application publication number CN114080364A.

[0046] The first carrier 100 can be the structure disclosed in the prior art cited in the background art, which will not be described here.

[0047] The structure of the second carrier 300 can be different according to needs.

[0048] In one embodiment, as shown in the accompanying drawings Figure 1 The second carrier 300 comprises a storage part 301 and a transfer part 302 which are separated from each other.

[0049] The storage part 301 comprises a first moving assembly 303 and a storage device 304 arranged below the first moving assembly 303. The specific structure of the first moving assembly 303 can be the same as the walking structure of the known OHT, which will not be described here.

[0050] As shown in the accompanying drawings Figure 2As shown, the storage 304 comprises a hollow fixed frame 305, which is a cuboid frame structure assembled by a plurality of horizontal and vertical rods. The rear side of the fixed frame 305 is the inlet and outlet, which is defined as the side facing backward when the storage 301 is moving. One layer of storage assemblies 306 can be arranged on the fixed frame 305, or multiple layers of storage assemblies 306 can be arranged on the fixed frame 305.

[0051] When one layer of storage assemblies 306 is arranged on the fixed frame 305, the storage assembly 306 comprises a plurality of storage positions 307. The plurality of storage positions 307 can be different positions on one feeding plate 308. At this time, the plurality of storage positions 307 on one feeding plate 308 can be horizontally distributed along direction one D1, which is perpendicular to direction two D2, which is defined as the axial direction of the moving wheels of the first moving assembly 303. Of course, in another embodiment, the plurality of storage positions 307 of one storage assembly 306 can be a plurality of independent feeding plates 308. Each storage position 307 is arranged on one feeding plate 308. The plurality of feeding plates 308 can be of the same height or have a certain height difference. In addition, a positioning structure is arranged at each storage position, which is, for example, a plurality of positioning pins 309, and of course can be other structures, such as positioning grooves.

[0052] When multiple layers of storage assemblies 306 are arranged on the fixed frame 305, each storage assembly 306 comprises at least one storage position 307. For example, the storage assembly 306 is two layers, each layer of storage assembly 306 can have only one storage position 307, and the height difference of the storage positions 307 of the two layers of storage assembly 306 is not less than the height of the material box 700 so that the material box 700 can be placed into the storage position 307 at different heights.

[0053] In a preferred embodiment, as shown in the accompanying drawings, Figure 2 As shown, two layers of storage assemblies 306 are arranged on the fixed frame 305, and each layer of storage assembly 306 comprises at least one feeding plate 308, on which at least one storage position is arranged. The feeding plate 308 is movably arranged on the fixed frame 305 along direction one D1, for example, the two sides of the feeding plate 308 are connected to the fixed frame 305 through drawer slides. At the same time, the feeding plate 308 is connected with a first driving assembly, which drives the feeding plate 308 to move along direction one D1, and can move the storage position on the feeding plate 308 to the outside of the inlet and outlet of the fixed frame 305. At this time, part of the feeding plate 308 is still limited in the fixed frame 305.

[0054] The specific structure of the first drive component can be designed as needed. For example, it can be a structure consisting of a motor and a lead screw, or a structure consisting of a motor and a synchronous belt mechanism, or a known servo module can be directly used to drive the feeding plate 308 to reciprocate and translate.

[0055] In a more preferred embodiment, each of the storage components 306 includes two layers of feeding plates 308, each feeding plate 308 having a storage slot. A small gap is maintained between the two feeding plates 308 to avoid interfering with their relative movement. Each feeding plate 308 is connected to a first driving component. Meanwhile, the size of the fixing frame 305 is such that the two feeding plates 308 can be distributed in a staggered direction D1 within the fixing frame 305.

[0056] In a further preferred embodiment, as shown in the appendix Figure 2 As shown, each storage component 306 can also be provided with two layers of feeding plates 308, and each feeding plate 308 is provided with one storage position. The two feeding plates 308 are arranged on a support frame 310. The support frame 310 is a U-shaped frame, but it can also be other shapes, such as I-shaped, etc., which are not limited here. The two side rods 311 of the support frame 310 are movably arranged on the fixed frame 305, and the side rods 311 extend in direction D1. In order to minimize the size, a movable strip 312 extending in direction D1 is provided on the outer side of each side rod 311. The length of the movable strip 312 is the same as the length of the side rod 311, but this is not mandatory. Meanwhile, guide grooves 314 matching the moving strips 312 are provided on the inner sides of the two connecting beams 313 of the fixed frame 305. The connecting beams 313 extend along direction D1, and the two moving strips 312 are embedded in the two guide grooves 314, thereby allowing the support frame 310 to slide relative to the fixed frame 305. Furthermore, in order to make the movement of the support frame smoother, a set of rollers 329 are provided on the connecting beams 313 and attached to the top and bottom surfaces of the moving strips 312.

[0057] As attached Figure 2 As shown, the support frame is connected to a second drive assembly 315 that drives it to reciprocate along direction D1. The second drive assembly 315 is disposed on the connecting beam 313, and its specific structure can be designed with reference to the first drive assembly, which is not limited here.

[0058] As attached Figure 3As shown, the second driving component 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 condition that the feeding plate 308 located at the first end 316 of the support frame 310 is located outside the fixed frame 305. The first end is the end of the support frame 310 that extends outside the fixed frame 305, and the other end of the support frame 310 opposite to the first end is the second end.

[0059] Furthermore, the dimensions of the support frame 310 are such that the two layers of feeding plates 308 can be staggered in direction D1. Of course, this is not necessary; it is sufficient to ensure that the storage positions on the two feeding plates are staggered.

[0060] For ease of explanation, the uppermost of the two feeding plates 308 in a storage component 306 is defined as the upper feeding plate, and the lowermost is defined as the lower feeding plate. The lower feeding plate can be fixed to the first end 316 of the support frame 310.

[0061] As attached Figure 2 As shown, the upper feeding plate is movably disposed between the two side rods 311 of the support frame 310 along direction D1. Correspondingly, in order to reduce the size, the inner sides of both side rods 311 are provided with sliding grooves 317 for the upper feeding plate to move. At the same time, in order to reduce the moving resistance of the upper feeding plate, a set of upper limit wheels 318 attached above the upper feeding plate and lower limit wheels 319 attached below the upper feeding plate are provided at each sliding groove 317. The two sides of the upper feeding plate can move between the upper limit wheels 318 and the lower limit wheels 319.

[0062] As attached Figure 2 As shown, the upper feeding plate is connected to a third driving assembly 320. The third driving assembly 320 is disposed at the top or bottom of the side rod 311. The specific structure of the third driving assembly 320 can be designed with reference to the first driving assembly, and is not limited here. The third driving assembly 320 drives the upper feeding plate to move between the first end 316 and the second end of the support frame 310. When the upper feeding plate is at the first end 316 of the support frame 310, the upper feeding plate and the lower feeding plate are vertically aligned. When the upper feeding plate is at the second end of the support frame 310, the upper feeding plate and the lower feeding plate are staggered in direction D1.

[0063] Of course, in another embodiment, both feeding plates 308 may 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 so that the two feeding plates 308 can move to the outside of the fixed frame 305.

[0064] As attached Figure 1 As shown, the transfer unit 302 includes a second moving component 321 and a pick-and-place device 322 disposed below the second moving component 321. The specific structure of the second moving component 321 is the same as the known walking structure of an OHT, and will not be described in detail here. The specific structure of the pick-and-place device 322 can be designed as needed.

[0065] Specifically, since the storage location can be moved to the outside of the fixed frame 305, at this time, as shown in the attached... Figure 1 As shown, the pick-and-place device 322 includes a height adjustment component 323 and a gripper component 324 driven by the height adjustment component 323 to move up and down. The height adjustment component 323 can lift the material box 700 gripped by the gripper component 324 to different heights. The specific structure of the height adjustment component 323 and the gripper component 324 can refer to the known structure of OHT, and will not be described in detail here.

[0066] Further details are attached. Figure 1 Appendix Figure 4 As shown, when an OHB (Over Head Buffer) is configured next to the overhead track 200 in the overhead walking transport system, the pick-and-place device 322 also needs to include a lateral movement component 325. The lateral movement component 325 is connected to the height adjustment component 323 and drives the height adjustment component 323 to move along direction D2. The specific structure of the lateral movement component 325 can be designed as needed, for example, the structure disclosed in patent documents with authorization announcement numbers CN217050302U and CN221253649U.

[0067] Furthermore, if necessary, the transverse component 325 can also be disposed below the rotating component (not shown in the figure), and the rotating component drives the transverse component 325 to rotate horizontally, thereby adjusting the transverse direction of the transverse component 325.

[0068] In the above embodiments, 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 can also be a single, integrated device, in which case the first moving component 303 of the storage unit 301 and the second moving component 321 of the transfer unit 302 can be connected as a whole. In a more preferred embodiment, the storage unit 301 and the transfer unit 302 can be connected as a single unit in a detachable manner.

[0069] Specifically, as shown in the attached document Figure 5As shown, the opposite ends of the first moving assembly 303 and the second moving assembly 321 are connected by a detachable connector, which is composed of an electromagnet 326 and an attracted member 327 that can be attracted by the electromagnet 326. Preferably, the electromagnet 326 is arranged on the second moving assembly 321, and the attracted member 327 is arranged on the first moving assembly 303. When the first moving assembly 303 and the second moving assembly 321 need to be connected as a whole, the electromagnet 326 generates magnetic force to attract the attracted member 327, so that the first moving assembly 303 and the second moving assembly 321 are connected as a whole and move synchronously. When the first moving assembly 303 and the second moving assembly 321 need to be separated, the electromagnet 326 is powered off, and it stops attracting the attracted member 327, so that the first moving assembly 303 and the second moving assembly 321 are disconnected, and the storage part 301 and the transfer part 302 can move independently.

[0070] In order to avoid the influence of vibration during connection, the electromagnet 326 and / or the attracted member 327 can be connected to the second moving assembly 321 and / or the first moving assembly 303 by a known elastic shock absorber 328. Further, in order to ensure that the first moving assembly 303 and the second moving assembly 321 in a moving state are connected in a suitable state, a distance measuring sensor (not shown in the figure) is arranged on the transfer part 302. The transfer part 302 can determine whether the distance between the transfer part 302 and the storage part 301 meets the requirements according to the signal of the distance measuring sensor. When the distance meets the requirements, the transfer part 302 can control the electromagnet 326 to attract the attracted member 327. When the distance does not meet the requirements, the transfer part can be accelerated first. When it is determined that the distance between the transfer part 302 and the storage part 301 is suitable, the transfer part controls the electromagnet to attract the attracted member 327, and at the same time, the transfer part and the storage part keep the same speed.

[0071] Of course, in another embodiment, the connector can also adopt a known tool quick-change disc or other feasible structure, which is not described here.

[0072] As shown in the accompanying drawings Figure 1 , the accompanying drawings Figure 6As shown, the air walking conveying system further comprises a transport control system (TCS, Transport Control System) 400, which communicates with and controls the first trolley 100 and the second trolley 300. When receiving a conveying task, the transport control system 400 determines whether the conveying task is a single-piece conveying task or a batch conveying task. When determining that the conveying task is a batch conveying task, the transport control system 400 determines a second trolley 300 to execute the batch conveying task. When determining that the conveying task is a single-piece conveying task, the transport control system 400 determines a first trolley 100 to execute the single-piece conveying task.

[0073] As shown in the accompanying drawings Figure 1 , the accompanying drawings Figure 7 As shown, the conveying task received by the transport control system 400 is issued by a material control system (MCS, Material Control System) in communication therewith. The material control system 500 communicates with a manufacturing control system (MES, Manufacturing Execution System). The manufacturing control system 600 generates conveying requirements according to a production plan and sends them to the material control system 500. The material control system 500 generates conveying tasks according to the conveying requirements and sends them to the transport control system 400.

[0074] When receiving a plurality of conveying requirements, the material control system determines whether at least two of the plurality of conveying requirements can be executed by a second trolley 300.

[0075] For the plurality of conveying requirements that can be executed by a second trolley 300, the material control system aggregates them into a batch conveying task.

[0076] For each conveying requirement that cannot be executed by a second trolley 300, the material control system generates a single-piece conveying task.

[0077] When determining whether there are a plurality of conveying requirements that can be executed by a second trolley 300, the material control system determines according to the location conditions of the start point and the end point of the plurality of conveying requirements. The start point is the initial location of the conveying box 700 to be conveyed, and the end point is the location to which the conveying box 700 is to be conveyed. If the start points of the plurality of conveying requirements are located in the same area and the end points are located in the same area, it is determined that the plurality of conveying requirements can be executed by a second trolley 300 and a batch conveying task is generated.

[0078] The area can be divided in different ways, such as according to the distribution of the aerial tracks, or according to the number of points that can hold 700 material boxes, as shown in the attached diagram. Figure 4 As shown, the point can be port 910 of processing equipment 900, buffer bit 810 of OHB800, or storage location of STOCKER device (not shown in the figure). Of course, the area can also be divided according to different process flows. For example, processing equipment 900 for the same process can be divided into one area; of course, it can also be divided in other ways, which are not limited here.

[0079] The following explanation uses the example of dividing the processing equipment 900 that performs the same process into a region. Suppose that there are 6 processes in a processing plant, and the processing equipment 900 for the 6 processes is divided into the first region, the second region, the third region, ..., the sixth region.

[0080] If, among the multiple handling requests received by the material control system, four of them originate in the first area and end in the second area, the material control system will generate a batch handling task that includes the handling information of these four handling requests and send it to the transportation control system 400.

[0081] In addition, since batch handling tasks require the sequential handling of multiple material boxes 700, the timely processing needs of handling requirements that need to be prioritized cannot be met. Therefore, when generating batch handling tasks, the material control system will remove handling requirements that need to be prioritized.

[0082] Continuing with the example of the four transport requests described above, assuming that all four requests originate in the first region and end in the second region, and one request requires priority processing, then when generating the batch transport task, this priority 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 region and ends in the second region, then the batch transport task includes information on the remaining three transport requests.

[0083] Further, since the carrying capacity (the number of storage boxes 700 that can be stored) of a second carrier 300 is limited, when the number of carrying requirements that can be performed by a second carrier 300 is more than the carrying capacity of the second carrier 300 by one, the material control system can select a group of carrying requirements corresponding to the carrying capacity of the second carrier 300 from a plurality of carrying requirements according to a certain screening principle to generate a batch carrying task, and the screening principle can be set as needed, for example, random selection, or selection according to the order in which the material control system receives the carrying requirements, or selection of carrying requirements corresponding to the start points of the second carrier when the total distance of the second carrier moving between the start points is the shortest or the estimated total travel time is the shortest, etc. Here, no limitation is made.

[0084] For example, the carrying capacity of the second carrier 300 is 4, and the material control system receives 5 carrying requirements whose start points are located in the same area and whose end points are located in the same area. At this time, the material control system selects 4 from the 5 carrying requirements to generate a batch carrying task according to the screening principle.

[0085] Suppose the five start points are position A, position B, position C, position D, and position E, respectively, and the total distance of the second carrier moving from position A to position B, position C, and position D in turn is 50 meters, the total distance of the second carrier moving from position A to position C, position D, and position E in turn is 55 meters, the total distance of the second carrier moving from position B to position C, position D, and position E in turn is 60 meters, etc. If it is determined that the total distance of 50 meters of the second carrier moving from position A to position B, position C, and position D in turn is the smallest among all total distances, the material control system selects the carrying requirements corresponding to position A, position B, position C, and position D to generate a batch carrying task.

[0086] The transportation control system 400 controls the first carrier 100 to perform carrying according to the known control mode after determining the first carrier 100 to perform a single carrying task, which is not described here.

[0087] After receiving a batch carrying task, the transportation control system 400 can first determine which start point of the carrying requirement of the batch carrying task the second carrier first moves to, and then determine a second carrier 300 to perform the batch carrying task according to the start point that the second carrier 300 first moves to.

[0088] In determining the sequence in which the second trolley 300 moves to the starting points of the batch handling task, the sequence can be determined according to the sequence of the positions of the starting points on the aerial track. For example, the four starting points of the four handling requirements are position A, position B, position C, and position D, and the sequence of the positions from upstream to downstream on the aerial track is position B, position A, position C, and position D. Then the transport control system 400 determines that the second trolley 300 needs to move to position B, position A, position C, and position D in sequence, so the first starting point to which the second trolley 300 needs to move is position B. Therefore, the transport control system 400 determines the specific second trolley 300 based on the position B. At this time, the second trolley 300 closest to the position B or the second trolley 300 with the shortest travel time and being idle can be selected to perform the batch handling task.

[0089] Of course, the sequence in which the second trolley moves to the starting points of the batch handling task can also be determined in other ways. For example, the sequence can be determined according to the estimated total travel time of the second trolley 300 moving to the starting points in different sequences. The corresponding technology is known and will not be described here.

[0090] After determining the second trolley 300 that performs the batch handling task and the sequence in which the second trolley moves to the starting points, the transport control system 400 plans a moving path for the second trolley 300 in stages.

[0091] For example, in the above example, after determining a second trolley 300, the transport control system first plans a moving path for the second trolley 300 to move from its current position to the position B. When the second trolley 300 loads the magazine 700 at the position B (places the magazine 700 on the unloading plate 308 of the second trolley 300), the transport control system 400 plans a moving path for the second trolley 300 to move from the position B to the position A. Similarly, when the second trolley 300 loads the magazine 700 at the position A, the transport control system 400 plans a moving path for the second trolley 300 to move from the position A to the position C. Similarly, when the second trolley 300 loads the magazine 700 at the position C, the transport control system 400 plans a moving path for the second trolley 300 to move from the position C to the position D.

[0092] The specific timing of each time the moving path is determined can be set as needed. For example, the path can be planned at any time within the time period from when the transfer part 302 starts to drive the magazine 700 to move downward to when the magazine 700 is placed on the extended unloading plate 308.

[0093] The transport control system 400 instructs the second trolley 300 to move along the planned moving path each time the moving path is planned, and instructs the transfer part 302 to move behind the storage part 301 when the second trolley 300 moves. If the transfer part 302 and the storage part 301 are connected by a detachable connector, the storage part 301 and the transfer part move synchronously when the second trolley 300 moves in a straight line. When the second trolley 300 is about to enter a turning section or a bifurcation position (one track splits into two tracks) or a merging position (two tracks merge into one track), the transfer part 302 controls the connector to disconnect the connection between the transfer part 302 and the storage part 301, so that the storage part 301 and the transfer part 302 can move separately. When the storage part 301 and the transfer part 302 pass through the turning section or the bifurcation position or the merging position in sequence, the transfer part 302 controls the two parts of the connector to return to the connected state, so that the transfer part 302 and the storage part 301 move synchronously.

[0094] When the second trolley 300 loads the magazine 700 at the starting position of each transport demand, the magazine 700 needs to be placed on the upper layer of the storage assembly 306 first, and then placed on the lower layer.

[0095] When the second trolley 300 moves to a starting position, the transfer part 302 of the second trolley 300 grabs and lifts the magazine 700 at the starting position to above a layer of the storage assembly. At this time, part of the support frame 310 of the storage assembly protrudes out of the fixed frame 305, and the upper layer of the magazine 700 is located below the first end 316 of the support frame 310 and below the magazine 700 grabbed by the transfer part 302. At this time, the transfer part 302 places the magazine 700 it grabs on the upper layer of the magazine 700. After the transfer part 302 releases the magazine 700 and the gripper assembly 324 moves up, the support frame 310 retracts, completing the loading of the magazine 700.

[0096] After the loading of a magazine 700 is completed, the upper layer of the magazine 700 moves to the second end of the support frame 310, and at this time, the lower layer of the magazine 700 is located at the first end 316 of the support frame 310. When moving to the starting position of the next transport demand, the magazine 700 is lifted above the storage assembly first according to the same process described above, and then the support frame 310 protrudes, at which time the lower layer of the magazine 700 is located below the magazine 700. After the transfer part 302 places the magazine 700 on the lower layer of the magazine 700, the support frame 310 retracts.

[0097] And, when carrying out the unloading of the cartridges 700 on one storage assembly 306, the cartridges 700 on the lower layer of the cartridge receiving plate need to be taken off first, and then the cartridges 700 on the upper layer of the cartridge receiving plate are taken off, and after the cartridges 700 on the lower layer of the cartridge receiving plate are taken off, the upper layer of the cartridge receiving plate can be moved from the second end of the support frame 310 to the first end 316.

[0098] After all the cartridges 700 to be carried in the batch carrying task are loaded onto the second carrying vehicle 300, the transportation control system 400 determines the unloading sequence of the cartridges 700 according to the positions of the cartridges 700 on the second carrying vehicle 300, that is, the sequence in which the cartridges 700 are unloaded from the second carrying vehicle 300.

[0099] For example, the storage part of the second carrying vehicle is loaded with four cartridges, which are defined as cartridge one, cartridge two, cartridge three and cartridge four in sequence, cartridge one is located on the upper layer of the cartridge receiving plate of the upper storage assembly, and cartridge two is located on the lower layer of the cartridge receiving plate of the upper storage assembly; cartridge three is located on the upper layer of the cartridge receiving plate of the lower storage assembly, and cartridge four is located on the lower layer of the cartridge receiving plate of the lower storage assembly.

[0100] Therefore, when unloading, cartridge two and cartridge four need to be unloaded first, and after the loading is completed, when the transportation control system determines that the travel time of moving the second carrying vehicle from the current position to the destination where cartridge two is to be carried is less than the travel time of moving the second carrying vehicle to the destination where cartridge four is to be carried, it is determined that the unloading of cartridge two is carried out first. When the second carrying vehicle carries out the unloading of cartridge two at the destination where cartridge two is to be carried, the transportation control system determines the travel time of moving the second carrying vehicle from the current position to the destinations where cartridge four and cartridge one are to be carried respectively, assuming that the travel time of moving to the destination where cartridge four is to be carried is less than the travel time of moving to the destination where cartridge one is to be carried, it is determined that the second cartridge four is unloaded; finally, the travel time of moving the second carrying vehicle from its current position to the destinations where cartridge one and cartridge three are to be carried is determined, assuming that the travel time of moving the second carrying vehicle from the destination where cartridge four is to be carried to the destination where cartridge one is to be carried is less than the travel time of moving to the destination where cartridge three is to be carried, it is determined that the third cartridge one is unloaded, and finally, cartridge three is unloaded.

[0101] Of course, other principles can also be used to determine the unloading sequence, for example, in each path planning described above, the priority can be determined instead of the travel time, which is not limited here.

[0102] When the unloading sequence is determined, the transport control system 400 also plans a moving path for the second transport vehicle 300 in stages, so as to control the second transport vehicle 300 to unload the magazine 700 to the position to be transported in sequence. When one magazine is unloaded, the transfer part controls the gripper assembly to move above a storage assembly, then the support frame of the storage assembly is extended to make a magazine thereon located below the gripper assembly, then the gripper assembly is lowered to grab the magazine and lift the magazine, then the support frame is retracted into the fixed frame, and the gripper assembly is reset after placing the grabbed magazine to the position.

[0103] The present application has various embodiments, and all the technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present application.

Claims

1. An aerial walking conveying system, characterized in that, include: The first transport vehicle is configured to move on an overhead track and can only transport one container at a time; A second transport vehicle is configured to move on an overhead track and simultaneously transport multiple containers. The second transport vehicle includes a storage section and a transfer section. The storage section includes a first moving component and a memory unit disposed below the first moving component. The memory unit includes a hollow fixed frame with multiple storage slots. The transfer section includes a second moving component and a pick-and-place device disposed below the second moving component. The pick-and-place device includes a height adjustment component and a gripper component driven to move up and down by the height adjustment component. The opposite ends of the first and second moving components are connected by a detachable connector, and the first and second moving components can be connected as a single unit for synchronous movement. The transport control system communicates with and controls the first and second transport vehicles. When the transport control system receives a transport task, it determines whether the transport task is a single-item transport task or a batch transport task. When it is determined that the handling task is a batch handling task, the transportation control system determines a second handling vehicle to perform the batch handling task; When the handling task is determined to be a single-item handling task, the transport control system selects a first handling vehicle to perform the single-item handling task.

2. The aerial walking conveyor system according to claim 1, characterized in that: The handling task is issued by the material control system to the transportation control system. When the material control system receives multiple handling requests, it confirms whether at least two of the multiple handling requests can be executed by a second handling vehicle. For multiple handling needs that can be performed by a second handling vehicle, the material control system combines them into a single batch handling task; For each handling requirement that cannot be performed by a second handling vehicle, the material control system generates a single-item handling task.

3. The aerial walking conveyor system according to claim 2, characterized in that: When the material control system determines that the starting point and ending point of multiple handling requests are located in the same area, it determines that the multiple handling requests can be executed by a second handling vehicle and generates a batch handling task.

4. The aerial walking conveyor system according to claim 2, characterized in that: When generating batch handling tasks, the material control system will eliminate handling requests that need to be prioritized.

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

6. The aerial walking conveyor system according to claim 1, characterized in that: The second transport vehicle includes a storage section and a transfer section. The storage section is capable of storing multiple material boxes, and the transport control system instructs the transfer section to move behind the storage section.

7. The aerial walking conveyor system according to claim 1, characterized in that: When the second transport vehicle moves in a straight line, the storage section and the transfer section are connected together and move synchronously; when the second transport vehicle is about to enter a turning section, a fork in the road, or a merging point, the storage section and the transfer section are disconnected and each passes through the turning section, fork in the road, or merging point; after the storage section and the transfer section pass through the turning section, fork in the road, or merging point in sequence, the transfer section and the storage section are connected together and move synchronously.

8. The aerial walking conveyor system according to any one of claims 1-7, characterized in that: The second transport vehicle places two material boxes onto two dispensing plates on a storage assembly according to the following procedure: When the second transport vehicle controls its transfer unit to grab a material box above the storage component, the second transport vehicle controls the support frame of the storage component to move out of the fixed frame so that the upper material release plate located at the first end of the support frame is below the material box; After the second transport vehicle controls the transfer unit to place the material box onto the upper material feeding plate, it controls the support frame to move back into the fixed frame; After the support frame is moved back into the fixed frame, the second transport vehicle controls the upper material unloading plate to move to the second end of the support frame; When the second transport vehicle controls its transfer unit to grab another material box above the storage component, the second transport vehicle controls the support frame to move out of the fixed frame again so that the lower material release plate located at the first end of the support frame is below the material box; After the second transport vehicle controls the transfer unit to place the material box onto the lower material feeding plate, it controls the support frame to move back into the fixed frame.

9. A transport control system that communicates with and controls the operation of a first transport vehicle and a second transport vehicle, characterized in that: When the transportation control system receives a handling task, it determines whether the handling task is a single-item handling task or a batch handling task. When the handling task is determined to be a batch handling task, the transportation control system selects a second handling vehicle to perform the batch handling task; when the handling task is determined to be a single-item handling task, the transportation control system selects a first handling vehicle to perform the single-item handling task. The second transport vehicle includes a storage section and a transfer section. The storage section includes a first moving component and a memory disposed below the first moving component. The memory includes a hollow fixed frame with multiple storage slots. The transfer section includes a second moving component and a pick-and-place device disposed below the second moving component. The pick-and-place device includes a height adjustment component and a gripper component that moves up and down driven by the height adjustment component. The opposite ends of the first and second moving components are connected by a detachable connector, and the first and second moving components can be connected as a single unit for synchronous movement.

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