A transport vehicle, anti-roll control method, medium, and apparatus

Abstract

The application is suitable for the field of transport vehicle technology, and provides a transport vehicle, an anti-inclination control method, a medium and equipment. The transport vehicle comprises: a walking part that runs on a hoisted walking track; a transport part that is suspended and connected to the lower end of the walking part; and an anti-inclination device that is located between the walking part and the transport part and comprises: a mounting seat that is arranged on the top of the transport part; a first retaining assembly that is slidingly mounted on the mounting seat and moves relative to the transverse width direction of the transport part; a second retaining assembly that is arranged on one side of the first retaining assembly and can be lifted; and a control device that is electrically connected to the first retaining assembly and the second retaining assembly. When the transport part is inclined relative to the walking track, the control device acquires the moving distance of the first retaining assembly and controls the second retaining assembly to rise and abut against the lower end of the walking track to limit the longitudinal height direction of the walking part. The application can ensure the integrity of the transported articles and reduce the generation of abnormal sound.

Description

Technical Field

[0001] This application relates to the field of transport vehicle technology, and in particular to a transport vehicle, anti-tilt control method, medium and equipment. Background Technology

[0002] In today's highly advanced semiconductor manufacturing technology, 300mm semiconductor factories have become the mainstream in the global semiconductor industry. Due to the massive investment required for 300mm semiconductor production lines, it is imperative to maximize the production efficiency of these factories to achieve greater wafer output. A powerful and stable automated material handling system (AWDS) plays a crucial role in 300mm factories. AWDS not only effectively utilizes valuable cleanroom production space but also improves the utilization rate of production equipment and shortens product cycle time. Therefore, in many 300mm semiconductor factories, AWDS is considered a key tool for rapidly increasing capacity and improving production efficiency. The core component of the AWDS system, the automated material handling trolley, is the primary transporter of materials throughout the system.

[0003] In existing automated material handling systems, the automated material handling trolleys must travel along routes planned by the upper-level control system. These routes include both straight sections and curved sections involving U-turns and turns. When the automated material handling trolley enters a curved section, its two traveling wheels, due to their coaxial rigid transmission structure, cannot spontaneously create a differential speed between the left and right wheels to adapt to the curvature of the curve. To resolve the mismatch between the synchronous rotation of the wheel sets and the curve trajectory, existing technologies typically employ a solution of raising the outer traveling wheels for turning: by raising the outer wheel set to create a height difference, the centripetal force during turning is balanced by the vertical displacement between the wheel sets. After the automated material handling trolley completes the curve, the raised outer wheels slowly descend to their initial state, level with the inner wheels.

[0004] While this solution prevents the automated material handling trolley from getting stuck in curves due to a lack of differential speed in the wheel sets, the lifting and lowering motion during turning can cause overall instability in the trolley. Firstly, changes in the height of the two traveling wheels cause the trolley's center of gravity to shift, resulting in periodic swaying. Secondly, frequent switching of the contact state between the traveling wheels and the track (from "suspended" to "on the ground") can trigger resonance in mechanical components, producing noticeable abnormal noises. These problems not only affect the smooth operation of the automated material handling trolley but can also cause collisions between wafers and material containers due to trolley swaying, leading to microcracks or particle contamination on the wafer surface.

[0005] In view of this, a more reasonable and efficient design solution is needed to solve the problem of balancing the posture and reducing vehicle vibration when the automated material handling trolley turns and bends. Summary of the Invention

[0006] The purpose of this application is to provide a transport vehicle, an anti-tilt control method, a medium, and equipment to solve the aforementioned technical problems existing in the prior art, mainly including the following:

[0007] The first aspect of this application provides a transport vehicle, comprising:

[0008] The system includes a traveling section that travels on a hoisted track; a transport section that is suspended from the lower end of the traveling section and is used for transporting items; and an anti-tilt device located between the traveling section and the transport section.

[0009] The anti-tilt device includes: a mounting base disposed on the top of the transport section; a first retaining component slidably mounted on the mounting base and movable relative to the lateral width direction of the transport section; and a second retaining component vertically and flexibly disposed on one side of the first retaining component.

[0010] A control device, wherein the control device is electrically connected to the first holding assembly and the second holding assembly respectively;

[0011] When the transport unit tilts relative to the travel track, the first retaining component abuts against the bottom of the travel track and is supported by lateral movement under pressure. The control device obtains the moving distance of the first retaining component and controls the second retaining component to rise and roll against the lower end of the travel track to limit the vertical direction of the transport unit.

[0012] To further improve the implementation of this application, the following configuration structure is adopted: a sliding rail is provided on the mounting base along the width direction of the transport section, and the lower end of the first retaining component slides in cooperation with the sliding rail.

[0013] To further improve the implementation of this application, the following configuration structure is adopted: a variable resistor element is provided on the sliding track, and a brush that slides in contact with the variable resistor element is provided at the corresponding position of the first holding component. When the first holding component moves, it drives the brush to slide relative to the variable resistor element to change the resistance value of the circuit.

[0014] To further improve the implementation of this application, the following configuration structure is adopted: the control device includes a circuit detection module and a control module, wherein the circuit detection module is used to detect the electrical parameters of the variable resistor element and transmit the electrical parameters to the control module.

[0015] To further improve the implementation of this application, the following configuration structure is adopted: a first pad is provided on the surface of the first retaining component that abuts against the travel track; or, a plurality of balls are spaced apart on the surface of the first retaining component that abuts against the travel track.

[0016] To further improve the implementation of this application, the following configuration structure is adopted: the mounting base is provided with a first limiting member and a second limiting member, the first limiting member and the second limiting member being located at both ends of the first retaining component.

[0017] To further improve the implementation of this application, the following structure is specifically adopted: a reset spring is provided between the first limiting member and the first retaining component to restore the first retaining component to its initial position.

[0018] To further improve the implementation of this application, the following configuration structure is adopted: the first retaining component includes a support part and a sliding part, the lower end of the sliding part is slidably installed with the mounting base, and the upper end of the sliding part is elastically connected to the support part through an elastic member.

[0019] The second aspect of this application provides an anti-tilt control method for a transport vehicle, which uses the aforementioned transport vehicle and includes the following steps:

[0020] Step S100: Obtain the tilt angle of the transport unit relative to the travel track;

[0021] Step S200: When the tilt angle is equal to or greater than the first preset tilt angle, the first holding component abuts against the lower end of the travel track; when the tilt angle is greater than the second preset tilt angle, the first holding component moves along the lateral width direction of the transport section; wherein, the first preset tilt angle is less than the second preset tilt angle.

[0022] Step S300: The control device acquires the moving distance of the first holding component, and the control device calculates the rising height of the second holding component based on the moving distance;

[0023] Step S400: The control device controls the second holding component to rise and abut against the lower end of the traveling track to vertically limit the traveling part.

[0024] Furthermore, there is a mapping relationship between the rising height of the second holding component and the moving distance of the first holding component.

[0025] A third aspect of this application provides a readable storage medium for storing a program, which, when executed, implements the anti-tilt control method for a transport vehicle as described above.

[0026] A fourth aspect of this application provides an electronic device including one or more processors; a memory storing one or more programs; and when the one or more programs are executed by the one or more processors, causing the one or more processors to implement the anti-tilt control method for a transport vehicle as described above.

[0027] This application has at least the following technical advantages over the prior art:

[0028] The transport vehicle provided in this application has an anti-tilt device installed on the top of the transport section. When the transport section tilts relative to the travel track, the first retaining component in the anti-tilt device moves relative to the lateral width of the transport section. The first retaining component abuts against the bottom of the travel track, applying a resisting force to the bottom of the travel track. At the same time, the first retaining component moves under the downward pressure of the travel track, thereby reducing the tilt of the transport section and limiting the vertical lifting height of the transport section. Meanwhile, the control device monitors the moving distance of the first retaining component in real time. When the moving distance of the first retaining component is greater than a preset distance, it indicates that the first retaining component can no longer reduce the tilt of the transport section. At this time, the control device controls the second retaining component to rise and abut against the lower end of the travel track, applying a resisting force to the lower end of the travel track to further reduce the tilt angle of the transport section, thereby reducing the swaying of the transport section and ensuring the integrity of the transported goods. At the same time, the control device can control the second retaining component to slowly descend and the first retaining component to slowly move, so that the travel section slowly switches from a suspended state to a grounded state, reducing the resonance and abnormal noise generated between the travel section and the travel track when the two states are suddenly switched. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the transport vehicle installed on the ceiling in this application;

[0031] Figure 2 This is a left view of the transport vehicle in this application;

[0032] Figure 3 yes Figure 1 Enlarged view of section A in the middle;

[0033] Figure 4 This is a perspective view of the anti-tilt device in this application;

[0034] Figure 5This is a schematic diagram of the control device in this application;

[0035] Figure 6 This is a top view of the anti-tilt device in this application;

[0036] Figure 7 yes Figure 6 A cross-sectional view along the BB direction;

[0037] Figure 8 yes Figure 7 Enlarged view of section C;

[0038] Figure 9 This is a schematic diagram of the structure of the first retaining component;

[0039] Figure 10 This is a schematic diagram of the computer-readable storage medium structure in this application;

[0040] Figure 11 This is a schematic diagram of the electronic device structure in this application.

[0041] In the picture:

[0042] 10. Walking section;

[0043] 20. Ministry of Transport;

[0044] 30. Walking track;

[0045] 40. Anti-tilt device; 41. Mounting base;

[0046] 42. First retaining component; 421. First pad; 422. Ball bearing; 423. Support; 424. Sliding part; 425. Elastic element;

[0047] 43. Second retaining component; 44. First limiting member; 45. Second limiting member; 46. Sliding track; 461. Groove; 47. Slider; 471. Slide groove; 472. Protrusion;

[0048] 50. Control device; 51. Circuit detection module; 511. Sampling resistor; 512. Analog-to-digital converter; 52. Control module;

[0049] 60. Ceiling;

[0050] 70. Hoisting gantry crane;

[0051] 1200. Computer-readable storage medium; 1210. Program code;

[0052] 1100. Electronic device; 1110. Memory; 1120. Processor. Detailed Implementation

[0053] The following description provides many different embodiments or examples for implementing various features of this application. The elements and arrangements described in the specific examples below are only used to concisely illustrate this application and are merely examples, not intended to limit this application.

[0054] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to represent selected embodiments of this application.

[0055] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0056] In this application, unless otherwise expressly specified and limited, "above or below" a first feature may include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on" a first feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" a first feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0057] In existing technologies, when a transport vehicle turns on a curve of the track, on the one hand, the change in the height of the two traveling wheels on both sides will cause the center of gravity of the transport vehicle to shift, resulting in periodic shaking. This will cause the wafer to collide with the cassette, leading to microcracks or particle contamination on the wafer surface. On the other hand, the frequent switching of the contact state between the traveling wheels and the track from suspended to touching the ground will stimulate the resonance of mechanical components, producing obvious abnormal noise.

[0058] In view of this, the purpose of this application is to provide a transport vehicle, an anti-tilt control method, a medium, and equipment to solve the above-mentioned technical problems existing in the prior art, mainly including the following:

[0059] Example 1:

[0060] Embodiment 1 of this application provides a transport vehicle, such as Figures 1-9 As shown, it should be noted that the x-direction is the horizontal width direction of the transport section 20, the y-direction is the length direction of the transport section 20, and the z-direction is the vertical height direction of the transport section 20, including:

[0061] The vehicle comprises a traveling section 10 that travels on a hoisting track 30; a transport section 20, suspended from the lower end of the traveling section 10, for transporting items; and an anti-tilt device 40 located between the traveling section 10 and the transport section 20. For example, a ceiling 60 is provided above the transport vehicle, and a hoisting gantry 70 is fixedly connected below the ceiling 60. The hoisting gantry 70 has a hollow structure, and the traveling track 30 is fixedly installed on the lower inner wall of the hollow structure of the hoisting gantry 70. The traveling section 10 of the transport vehicle can be understood to include at least traveling wheels, which travel along the upper surface of the traveling track 30. The upper end of the transport section 20 can be connected to the lower end of the traveling section 10 via a hoisting rod or similar device. The transport section 20 has a loading cavity containing target items such as wafers. The traveling section 10 travels on the traveling track 30, thereby driving the transport section 20 to move synchronously and transport the target items to the target location. The anti-tilt device 40 is located between the traveling section 10 and the transport section 20 to prevent the transport vehicle from tilting and swaying.

[0062] The anti-tilt device 40 includes: a mounting base 41, which is disposed on the top of the transport section 20. For example, the mounting base 41 is a frame structure, and its lower end is fixedly disposed on the top of the transport section 20. The lower end of the mounting base 41 can be connected to the transport section 20 by bolts, snap-fit, welding, or other means. A first retaining component 42 is slidably mounted on the mounting base 41 and can move relative to the lateral width of the transport section 20. For example, the first retaining component 42 can be a slider structure, with its lower end slidably mounted on a slide rail at a corresponding position on the mounting base 41, allowing it to move along the slide rail. Specifically, the direction of movement of the first retaining component 42 can be understood as along the x-direction.

[0063] A second retaining component 43 is vertically and flexibly disposed on one side of the first retaining component 42. Exemplarily, the second retaining component 43 includes a retaining wheel and a motor, the motor driving the retaining wheel to move vertically along the z-direction. The lower end of the second retaining component 43 can be fixedly mounted on the mounting base 41 or fixedly mounted on the top of the transport section 20. In some alternative embodiments, the second retaining component 43 is disposed along the y-direction to the left, right, or both sides of the first retaining component 42; no limitation is made here.

[0064] The control device 50 is electrically connected to the first holding component 42 and the second holding component 43 respectively. The electrical connection can be understood as a connection through a wire, Bluetooth connection, etc., and there is no limitation here, as long as the control device 50 can control the operation of the first holding component 42 and the second holding component 43.

[0065] When the traveling unit 10 travels at a bend in the traveling track 30, one side of the traveling unit 10 may lift, causing the transport unit 20 to tilt relative to the traveling track 30. This application employs the following method to reduce the tilt of the traveling unit 10 or the transport unit 20:

[0066] In some optional embodiments, the first retaining component 42 abuts against the bottom of the traveling track 30 and is supported by pressure for lateral movement. The control device 50 acquires the moving distance of the first retaining component 42 and controls the second retaining component 43 to rise and roll against the lower end of the traveling track 30 to limit the vertical height of the traveling part 10. For example, when the transport part 20 or the traveling part 10 tilts relative to the traveling track 30, the first retaining component 42 also moves towards the traveling track 30, with its top abutting against the bottom of the traveling track 30. As the tilt angle increases, the top of the first retaining component 42 further applies abutting force to the bottom of the traveling track 30. Simultaneously, the first retaining component 42 is also subjected to downward pressure from the traveling track 30 on its top. This pressure can reduce the tilt angle of the transport part 20, and under the action of this pressure, the first retaining component 42 will be pushed to move along the x-direction. A distance sensor can be installed on the first retaining component 42, and the control device 50 acquires the moving distance of the first retaining component 42 in real time. When the moving distance is greater than a preset distance, the control device 50 controls the second retaining component 43 to move. Based on the moving distance, the control device 50 controls the top of the second holding component 43 to rise along the z-direction until it abuts against the lower part of the travel track 30. At this time, the second holding component 43 will apply abutting force to the lower end of the travel track 30, and the travel track 30 will apply downward pressure to the second holding component 43. This pressure can further reduce the tilt angle of the transport section 20, limit the height of the transport section 20 in the z-direction, and prevent the transport section 20 from shaking due to large changes in the height of the travel section 10, thus ensuring the integrity of the transported goods. At the same time, when the travel section 10 travels from the turning track of the travel track 30 to the straight track, the control device 50 can control the first holding component 42 to move slowly and / or the second holding component 43 to descend slowly to the initial state, reducing the noise generated by the resonance of mechanical parts.

[0067] In some alternative embodiments, the first holding component 42 is a wedge-shaped block with its wedge-shaped surface facing the travel track 30. The side of the wedge-shaped block away from the travel section 10 is at least partially located outside the travel track 30 or the hoisting gantry 70. When the transport section 20 or the travel section 10 tilts relative to the travel track 30, the distance between the top of the transport section 20 or the first holding component 42 and the bottom of the travel track 30 gradually decreases. The first holding component 42 slides in the opposite direction of the tilt direction under the pressure of the travel track 30, and its wedge-shaped surface abuts against the bottom of the travel track 30. As the tilt angle increases, the first holding component 42 continues to slide, and the area between the bottom of the travel track 30 and the transport section 20 also decreases. During this process, the wedge-shaped surface of the first holding component 42 continuously applies abutment force to the bottom of the travel track 30. Simultaneously, the travel track 30 applies downward pressure to the wedge-shaped surface of the second holding component 43. This pressure can reduce the tilt angle of the transport section 20. A distance sensor can be installed on the first holding component 42, and the control device 50 can acquire the distance in real time. When the movement distance of component 42 exceeds a preset distance, the control device promptly controls the top of the second holding component 43 to rise along the z-direction to abut against the lower part of the travel track 30. At this time, the second holding component 43 will apply abutting force to the lower end of the travel track 30, and the travel track 30 will apply downward pressure to the second holding component 43. This pressure can further reduce the tilt angle of the transport section 20, limit the height of the transport section 20 in the z-direction, and prevent the transport section 20 from shaking due to excessive height changes, thus ensuring the integrity of the transported goods. At the same time, when the transport section 10 travels from the turning track of the travel track 30 to the straight track, the first holding component 42 can automatically move to the initial position, and the control device 50 can control the second holding component 43 to slowly descend to the initial state, reducing the noise generated by the resonance of mechanical components.

[0068] Therefore, in the transport vehicle provided in this application, an anti-tilt device 40 is provided on the top of the transport section 20. When the transport section 20 tilts relative to the travel track 30, the first retaining component 42 in the anti-tilt device 40 moves relative to the lateral width of the transport section 20. The first retaining component 42 abuts against the bottom of the travel track 30 and applies abutting force to the bottom of the travel track 30. At the same time, the first retaining component 42 moves under the downward pressure of the travel track 30, thereby reducing the tilt of the transport section 20 and limiting the height of the transport section 20 in the longitudinal direction. Meanwhile, the control device 50 monitors the movement distance of the first holding component 42 in real time. When the movement distance of the first holding component 42 is greater than the preset distance, it indicates that the first holding component 42 can no longer reduce the tilt of the transport section 20. At this time, the control device 50 controls the second holding component 43 to rise and abut against the lower end of the travel track 30, and applies abutment force to the lower end of the travel track 30 to further reduce the tilt angle of the transport section 20, thereby reducing the sway of the transport section 20 and ensuring the integrity of the transported goods. At the same time, the control device 50 can control the second holding component 43 to descend slowly and the first holding component 42 to move slowly in sequence, so that the travel section 10 slowly switches from the suspended state to the ground state, reducing the resonance and abnormal noise generated between the travel section 10 and the travel track 30 when the two states suddenly switch.

[0069] According to some alternative embodiments, a sliding track 46 is provided on the mounting base 41 along the lateral width of the transport section 20, and the lower end of the first retaining component 42 is slidably engaged with the sliding track 46.

[0070] In the above scheme, the sliding rail 46 is fixedly installed on the side wall inside the frame structure of the mounting base 41. The sliding rail 46 extends along the x direction of the transport section 20. The sliding rail 46 can be fixedly connected to the side wall of the mounting base 41 by welding, snap-fitting or other means.

[0071] In some alternative embodiments, a slider 47 is fixedly disposed on the side wall of the first retaining component 42 near its lower end, and a groove 471 is disposed on the side of the slider 47 facing the sliding track 46. For example, the sliding track 46 is provided with a groove 461 along the z-direction, the groove 461 extends along the x-direction, and the groove 471 is correspondingly provided with a protrusion 472 along the z-direction. The protrusion 472 cooperates with the groove 461, and the protrusion 472 slides in the groove 461 to realize the sliding of the first retaining component 42.

[0072] According to some optional embodiments, a variable resistance element is provided on the sliding track 46. For example, the variable resistance element is laid in the groove 461 of the sliding track 46. Preferably, the variable resistance element is an iron-chromium-nickel resistance wire, and the length of the iron-chromium-nickel resistance wire is equal to the length of the groove 461. A brush is provided at a corresponding position of the first holding assembly 42 to slide in contact with the variable resistance element. For example, a brush is provided at a corresponding position of the protrusion 472. When the first holding assembly 42 moves along the x-direction, it drives the brush to slide relative to the variable resistance element to change the resistance value of the circuit. The resistance value is converted into a distance value in real time and transmitted to the control device 50. The control device 50 can control the lifting and lowering of the second holding assembly 43 in real time according to the moving distance of the first holding assembly 42, reducing the tilt of the transport section 20 and ensuring the normal operation of the transport vehicle.

[0073] According to some alternative embodiments, the control device 50 includes a circuit detection module 51 and a control module 52. The circuit detection module 51 is used to detect the electrical parameters of the variable resistor element and transmit the electrical parameters to the control module 52.

[0074] In the above scheme, the power parameters include voltage, resistance, current, etc. The circuit detection module 51 includes a sampling resistor 511 and an analog-to-digital converter 512 connected in series in the circuit. The sampling resistor 511 is used to convert the resistance value on the variable resistor element into a current value and then into a voltage value. The analog-to-digital converter 512 converts the analog voltage signal into a digital signal, such as a distance value, and transmits the distance value to the control module 52, so that the control device 50 can obtain the moving distance of the first holding component 42 in real time.

[0075] According to some optional embodiments, a first pad 421 is provided on the surface of the first retaining component 42 that abuts against the travel track 30. The first pad 421 can be made of rubber material to ensure that the first retaining component 42 abuts against the travel track 30, and that the first retaining component 42 does not cause scratches on the bottom of the travel track 30 when it slides.

[0076] In some alternative embodiments, a plurality of balls 422 are spaced apart on the surface of the first retaining component 42 that abuts against the travel track 30. For example, a plurality of mounting holes are provided on the surface of the first retaining component 42 that abuts against the travel track 30, and a ball 422 is rotatably mounted in each mounting hole. When the first retaining component 42 slides relative to the travel track 30, the balls 422 reduce the contact area between the two, reducing friction and ensuring that the first retaining component 42 can move normally under pressure applied by the travel track 30.

[0077] According to some alternative embodiments, the mounting base 41 is provided with a first limiting member 44 and a second limiting member 45, which are respectively located at both ends of the first retaining assembly 42.

[0078] In the above scheme, along the x-direction, the first retaining component 42 is provided with a first limiting member 44 and a second limiting member 45 at both ends to limit the movement stroke of the first retaining component 42. For example, one end of the first limiting member 44 is fixedly mounted on the outer wall of the mounting base 41, and the other end extends along the z-direction, abutting against the corresponding end of the first retaining component 42 to prevent the first retaining component 42 from sliding out of the mounting base 41. The first limiting member 44 also provides support for the first retaining component 42 along the z-direction. The second limiting member 45 is located at the end of the first retaining component 42 away from the first limiting member 44. The second limiting member 45 extends along the y-direction, and its two ends are fixedly connected to corresponding components on the mounting base 41, limiting the maximum movement stroke of the first retaining component 42 in the y-direction.

[0079] According to some optional embodiments, a return spring is provided between the first limiting member 44 and the first holding assembly 42 for returning the first holding assembly 42 to its initial position. For example, the side of the slider 47 closest to the first limiting member 44 is fixedly connected to one end of the return spring, and the other end of the return spring is connected to the inner wall of the mounting base 41. When the first holding assembly 42 needs to return to its initial position, the first holding assembly 42 can automatically reset under the tension of the return spring.

[0080] According to some optional embodiments, the first retaining component 42 includes a support portion 423 and a sliding portion 424. The lower end of the sliding portion 424 is slidably mounted to the mounting base 41. The top of the support portion 423 can abut against the lower end of the travel track 30. The upper end of the sliding portion 424 is elastically connected to the lower part of the support portion 423 via an elastic member 425, which is a spring. The elastic member 425 is initially in an extended state. When the first retaining component 42 is subjected to a large pressure from the travel track 30, the first retaining component 42 can compress the elastic member 425, reducing the force between the first retaining component 42 and the travel track 30, and preventing the first retaining component 42 from jamming with the travel track 30.

[0081] In some alternative embodiments, the anti-tilt device 40 is a symmetrical structure along the z-direction, symmetrically arranged on the top of the transport section 20, so that the anti-tilt device 40 adapts to the tilting of the transport vehicle in different directions.

[0082] Example 2:

[0083] Embodiment 2 of this application provides an anti-tilt control method for a transport vehicle, which uses the aforementioned transport vehicle and includes the following steps:

[0084] Step S100: Obtain the tilt angle of the transport unit 20 relative to the travel track 30. For example, an angle measuring sensor is installed on the travel unit 10 or the transport unit 20. When the travel unit 10 travels on the travel track 30, the angle measuring sensor can obtain the tilt angle of the travel unit 10 or the transport unit 20 relative to the horizontal plane in real time and transmit the tilt angle to the control device 50.

[0085] Step S200: When the tilt angle is equal to or greater than the first preset tilt angle, it indicates that the tilt angle of the transport section 20 is large and the transported items may tip over. At this time, the first holding component 42 moves along the tilt direction and abuts against the lower end of the travel track 30. The travel track 30 applies downward pressure to the first holding component 42 to reduce the tilt angle of the transport section 20.

[0086] When the tilt angle is greater than the second preset tilt angle, the first holding component 42 is subjected to greater pressure from the travel track 30. This pressure will push the first holding component 42 to move along the lateral width of the transport section 20. The upper part of the first holding component 42 continuously abuts against the bottom of the travel track 30 to reduce the tilt angle of the transport section 20. The first preset tilt angle is less than the second preset tilt angle. For example, the first preset tilt angle is 10° and the second preset tilt angle is 20°.

[0087] It should be noted that the first preset tilt angle and the second preset tilt angle can be empirical values ​​or the average value of historical first preset tilt angles, and there is no restriction here.

[0088] Step S300: The control device 50 acquires the moving distance of the first holding component 42, and calculates the rising height of the second holding component 43 based on the moving distance. For example, a variable resistor element is mounted on the sliding track 46, and a brush is provided on the first holding component 42. When the first holding component 42 moves relative to the sliding track 46, it drives the brush to slide relative to the variable resistor element, changing the resistance value of the circuit. This resistance value is then converted into the moving distance of the first holding component 42, which is transmitted to the control device 50 in real time. The control device 50 can then calculate the rising height of the second holding component 43 based on the moving distance of the first holding component 42, thereby reducing the tilt of the transport section 20.

[0089] Step S400: The control device 50 controls the second holding assembly 43 to rise and abut against the lower end of the travel track 30 to vertically limit the travel section 10. For example, the control device 50 controls at least the upper end of the second holding assembly 43 to abut against the lower end of the travel track 30, and the lower end of the travel track 30 applies downward pressure to the second holding assembly 43 to further reduce the tilt of the transport section 20.

[0090] Furthermore, there is a mapping relationship between the rising height of the second retaining component 43 and the moving distance of the first retaining component 42.

[0091] In the above scheme, a mapping relationship is established between the moving distance of the first holding component 42 and the rising height of the second holding component 43 along the z-direction. For example, one moving distance corresponds to one rising height, or two moving distances correspond to one rising height, without limitation.

[0092] Example 3:

[0093] Embodiment 3 of this application provides a readable storage medium for storing a program, which, when executed, is used to implement the anti-tilt control method for a transport vehicle as described above.

[0094] Figure 10 A structural block diagram of a computer-readable storage medium provided in Embodiment 3 of this application is shown. The computer-readable storage medium 1200 stores program code 1210, which can be called by a processor to execute the methods described in the above method embodiments.

[0095] The computer-readable storage medium 1200 may be an electronic storage device such as flash memory, electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), hard disk, or ROM. Optionally, the computer-readable storage medium 1200 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 1200 has storage space for program code 1210 that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code 1210 may be compressed, for example, in a suitable form.

[0096] Example 4:

[0097] Embodiment 4 of this application provides an electronic device, including one or more processors; a memory storing one or more programs; when one or more programs are executed by one or more processors, the one or more processors implement the anti-tilt control method for transport vehicles as described above.

[0098] Figure 11This is a structural block diagram of an electronic device 1100 provided in Embodiment 4 of this application. The electronic device 1100 in this application may include one or more of the following components: a memory 1110, a processor 1120, and one or more application programs, wherein the one or more application programs may be stored in the memory 1110 and configured to be executed by one or more processors 1120, and the one or more programs are configured to perform the methods as described in the foregoing method embodiments.

[0099] The memory 1110 may include random access memory (RAM) or read-only memory (ROM). The memory 1110 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 1110 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as histogram equalization), and instructions for implementing the various method embodiments described below. The data storage area may also store data created by the electronic device 1100 during use, such as image matrix data.

[0100] Processor 1120 may include one or more processing cores. Processor 1120 connects to various parts within the electronic device 1100 via various interfaces and lines, and performs various functions and processes data of the electronic device 1100 by running or executing instructions, programs, code sets, or instruction sets stored in memory 1110, and by calling data stored in memory 1110. Optionally, processor 1120 may be implemented using at least one hardware form selected from Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). Processor 1120 may integrate one or more of a Central Processing Unit (CPU) and a modem. The CPU primarily handles the operating system and applications; the modem is used for wireless communication. It is understood that the modem may also not be integrated into processor 1120 and may be implemented separately using a communication chip.

[0101] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0102] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A transport vehicle, characterized in that, include: The traveling part (10) travels on the hoisted traveling track (30); the transport part (20) is suspended from the lower end of the traveling part (10) and is used to transport items; the anti-tilt device (40) is located between the traveling part (10) and the transport part (20). The anti-tilt device (40) includes: a mounting base (41) disposed on the top of the transport section (20); a first retaining component (42) slidably mounted on the mounting base (41) and movable relative to the transverse width direction of the transport section (20); and a second retaining component (43) movably mounted on one side of the first retaining component (42). A control device (50) is electrically connected to a first holding assembly (42) and a second holding assembly (43), respectively; When the transport unit (20) tilts relative to the travel track (30), the first holding component (42) abuts against the bottom of the travel track (30) and is supported by lateral movement under pressure. The control device (50) obtains the moving distance of the first holding component (42) and controls the second holding component (43) to rise and roll against the lower end of the travel track (30) to limit the vertical height of the travel unit (10).

2. The transport vehicle as described in claim 1, characterized in that, A sliding track (46) is provided on the mounting base (41) along the horizontal width direction of the transport section (20), and the lower end of the first retaining component (42) slides in cooperation with the sliding track (46).

3. The transport vehicle as described in claim 2, characterized in that, A variable resistor element is provided on the sliding track (46), and a brush is provided at the corresponding position of the first holding component (42) to slide in contact with the variable resistor element. When the first holding component (42) moves, it drives the brush to slide relative to the variable resistor element to change the resistance value of the circuit.

4. The transport vehicle as described in claim 3, characterized in that, The control device (50) includes a circuit detection module (51) and a control module (52). The circuit detection module (51) is used to detect the electrical parameters of the variable resistor element and transmit the electrical parameters to the control module (52).

5. The transport vehicle as described in claim 1, characterized in that, The surface of the first retaining component (42) that abuts against the travel track (30) is provided with a first pad (421); or, the surface of the first retaining component (42) that abuts against the travel track (30) is provided with a plurality of balls (422) spaced apart.

6. The transport vehicle as described in claim 1, characterized in that, The mounting base (41) is provided with a first limiting member (44) and a second limiting member (45), which are located at both ends of the first retaining component (42).

7. The transport vehicle as described in claim 6, characterized in that, A reset spring is provided between the first limiting member (44) and the first holding component (42) to restore the first holding component (42) to its initial position.

8. The transport vehicle as described in claim 1, characterized in that, The first retaining component (42) includes a support portion (423) and a sliding portion (424). The lower end of the sliding portion (424) is slidably mounted to the mounting base (41), and the upper end of the sliding portion (424) is elastically connected to the support portion (423) through an elastic element (425).

9. A method for preventing tilting of a transport vehicle, characterized in that, Using the transport vehicle as described in any one of claims 1-8, the method includes the following steps: Step S100: Obtain the tilt angle of the transport unit (20) relative to the travel track (30); Step S200: When the tilt angle is equal to or greater than the first preset tilt angle, the first holding component (42) abuts against the lower end of the traveling track (30); when the tilt angle is greater than the second preset tilt angle, the first holding component (42) moves along the lateral width direction of the transport section (20); wherein, the first preset tilt angle is less than the second preset tilt angle. Step S300: The control device (50) obtains the moving distance of the first holding component (42), and the control device (50) calculates the rising height of the second holding component (43) based on the moving distance; Step S400: The control device (50) controls the second holding component (43) to rise and abut against the lower end of the walking track (30) to limit the vertical direction of the walking part (10).

10. The anti-tilt control method as described in claim 9, characterized in that, There is a mapping relationship between the rising height of the second holding component (43) and the moving distance of the first holding component (42).

11. A readable storage medium, characterized in that, Used to store a program, which, when executed, is used to implement the anti-tilt control method for a transport vehicle as described in any one of claims 9-10.

12. An electronic device, characterized in that, It includes one or more processors; a memory storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the anti-tilt control method for a transport vehicle as described in any one of claims 9-10.

Images