OHT turning control system and control method

Abstract

The invention discloses an OHT turning control system and a control method, a straight track upper layer sky rail and a turning track lower layer sky rail are arranged below an OHT track upper cover plate, a walking module comprises rollers and a reversing slide rail, a module shell moves along an OHT track through the cooperation of the rollers and the lower slide rail, the upper end of the module shell is in an angular slope shape, and the lower end of the module shell is connected with the reversing slide rail. The two sets of reversing sliding rails are fixed to the two sides of the triangular inclined face, each set of reversing sliding rail is provided with a reversing sliding block in a sliding connection mode, the reversing sliding blocks are driven by a driving motor through synchronous gears to ascend or descend synchronously, reversing guide wheels are arranged on the reversing sliding blocks, and when the reversing sliding blocks are in the high position, the reversing guide wheels are in matched sliding connection with the inner side of the upper-layer sky rail. When the reversing slide block is in a low position, the reversing guide wheel is in matched sliding connection with the outer side of the lower-layer sky rail; through the combination of the sliding blocks and the sliding rails on the surface of the OHT trolley, the height of the reversing guide wheels and the change of the positions of the inner side and the outer side are adjusted, so that the walking direction of the OHT trolley is switched, the guide wheels obtain enough supporting force, and high-speed stable turning can be achieved.

Description

Technical Field

[0001] This invention relates to the field of OHT (Outdoor Handling) systems in semiconductor cleanroom workshops, and particularly to an OHT turning control system and control method. Background Technology

[0002] OHT (Overhead Hoist Transporter) is an automated logistics transportation equipment, mostly used in industrial production lines in semiconductor plants, and also commonly used in warehouses and logistics centers in related industries. It is used to handle, transport, and stack goods. It typically consists of a track system placed on the upper level of the plant, one or more mobile automated handling vehicles, and a control system. The handling vehicles can move along the track in the instructed direction and extend or raise hooks at designated positions to handle and stack goods on different levels of shelves or storage areas.

[0003] In existing technologies, OHT turning control is mainly achieved through track switching. However, the cost of building switchable tracks is high, maintenance is difficult, and track discontinuity during cornering can easily cause vibration, affecting the working efficiency of OHT. Summary of the Invention

[0004] The purpose of this invention is to provide an OHT turning control system and method. It addresses the problems of high cost and track discontinuity during cornering in existing technologies by using a combination of sliders and rails on the surface of the OHT trolley to adjust the height and inner / outer positions of the guide wheels, thereby switching the direction of travel of the OHT trolley. This allows the guide wheels to obtain sufficient support force, enabling high-speed and stable cornering.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows: An OHT turning control system includes a walking module and an OHT track. An OHT trolley is fixedly suspended at the lower end of the walking module. The OHT track includes an upper cover plate, side baffles, and a lower slide rail, fixedly connected from top to bottom. An upper track and a lower track are located below the upper cover plate, representing a straight track and a turning track, respectively. The walking module includes a module housing, two rollers, and two sets of reversing slide rails. The rollers are hinged to the left and right sides of the module housing via pivots. The module housing moves along the OHT track via the cooperation of the rollers and the lower slide rails. The upper end of the module housing is a triangular inclined plane with a central upward convexity. The two sets of reversing slide rails are fixed to the left and right sides of the triangular inclined plane of the module housing in the left-right direction. Each set of reversing slide rails has a reversing slider connected by a sliding connection. The two reversing sliders are driven by a drive motor through synchronous gears to rise or fall symmetrically and synchronously. A reversing guide wheel is fixedly located at the upper end of each reversing slider, and the reversing guide wheel can rotate in the horizontal direction. When the reversing slider is in the high position, the reversing guide wheel and the inner side of the upper ceiling track are in sliding connection. When the reversing slider is in the low position, the reversing guide wheel and the outer side of the lower ceiling track are slidably connected.

[0006] Furthermore, outer limiting blocks are fixedly provided on the left and right sides of the module housing, and the outer limiting blocks restrict the range of descent of the reversing slider.

[0007] Furthermore, an inner limiting block is fixedly provided in the middle of the module housing, and the inner limiting block restricts the range of the reversing slider's ascent.

[0008] Furthermore, the lower end of the reversing slider is provided with several pulleys, and the reversing slider is slidably connected by the pulleys and the reversing slide rail.

[0009] The OHT turning control method using the aforementioned OHT turning control system includes the following steps: A double-layered sky track is set above the OHT orbit. The double-layered sky track consists of an upper sky track and a lower sky track. The upper sky track is a straight track, and the lower sky track is a right-turning track. Two sets of inclined reversing slide rails and reversing sliders are set on the upper part of the walking module, and reversing guide wheels are installed on the upper end of the reversing sliders. The left and right reversing sliders are driven by a drive motor through synchronous gears, so that the left and right reversing guide wheels rise or fall synchronously. When the two reversing sliders move to the middle and reach the high position, the two reversing guide wheels engage with the inner side of the upper ceiling track; When the two reversing sliders move to the lower position to the left and right, the two reversing guide wheels engage with the outer side of the lower ceiling track.

[0010] This invention enables the OHT trolley to automatically control its turning by switching the guide wheel's position on the upper and lower tracks and the inner and outer sides. This fulfills the OHT trolley's turning or straight-line movement requirements without the need for track switching, thus reducing the need for switching actions on each track and lowering track costs. This invention reduces vibrations caused by track discontinuities by having the guide wheel make directional contact with the overhead rail during turns, thereby improving smoothness during turns, increasing turning speed and transport stability. In this invention, when turning, the guide wheel is located on the lower overhead rail. The overhead rail provides sufficient lateral support, which can overcome the torque generated by the weight of the other traveling wheel when it is suspended in the air, allowing the OHT trolley to smoothly pass through the curve. Attached Figure Description

[0011] Figure 1 This is a side view of the guide wheel of the present invention when it switches to the upper sky track; Figure 2This is a travel route diagram for the guide wheel of the present invention when switching to the upper sky track; Figure 3 This is a side view of the guide wheel of the present invention when it switches to the lower-level sky track; Figure 4 This is a travel route diagram for the guide wheel of the present invention when switching to the lower-level sky track; Figure 5 This is a schematic diagram of the overall structure of the walking module of the present invention.

[0012] Figure label: 1 OHT track, 101 Top cover plate, 102 Side baffle, 103 Lower slide rail, 104 Upper ceiling rail, 105 Lower ceiling rail 2 walking modules 201 Module housing, 202 Roller, 203 Reversing slide rail, 204 Reversing slider, 205 Reversing guide wheel, 206 outer limit block, 207 inner limit block, 3 OHT trolleys, 4 drive motors. Detailed Implementation

[0013] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0014] This embodiment discloses an OHT turning control system, such as Figures 1-4 As shown, it includes an OHT track 1 and a walking module 2, with the lower end of the walking module 2 fixedly suspended by an OHT trolley 3.

[0015] The OHT track 1 includes an upper cover plate 101, a side baffle plate 102, and a lower slide rail 103, which are fixedly connected from top to bottom. An upper ceiling track 104 and a lower ceiling track 105 are fixedly provided below the upper cover plate 101. The upper ceiling track 104 and the lower ceiling track 105 are respectively a straight track and a turning track.

[0016] The walking module 2 includes a module housing 201, two rollers 202 and two sets of reversing slide rails 203. The rollers 202 are hinged to the left and right sides of the module housing 201 via a pivot. The module housing 201 moves along the OHT track 1 through the cooperation of the rollers 202 and the slide rails 103.

[0017] like Figure 5As shown, the upper end of the module housing 201 is a triangular inclined surface with a central upward convexity. Two sets of reversing slide rails 203 are fixed on the left and right sides of the triangular inclined surface of the module housing 201 in the left and right directions. Each set of reversing slide rails 203 is provided with a reversing slider 204 through a sliding connection. The lower end of the reversing slider 204 is provided with several pulleys. The reversing slider 204 is slidably connected to the reversing slide rail 203 through the pulleys.

[0018] Two reversing sliders 204 are driven by a drive motor 4 through a synchronous gear to rise or fall symmetrically. A reversing guide wheel 205 is fixedly provided at the upper end of the reversing slider 204, and the reversing guide wheel 205 can rotate in the horizontal direction.

[0019] like Figure 1 and Figure 2 As shown, when the reversing slider 204 is in the high position, the reversing guide wheel 205 and the inner side of the upper ceiling track 104 are in sliding connection, as shown. Figure 3 and Figure 4 As shown, when the reversing slider 204 is in the low position, the reversing guide wheel 205 and the outer side of the lower ceiling track 105 are in a sliding connection.

[0020] In this embodiment, the turning control system has two sets of inclined slide rail slider mechanisms arranged on the upper end of the walking module 2. The reversing guide wheel 205 is arranged above the reversing slider 204. The reversing slider 204 is driven by the drive motor 4. Through the synchronous gear, the reversing guide wheel 205 on the left and right sides can rise and fall simultaneously. When rising, the two reversing guide wheels 205 move towards the middle. When falling, the two reversing guide wheels 205 move to the left and right sides.

[0021] The module housing 201 is fixedly provided with outer limit blocks 206 on the left and right sides, which limit the range of descent of the reversing slider 204. The module housing 201 is fixedly provided with inner limit block 207 in the middle, which limits the range of descent of the reversing slider 204.

[0022] This embodiment also discloses an OHT turning control method using an OHT turning control system, including the following steps: A double-layer sky track is set above the OHT track 1. The double-layer sky track includes an upper sky track 104 and a lower sky track 105. The upper sky track 104 is a straight track, and the lower sky track 105 is a right-turn track. Two sets of inclined reversing slide rails 203 and reversing sliders 204 are set on the upper part of the walking module 2, and a reversing guide wheel 205 is installed on the upper end of the reversing slider 204. The left and right reversing sliders 204 are driven by the drive motor 4 through synchronous gears, so that the left and right reversing guide wheels 205 rise or fall synchronously. like Figure 1 and Figure 2As shown, when the two reversing sliders 204 move to the middle to the high position, the two reversing guide wheels 205 engage with the inner side of the upper ceiling track 104. like Figure 3 and Figure 4 As shown, when the two reversing sliders 204 move to the lower position to the left and right, the two reversing guide wheels 205 engage with the outer side of the lower ceiling track 105. When the OHT trolley 3 wants to turn right, the lower level of the upper ceiling track 104 is the right-turn track, and the guide wheel 205 switches to the lower level at this time; when the OHT trolley 3 wants to go straight, the upper level of the upper ceiling track 104 is the straight track, and the guide wheel 205 switches to the upper level at this time.

[0023] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An OHT turn control system, characterised in that, The application relates to a walking module (2) and an OHT track (1), the lower end of the walking module (2) is fixedly hung with an OHT trolley (3), the OHT track (1) comprises an upper cover plate (101), a side baffle (102) and a lower slide rail (103) which are fixedly connected in sequence from top to bottom, an upper layer of sky rail (104) and a lower layer of sky rail (105) are arranged below the upper cover plate (101), the upper layer of sky rail (104) and the lower layer of sky rail (105) are straight tracks and turning tracks respectively, the walking module (2) comprises a module shell (201), two rollers (202) and two groups of reversing slide rails (203), the rollers (202) are hingedly installed on the left and right sides of the module shell (201) through rotating shafts, the module shell (201) moves along the OHT track (1) through cooperation of the rollers (202) and the lower slide rail (103), the upper end of the module shell (201) is in the shape of a triangular inclined plane which is centrally upwardly protruded, the two groups of reversing slide rails (203) are fixed on the left and right sides of the triangular inclined plane of the module shell (201) along the left-right direction, a reversing sliding block (204) is arranged on each group of the reversing slide rails (203) through sliding connection, the two reversing sliding blocks (204) are driven to synchronously ascend or descend by a driving motor (4) through synchronous gears, a reversing guide wheel (205) is fixedly arranged at the upper end of the reversing sliding block (204), the reversing guide wheel (205) can rotate in the horizontal direction, when the reversing sliding block (204) is at the high position, the reversing guide wheel (205) is slidingly connected with the inner side of the upper layer of sky rail (104), when the reversing sliding block (204) is at the low position, the reversing guide wheel (205) is slidingly connected with the outer side of the lower layer of sky rail (105).

2. The OHT turn control system of claim 1, wherein, outer limiting blocks (206) are fixedly arranged on the left and right sides of the module shell (201), the outer limiting blocks (206) limit the descending range of the reversing sliding block (204).

3. The OHT turn control system of claim 1, wherein, an inner limiting block (207) is fixedly arranged at the middle part of the module shell (201), the inner limiting block (207) limits the ascending range of the reversing sliding block (204).

4. The OHT turn control system of claim 1, wherein, a plurality of pulleys are arranged at the lower end of the reversing sliding block (204), and the reversing sliding block (204) is slidingly connected with the reversing slide rails (203) through the pulleys.

5. An OHT turn control method using the OHT turn control system according to claim 1, characterized by, The application further discloses a walking method of the walking module (2) and the OHT track (1). a double-layer sky rail is arranged on the upper part of the OHT track (1), the double-layer sky rail comprises an upper layer of sky rail (104) and a lower layer of sky rail (105), the upper layer of sky rail (104) is a straight track, and the lower layer of sky rail (105) is a right-turning track; two groups of inclined reversing slide rails (203) and reversing sliding blocks (204) are arranged on the upper part of the walking module (2), and a reversing guide wheel (205) is arranged at the upper end of the reversing sliding block (204); the left and right reversing guide wheels (205) are synchronously driven to ascend or descend by the driving motor (4) through synchronous gears; when the two reversing sliding blocks (204) move to the high position, the two reversing guide wheels (205) are matched with the inner sides of the upper layer of sky rail (104). When the two reversing sliders (204) move to the low position to the left and right sides, the two reversing sheaves (205) and the outer side of the lower layer of the sky rail (105) are matched.

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