Aerial vehicle and acquisition module thereof
By introducing an adjustment mechanism into the aerial transport vehicle, the problem of inaccurate matching between the clamping mechanism and the belt structure was solved, achieving precise acquisition of the vehicle and stability of the center of gravity, and reducing maintenance costs and frequency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- MIRLE AUTOMATION CORPORATION
- Filing Date
- 2025-12-05
- Publication Date
- 2026-06-05
AI Technical Summary
The existing aerial transport vehicle's clamping mechanism is not accurately matched with the multi-belt structure, resulting in the inability to precisely clamp the vehicle, and the inconsistent belt elongation affects the stability of vehicle acquisition.
Design an aerial transport vehicle acquisition module, including a hoisting mechanism, a clamping mechanism, and an adjustment mechanism. The adjustment mechanism abuts against the target belt to adjust the level of the clamping mechanism, ensuring that the clamping mechanism accurately acquires the vehicle and maintains its center of gravity balance.
It achieves precise acquisition of the carrier by the clamping mechanism, maintains overall center of gravity balance, reduces setup time and maintenance frequency, and is suitable for various types of aerial transport vehicles.
Smart Images
Figure CN122144600A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a transport vehicle, and more particularly to an aerial transport vehicle and its acquisition module. Background Technology
[0002] Existing aerial transport vehicles utilize multiple belts for lifting and lowering to enable a clamping mechanism to hold the vehicle. However, the structural combination of the clamping mechanism and the multiple belts in existing aerial transport vehicles often fails to accurately correspond to the vehicle (e.g., the multiple belts elongate inconsistently with increasing usage and varying loads), making it difficult to predict the elongation of the belts and accurately clamp the vehicle. Therefore, the inventors believe that these shortcomings can be improved and propose an invention with a reasonable design that effectively addresses these deficiencies. Summary of the Invention
[0003] This invention provides an aerial transport vehicle and its acquisition module, which can effectively improve the defects that may occur in existing aerial transport vehicles.
[0004] This invention discloses an aerial transport vehicle, comprising: a vehicle body; a traveling module mounted on the top of the vehicle body; and an acquisition module located inside the vehicle body, the acquisition module comprising: a hoisting mechanism, including: a support body fixed to the vehicle body; a transmission wheel assembly mounted on the support body and including a transmission rod, a plurality of pulleys fixed to the transmission rod, and at least one auxiliary wheel corresponding to at least one pulley; a driving member mounted on the support body and connected to the transmission rod; a plurality of belts, each wound around a pulley and having a bottom end away from the corresponding pulley, and at least one belt wound around at least one auxiliary wheel; a clamping mechanism including a plurality of connecting parts, and the clamping mechanism is suspended by being connected to the bottom ends of the plurality of belts through the plurality of connecting parts; and an adjustment mechanism mounted on the support body or the vehicle body, the position of the adjustment mechanism corresponding to and spaced apart from at least one belt, defined as a target belt; wherein the adjustment mechanism can perform an adjustment operation by abutting against the target belt, so that the height of the connecting part connected to the target belt is raised accordingly.
[0005] Optionally, when the clamping mechanism of the acquisition module moves toward a carrier via the hoisting mechanism, the adjustment mechanism can adjust the levelness of the clamping mechanism by performing an adjustment operation.
[0006] Optionally, after the acquisition module acquires a carrier with the clamping mechanism and before the clamping mechanism is raised with the hoisting mechanism, the adjustment mechanism stops performing the adjustment operation so that the adjustment mechanism does not contact the target belt.
[0007] Optionally, the adjustment mechanism performs the adjustment operation when the clamping mechanism has not acquired a carrier.
[0008] Optionally, the target belt is wound around at least one auxiliary pulley and divided into multiple belt segments by at least one auxiliary pulley, and the adjusting mechanism can abut against one of the belt segments of the target belt having a bottom end.
[0009] Optionally, the adjustment mechanism includes at least one adjuster, which includes: a rotating member corresponding to the target belt; and a displacement member connected to the rotating member; wherein the displacement member can move the rotating member to the target belt during the adjustment operation, so that the rotating member can be driven to rotate by the lifting and lowering of the target belt.
[0010] Optionally, the adjustment mechanism includes at least one buffer, which is configured to correspond to the rotating part of at least one adjuster; in the at least one adjuster, the displacement member is capable of moving the rotating part to the target belt during the adjustment operation and causing the rotating part and the at least one buffer to abut against both sides of the target belt respectively.
[0011] Optionally, the acquisition module includes: a distance sensor mounted on the support or clamping mechanism, and the distance sensor can be used to detect the height of the clamping mechanism; a multi-axis sensor mounted on the clamping mechanism, and the multi-axis sensor can be used to detect the tilt angle of the clamping mechanism; wherein, the acquisition module can control the adjustment mechanism to a correction depth against the target belt through the operation of the distance sensor and the multi-axis sensor.
[0012] Optionally, the plurality of pulleys includes a first pulley and two second pulleys located on both sides of the first pulley, and at least one auxiliary pulley is provided corresponding to the first pulley so that they are all wound around the target belt.
[0013] Optionally, the plurality of pulleys includes a first pulley and two second pulleys located on both sides of the first pulley, and at least one auxiliary pulley is provided corresponding to at least one second pulley so that they are all wound around the target belt. Optionally, the target belt is divided into multiple belt segments by at least one auxiliary pulley, and the adjusting mechanism can abut against a belt segment of the target belt adjacent to the second pulley.
[0014] Optionally, the adjustment mechanism includes a plurality of adjusters, each of which is positioned corresponding to and spaced apart from a belt; wherein, when the adjustment mechanism performs an adjustment operation, at least one adjuster abuts against the corresponding belt. Optionally, each adjuster includes: a rotating component facing a corresponding belt; and a displacement component connected to the rotating component; wherein the displacement component can move the rotating component to the corresponding belt during adjustment operations, so that the rotating component can be driven to rotate by the lifting and lowering of the corresponding belt.
[0015] Optionally, the adjustment mechanism includes multiple buffers, each corresponding to a rotating component of a multiple adjuster; in each adjuster and its corresponding buffer, the displacement member can move the rotating component to the corresponding belt during the adjustment operation and cause the rotating component and the corresponding buffer to abut against both sides of the corresponding belt.
[0016] Optionally, the plurality of pulleys includes a first pulley and two second pulleys located on both sides of the first pulley; the number of at least one auxiliary pulley is plurality of and includes two first auxiliary pulleys corresponding to the first pulley and two second auxiliary pulleys respectively corresponding to the two second pulleys, and the two first auxiliary pulleys are located on one side of the transmission rod, while the two second auxiliary pulleys are located on the other side of the transmission rod; the plurality of belts includes: a first belt wound around the first pulley and the two first auxiliary pulleys, and the bottom end of the first belt is connected to a connecting portion located at the center of two corners of the clamping mechanism; and two second belts, each wound around a second pulley and a corresponding second auxiliary pulley, and the bottom ends of the two second belts are respectively connected to two connecting portions located at the other two corners of the clamping mechanism.
[0017] This invention also discloses an acquisition module for an aerial transport vehicle, comprising: a hoisting mechanism including: a support body; a transmission wheel assembly mounted on the support body; a drive member mounted on the support body and connected to the transmission wheel assembly; a plurality of belts wound around the transmission wheel assembly at intervals, each belt having a bottom end away from the transmission wheel assembly; a clamping mechanism including a plurality of connecting portions, and the clamping mechanism being suspended by being connected to the bottom ends of the plurality of belts through the plurality of connecting portions; and an adjustment mechanism mounted on the support body, the position of the adjustment mechanism corresponding to and spaced apart from at least one belt, which is defined as a target belt; wherein the adjustment mechanism can perform an adjustment operation by abutting against the target belt, so that the height of the connecting portion connected to the target belt is raised accordingly.
[0018] Optionally, the drive wheel assembly is mounted on the support and includes a drive rod, a plurality of pulleys fixed to the drive rod, and at least one auxiliary wheel corresponding to at least one pulley; the drive member is connected to the drive rod; each belt is wound around a pulley, and at least one belt is wound around at least one auxiliary wheel.
[0019] Optionally, when the clamping mechanism of the acquisition module moves toward a carrier via the hoisting mechanism, the adjustment mechanism can adjust the levelness of the clamping mechanism by performing an adjustment operation.
[0020] Optionally, after the acquisition module acquires a carrier with the clamping mechanism and before the clamping mechanism is raised with the hoisting mechanism, the adjustment mechanism stops performing the adjustment operation so that the adjustment mechanism does not contact the target belt.
[0021] Optionally, the adjustment mechanism includes at least one adjuster, which includes: a rotating member corresponding to the target belt; a displacement member connected to the rotating member; wherein the adjustment mechanism includes at least one buffer, which is configured corresponding to the rotating member of the at least one adjuster; wherein, in the at least one adjuster, the displacement member can move the rotating member to the target belt during the adjustment operation and cause the rotating member and the at least one buffer to abut against both sides of the target belt respectively, and the rotating member can be driven to rotate by the lifting and lowering of the target belt.
[0022] In summary, the aerial transport vehicle and its acquisition module disclosed in the embodiments of the present invention can effectively control the levelness of the clamping mechanism through the structural combination and operation of the hoisting mechanism, the clamping mechanism, and the adjustment mechanism, thereby facilitating the clamping mechanism to accurately acquire the carrier and keeping the overall center of gravity balanced for stable loading and unloading of goods.
[0023] Furthermore, the aerial transport vehicle can optimize the acquisition of the vehicle by configuring an adjustment mechanism without affecting the existing structure (such as the hoisting mechanism and the clamping mechanism), thereby having optional reliability. Moreover, the adjustment mechanism can be applied to various types of aerial transport vehicles without adjusting each vehicle individually, thus effectively reducing setup time and maintenance frequency.
[0024] To further understand the features and technical content of this invention, please refer to the following detailed description and accompanying drawings. However, these descriptions and drawings are only for illustrating the invention and are not intended to limit the scope of protection of the invention in any way. Attached Figure Description
[0025] Figure 1 This is a three-dimensional schematic diagram of the aerial transport vehicle of the present invention using the acquisition module of the first embodiment. Figure 2 for Figure 1 A 3D schematic diagram of the acquisition module. Figure 3 for Figure 2 A top-down view. Figure 4 for Figure 1 The aerial transport vehicle is used to obtain a partial side view of a horizontally placed vehicle. Figure 5 for Figure 4 A schematic diagram of the changing state. Figure 6 for Figure 4 A diagram illustrating the subsequent actions. Figure 7 for Figure 6 A diagram illustrating the subsequent actions. Figure 8 for Figure 7A diagram illustrating the subsequent actions. Figure 9 for Figure 8 A diagram illustrating the subsequent actions. Figure 10 for Figure 1 The aerial transport vehicle is used to obtain a partial side view of a vehicle placed at an angle. Figure 11 for Figure 10 A diagram illustrating the subsequent actions. Figure 12 for Figure 11 A diagram illustrating the subsequent actions. Figure 13 for Figure 4 Another schematic diagram of the variation state. Figure 14 The above view (a) shows the acquisition module of the second embodiment of the present invention. Figure 15 This is a top view (II) of the acquisition module in the second embodiment of the present invention. Figure 16 The aerial transport vehicle used in this embodiment of the invention adopts Figure 14 The acquisition module is used to obtain a partial side view schematic diagram of the vehicle. Figure 17 for Figure 16 A schematic diagram of the changing state. Figure 18 for Figure 16 Another schematic diagram of the variation state. Figure 19 for Figure 16 Another schematic diagram of a variation. Figure 20 This is a three-dimensional schematic diagram of the acquisition module in the third embodiment of the present invention. Figure 21 This is a three-dimensional schematic diagram of the acquisition module in the fourth embodiment of the present invention. Figure 22 for Figure 21 A schematic diagram of the changing state. Figure 23 This is a three-dimensional schematic diagram of the acquisition module in the fifth embodiment of the present invention. Figure 24 The aerial transport vehicle used in this embodiment of the invention adopts Figure 23 The acquisition module is used to obtain a partial side view schematic diagram of the vehicle. Figure 25 for Figure 24 A schematic diagram of the changing state. Detailed Implementation The following specific embodiments illustrate the implementation of the "aerial transport vehicle and its acquisition module" disclosed in this invention. Those skilled in the art can understand the advantages and effects of this invention from the content disclosed in this specification. This invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of this invention. Furthermore, the accompanying drawings of this invention are for simple illustrative purposes only and are not depictions of actual dimensions; this is stated beforehand. The following embodiments will further describe the relevant technical content of this invention in detail, but the disclosed content is not intended to limit the scope of protection of this invention.
[0026] It should be understood that while terms such as "first," "second," and "third" may be used in this document to describe various elements or features, these elements or features should not be limited by these terms. These terms are primarily used to distinguish one element from another, or one feature from another. Furthermore, the term "or" as used herein may, as appropriate, include any combination of one or more of the related listed items.
[0027] Please see Figures 1 to 25 The figure shows an embodiment of the present invention. This embodiment discloses an overhead hoist transport (OHT) 1000, which includes a vehicle body 200, a travel module 300 (e.g., two travel mechanisms) mounted on the top of the vehicle body 200, and an acquisition module 100 located inside the vehicle body 200. The overhead hoist transport 1000 can acquire a vehicle F via the acquisition module 100, and the vehicle body 200 and the acquisition module 100 can move along an overhead track (not shown in the figure) located on the ceiling via the travel module 300.
[0028] It should be noted that in this embodiment, the aerial transport vehicle 1000 is described with the acquisition module 100 combined with the vehicle body 200 and the travel module 300. However, in other embodiments of the present invention not shown, the acquisition module 100 may also be used alone or in combination with other components according to actual needs.
[0029] The acquisition module 100 includes a hoisting mechanism 1, a clamping mechanism 2 suspended from the hoisting mechanism 1, and an adjustment mechanism 3 corresponding to the hoisting mechanism 1. The acquisition module 100 can be selectively configured in various embodiments according to actual needs. To facilitate understanding of this embodiment, the following description will first focus on the common features of the various embodiments of the acquisition module 100, and then introduce the specific structure of each embodiment. However, the acquisition module 100 is not limited to the above-described various embodiments.
[0030] The hoisting mechanism 1 includes a support body 11, a transmission wheel set 12 mounted on the support body 11, a drive member 13 mounted on the support body 11 and connected to the transmission wheel set 12, and a plurality of belts 14 spaced apart from each other around the transmission wheel set 12. More specifically, the support body 11 is fixed to the vehicle body 200, and the specific shape of the support body 11 can be adjusted and changed according to actual needs to accommodate the installation of other components.
[0031] The transmission wheel assembly 12 includes a transmission rod 121, a plurality of pulleys 122 fixed to the transmission rod 121, and at least one auxiliary wheel 123 corresponding to at least one of the pulleys 122. The driving member 13 (e.g., electric motor, hydraulic cylinder, reducer, and screw) is connected to the transmission rod 121 so that the transmission rod 121 can be driven by the driving member 13 to rotate the plurality of pulleys 122.
[0032] Each of the belts 14 is wound around one of the pulleys 122, and each belt 14 has a bottom end 141 away from the drive pulley set 12 (e.g., corresponding to the pulley 122), while one of the belts 14 is wound around at least one of the auxiliary pulleys 123. Furthermore, the clamping mechanism 2 includes a plurality of connecting portions 21, and the clamping mechanism 2 is suspended by being connected to the bottom ends 141 of the plurality of belts 14 respectively through the plurality of connecting portions 21.
[0033] The adjustment mechanism 3 is installed on the support 11 (e.g.: Figure 4 The adjustment mechanism 3 is positioned corresponding to and spaced apart from at least one of the belts 14, which is defined as a target belt 14a. It should be noted that when the adjustment mechanism 3 is not activated, it does not contact the target belt 14a and therefore does not interfere with its operation. Furthermore, the installation position of the adjustment mechanism 3 can be adjusted according to actual needs, such as... Figure 5 As shown, the adjustment mechanism 3 can also be installed on the vehicle body 200.
[0034] Based on the above, as Figure 4 and Figures 6 to 12As shown, the adjustment mechanism 3 can perform an adjustment operation by abutting against the target belt 14a, so that the height of the connecting part 21 connected to the target belt 14a is raised accordingly. Thus, the aerial transport vehicle 1000 can effectively control the levelness of the clamping mechanism 2 through the interlocking structure and operation of the hoisting mechanism 1, the clamping mechanism 2, and the adjustment mechanism 3 (e.g., the adjustment mechanism 3 can eliminate any abnormal elongation that may occur in the target belt 14a; or, the adjustment mechanism 3 can make the levelness of the clamping mechanism 2 correspond to the inclined vehicle F), thereby facilitating the clamping mechanism 2 to accurately acquire the vehicle F.
[0035] More specifically, when the clamping mechanism 2 of the acquisition module 100 moves toward the vehicle F via the hoisting mechanism 1 (e.g., the clamping mechanism 2 can move toward the vehicle F by rising, falling, and / or lateral movement via the hoisting mechanism 1), the adjustment mechanism 3 can adjust the levelness of the clamping mechanism 2 by performing the adjustment operation, so that the clamping mechanism 2 can achieve a uniform center of gravity and an overall level effect when acquiring the vehicle F in the future.
[0036] It should be noted that, as Figure 4 and Figures 6 to 9 As shown, when the carrier F is placed horizontally, the target belt 14a may be one of the belts 14 that is prone to excessive elongation. This causes the clamping mechanism 2 to be tilted. Therefore, the target belt 14a is lifted by the adjustment mechanism 3, so that the bottom ends 141 of the belts 14 are generally coplanar, thereby allowing the clamping mechanism 2 to move horizontally toward the carrier F and acquire the belt.
[0037] Furthermore, such as Figures 10 to 12 As shown, when the vehicle F is placed at an angle, the target belt 14a can be the one of the multiple belts 14 that corresponds to the higher position of the vehicle F. Therefore, the target belt 14a is lifted by the adjustment mechanism 3 to raise its bottom end 141, so that the bottom end 141 of the multiple belts 14 is generally inclined to the vehicle F, thereby facilitating the clamping mechanism 2 to acquire the vehicle F.
[0038] After the acquisition module 100 acquires the carrier F using the clamping mechanism 2 and before the clamping mechanism 2 is raised by the hoisting mechanism 1, the adjustment mechanism 3 can stop performing the adjustment operation so that the adjustment mechanism 3 does not contact the target belt 14a, thereby reducing the load that the adjustment mechanism 3 needs to bear and effectively avoiding damage to the adjustment mechanism 3 that may be caused by prolonged continuous load. Such damage includes, for example, wear and uneven tension of the target belt 14a, wear of the drive component 13 (e.g., the reducer), and wear of the adjustment mechanism 3 itself.
[0039] In other words, the adjustment mechanism 3 can perform the adjustment operation when the clamping mechanism 2 does not acquire the carrier F, but the present invention is not limited thereto. For example, in other embodiments of the present invention not shown, the adjustment mechanism 3 can also continuously perform the adjustment operation when the clamping mechanism 2 acquires the carrier F, depending on actual needs.
[0040] It should be further noted that, in order to more accurately control the degree of change of the target belt 14a caused by the adjustment mechanism 3 abutting against the target belt 14a, the acquisition module 100 in this embodiment may further include a distance sensor 4 and a multi-axis sensor 5 (e.g., the multi-axis sensor 5 may include an inclination sensor, a level, and an accelerometer to measure the change in angle or angular velocity), so that the acquisition module 100 can control the adjustment mechanism 3 abutting against the target belt 14a at a correction depth D through the operation of the distance sensor 4 and the multi-axis sensor 5, but the present invention is not limited thereto.
[0041] More specifically, the distance sensor 4 can be selectively installed on the support 11 according to actual needs (e.g.: Figure 4 ) or the clamping mechanism 2 (e.g.: Figure 5 Furthermore, the distance sensor 4 can be used to detect the height of the clamping mechanism 2. Additionally, the multi-axis sensor 5 is mounted on the clamping mechanism 2, and the multi-axis sensor 5 can be used to detect the tilt angle of the clamping mechanism 2.
[0042] It should be further noted that the distance sensor 4 and the multi-axis sensor 5 can transmit information to the controller of the aerial transport vehicle 1000 (or the acquisition module 100) via network communication for subsequent calculation, judgment, and adjustment. Furthermore, the activation timing of the adjustment mechanism 3 may include: (1) the distance sensor 4 and or the multi-axis sensor 5 detecting abnormalities in the levelness of the clamping mechanism 2 in real time; (2) detecting abnormalities in the levelness of the clamping mechanism 2 through an external measuring mechanism (not shown in the figure).
[0043] The number of axes of the multi-axis sensor 5 can be adjusted according to actual needs (e.g., any of two to six axes), and the present invention is not limited thereto. For example, in other embodiments of the present invention not shown, at least one of the distance sensor 4 and the multi-axis sensor 5 can be omitted or replaced in other ways (e.g., manual periodic inspection) according to actual needs.
[0044] The common features of the various embodiments of the acquisition module 100 are generally described below. The following content will describe the specific construction of each embodiment of the acquisition module 100, but the present invention is not limited thereto.
[0045] [First Implementation Method] like Figures 1 to 13 As shown, this is the first embodiment of this invention. The plurality of pulleys 122 include a first pulley 122-1 and two second pulleys 122-2 located on either side of the first pulley 122-1. The number of at least one auxiliary wheel 123 is plurality of, including two first auxiliary wheels 123-1 corresponding to the first pulley 122-1 and two second auxiliary wheels 123-2 respectively corresponding to the two second pulleys 122-2. The two first auxiliary wheels 123-1 are located on one side of the transmission rod 121, while the two second auxiliary wheels 123-2 are located on the other side of the transmission rod 121.
[0046] Furthermore, the plurality of belts 14 include a first belt 14-1 and two second belts 14-2. The first belt 14-1 is wound around the first pulley 122-1 and the two first auxiliary pulleys 123-1, and the bottom end 141 of the first belt 14-1 is connected to a connecting portion 21 located at the center of two corners of the clamping mechanism 2. Each second belt 14-2 is wound around a second pulley 122-2 and a corresponding second auxiliary pulley 123-2, and the bottom end 141 of the two second belts 14-2 are respectively connected to two connecting portions 21 located at the other two corners of the clamping mechanism 2.
[0047] Furthermore, the first belt 14-1 is defined as the target belt 14a, which is wound around the first pulley 122-1 and two corresponding first auxiliary pulleys 123-1 (that is, at least one of the auxiliary pulleys 123 is provided corresponding to the target belt 14a so that it is wound together by the target belt 14a).
[0048] Furthermore, the target belt 14a can be divided into three belt segments 142a, 142b, and 142c by the two first auxiliary pulleys 123-1 (that is, the target belt 14a is wound around at least one of the auxiliary pulleys 123 and divided into multiple belt segments 142a, 142b, and 142c by at least one of the auxiliary pulleys 123), and the adjustment mechanism 3 can abut against one of the belt segments 142a of the target belt 14a that has the bottom end 141. Further, the adjustment mechanism 3 can be disposed on the outside of the target belt 14a (or the corresponding belt segment 142a) (e.g., ...). Figures 1 to 12 ) or the inside (e.g.: Figure 13 However, this is not the only limit.
[0049] For example, in other embodiments of the present invention not shown, the adjustment mechanism 3 may also be used to abut against other belt segments 142b, 142c that do not have the bottom end 141 (e.g., the belt segment 142b between the two first auxiliary wheels 123-1, or the belt segment 142c between the first pulley 122-1 and the adjacent first auxiliary wheel 123-1).
[0050] The adjustment mechanism 3 includes an adjuster 31 and a connector 32, and the adjuster 31 is mounted on the support 11 or the vehicle body 200 via the connector 32. The adjuster 31 includes a displacement member 311 fixed to the connector 32 and a rotating member 312 connected to the displacement member 311. The rotating member 312 corresponds to the target belt 14a (e.g., the belt segment 142a having the bottom end 141), and the displacement member 311 can drive the rotating member 312 to move relative to the target belt 14a.
[0051] Therefore, the displacement member 311 can move the rotating member 312 to the target belt 14a when the adjustment operation is performed (e.g., after the rotating member 312 contacts the target belt 14a, it continues to move the correction depth D), so that the rotating member 312 can be driven to rotate by the lifting and lowering of the target belt 14a, thereby reducing the wear of the target belt 14a caused by friction.
[0052] [Second Implementation] like Figures 14 to 19 As shown, this is the second embodiment of this example, and this embodiment is similar to the first embodiment described above. Therefore, the similarities will not be repeated. The main difference between this embodiment and the first embodiment is that the selection of the target belt 14a and the position of the adjustment mechanism 3 are adjusted accordingly.
[0053] Specifically, such as Figure 14 and Figures 16 to 19 As shown, one of the second belts 14-2 is defined as the target belt 14a, which is wound around a second pulley 122-2 and a corresponding second auxiliary pulley 123-2 (that is, at least one of the auxiliary pulleys 123 is provided corresponding to at least one second pulley 122-2, so that they are both wound around the target belt 14a).
[0054] Furthermore, the target belt 14a can be divided into two belt segments 142a and 142b corresponding to the second auxiliary wheel 123-2 (that is, the target belt 14a is wound around at least one of the auxiliary wheels 123 and divided into multiple belt segments 142a and 142b by at least one of the auxiliary wheels 123), and the adjustment mechanism 3 can abut against one of the belt segments 142a of the target belt 14a having the bottom end 141. Further, the adjustment mechanism 3 can be disposed on the outside of the target belt 14a (or the corresponding belt segment 142a) (e.g.: Figure 16 and Figure 18 ) or the inside (e.g.: Figure 17 and Figure 19 However, this is not the only limit.
[0055] In addition, such as Figure 18 and Figure 19 As shown, the adjustment mechanism 3 can also be used to abut against other belt segments 142b that do not have the bottom end 141 (e.g., one belt segment 142b of the target belt 14a adjacent to the second pulley 122-2); or, as... Figure 15 As shown, the adjustment mechanism 3 may include two adjusters 31, which are positioned corresponding to and spaced apart from the two second belts 14-2.
[0056] [Third Implementation Method] like Figure 20 As shown, this is the third embodiment of this example, and this embodiment is similar to the first and second embodiments described above. Therefore, the similarities will not be repeated. The main difference between this embodiment and the first and second embodiments is that the adjustment mechanism 3 includes multiple adjusters 31, which are respectively corresponding to the first belt 14-1 and the second belt 14-2 (that is, multiple target belts 14a).
[0057] Specifically, each adjuster 31 is positioned corresponding to and spaced apart from one of the belts 14 (i.e., the target belt 14a). That is, the number of adjusters 31 can be less than or equal to the number of belts 14, depending on actual needs. Furthermore, when the adjustment mechanism 3 performs the adjustment operation, at least one adjuster 31 abuts against the corresponding belt 14.
[0058] [Fourth Implementation Method] like Figure 21 and Figure 22 As shown, this is the fourth embodiment of this embodiment, and this embodiment is similar to the first to third embodiments described above. Therefore, the similarities will not be repeated. The main difference between this embodiment and the first to third embodiments described above is that the adjustment mechanism 3 further includes at least one buffer 33, which is configured to correspond to the rotating member 312 of at least one of the adjusters 31.
[0059] Specifically, such as Figure 21 As shown, the adjustment mechanism 3 includes a single adjuster 31 and a single buffer 33. Each buffer 33 includes a fixing member 331 and a rotating member 332 mounted on the fixing member 331. The fixing member 331 is mounted on the support body 11, while the rotating member 332 and the rotating member 312 are arranged facing each other. The displacement member 311 can move the rotating member 312 to the target belt 14a during the adjustment operation, causing the rotating member 312 and the buffer 33 (the rotating member 332) to abut against both sides of the target belt 14a (i.e., the inner and outer sides of the target belt 14a). Therefore, when the rotating member 312 abuts against the target belt 14a, it can absorb the force generated by the movement of the rotating member 312 through the buffer 33 (e.g., the rotating member 332), so that the target belt 14a bends slowly and stably, thereby effectively avoiding the large-scale terrain deformation that may occur to the target belt 14a.
[0060] Furthermore, such as Figure 22 As shown, the adjustment mechanism 3 may include multiple adjusters 31 and multiple buffers 33, each corresponding to multiple belts 14 (i.e., multiple target belts 14a). It should be noted that in other embodiments not shown in this invention, the adjustment mechanism 3 may be configured with or without the buffers 33, depending on actual needs. That is, at least one of the multiple adjusters 31 may correspond to the buffer 33.
[0061] [Fifth Implementation Method] like Figures 23 to 25 As shown, this is the fifth embodiment of this embodiment, and this embodiment is similar to the first to fourth embodiments described above. Therefore, the similarities will not be repeated. The main difference between this embodiment and the first to fourth embodiments is that the number of at least one auxiliary wheel 123 of the transmission wheel set 12 is only one and it is set corresponding to the first pulley 122-1 so that they are all wound around the target belt 14a.
[0062] Furthermore, the first belt 14-1 is defined as the target belt 14a, and the target belt 14a can be divided into two belt segments 142a and 142b by the auxiliary wheel 123, and the adjustment mechanism 3 can abut against one of the belt segments 142a of the target belt 14a that has the bottom end 141. Moreover, the adjustment mechanism 3 can be located on the outside or inside of the target belt 14a (or the corresponding belt segment 142a) (not shown in the figure), but is not limited thereto.
[0063] In addition, the adjustment mechanism 3 can also be used to abut against other belt segments 142b that do not have the bottom end 141 (e.g., the belt segment 142b between the first pulley 122-1 and the auxiliary wheel 123) according to actual needs.
[0064] [Technical Effects of the Embodiments of the Invention] In summary, the aerial transport vehicle and its acquisition module disclosed in the embodiments of the present invention can effectively control the levelness of the clamping mechanism through the structural combination and operation of the hoisting mechanism, clamping mechanism, and adjustment mechanism (e.g., the adjustment mechanism can eliminate the uneven length caused by the stretching of the target belt due to long-term use; or, the adjustment mechanism can make the levelness of the clamping mechanism correspond to the inclined vehicle), thereby facilitating the clamping mechanism to accurately acquire the vehicle and keeping the overall center of gravity balanced to maintain stable lifting and lowering.
[0065] Furthermore, the transport vehicle can optimize vehicle acquisition by configuring an adjustment mechanism without affecting the existing structure (such as the hoisting mechanism and clamping mechanism), thereby achieving optional reliability. Moreover, the adjustment mechanism can be applied to various types of aerial transport vehicles without the need for individual adjustments, thus effectively reducing setup time and maintenance frequency.
[0066] The content disclosed above is only a preferred and feasible embodiment of the present invention, and is not intended to limit the patent scope of the present invention. Therefore, all equivalent technical changes made based on the content of the present invention specification and drawings are included within the patent scope of the present invention.
Claims
1. An aerial transport vehicle, characterized in that, The aerial transport vehicle includes: One vehicle body; A traveling module is installed on the top of the vehicle body; and An acquisition module is located inside the vehicle body, and the acquisition module includes: A hoisting mechanism, comprising: A support structure is fixed to the vehicle body; A transmission wheel assembly is mounted on the support body and includes a transmission rod, a plurality of pulleys fixed to the transmission rod, and at least one auxiliary wheel corresponding to at least one of the pulleys; A driving component, mounted on the support and connected to the transmission rod; and Multiple belts, each wound around one of the pulleys and having a bottom end away from the corresponding pulley, and at least one of the belts wound around at least one of the auxiliary pulleys; A clamping mechanism comprising a plurality of connecting portions, wherein the clamping mechanism is suspended by being connected to the bottom ends of a plurality of belts via the plurality of connecting portions; and An adjustment mechanism is installed on the support or the vehicle body, and the position of the adjustment mechanism corresponds to and is spaced from at least one of the belts, which is defined as a target belt; The adjustment mechanism can perform an adjustment operation by abutting against the target belt, so that the height of the connecting part connected to the target belt is raised accordingly.
2. The aerial transport vehicle according to claim 1, characterized in that, When the clamping mechanism of the acquisition module moves toward a carrier via the hoisting mechanism, the adjustment mechanism can adjust the levelness of the clamping mechanism by performing the adjustment operation.
3. The aerial transport vehicle according to claim 1, characterized in that, After the acquisition module acquires a carrier with the clamping mechanism and before the clamping mechanism is raised by the hoisting mechanism, the adjustment mechanism stops performing the adjustment operation so that the adjustment mechanism does not contact the target belt.
4. The aerial transport vehicle according to claim 1, characterized in that, The adjustment mechanism performs the adjustment operation when the clamping mechanism does not acquire a carrier.
5. The aerial transport vehicle according to claim 1, characterized in that, The target belt is wound around at least one of the auxiliary pulleys and divided into multiple belt segments by at least one of the auxiliary pulleys, and the adjustment mechanism can abut against one of the belt segments of the target belt having the bottom end.
6. The aerial transport vehicle according to claim 1, characterized in that, The adjustment mechanism includes at least one adjuster, which comprises: A rotating component, corresponding to the target belt; and A displacement member is connected to the rotating member; wherein, the displacement member is capable of moving the rotating member to the target belt during the adjustment operation, so that the rotating member can be driven to rotate by the lifting and lowering of the target belt.
7. The aerial transport vehicle according to claim 6, characterized in that, The adjustment mechanism includes at least one buffer, which is configured corresponding to the rotating part of at least one of the adjusters; in at least one of the adjusters, the displacement member is capable of moving the rotating part to the target belt during the adjustment operation and causing the rotating part and at least one of the buffers to abut against both sides of the target belt.
8. The aerial transport vehicle according to claim 1, characterized in that, The acquisition module includes: A distance sensor is mounted on the support or the clamping mechanism, and the distance sensor is used to detect the height of the clamping mechanism; and A multi-axis sensor is mounted on the clamping mechanism, and the multi-axis sensor can be used to detect the tilt angle of the clamping mechanism; The acquisition module can control the adjustment mechanism to a certain correction depth against the target belt through the operation of the distance sensor and the multi-axis sensor.
9. The aerial transport vehicle according to claim 1, characterized in that, The plurality of pulleys includes a first pulley and two second pulleys located on both sides of the first pulley, and at least one auxiliary pulley is provided corresponding to the first pulley so as to be wound together by the target belt.
10. The aerial transport vehicle according to claim 1, characterized in that, The plurality of pulleys includes a first pulley and two second pulleys located on either side of the first pulley, and at least one auxiliary pulley is provided corresponding to at least one second pulley so that they are all wound around the target belt.
11. The aerial transport vehicle according to claim 10, characterized in that, The target belt is divided into multiple belt segments by at least one of the auxiliary pulleys, and the adjustment mechanism can abut against one of the belt segments of the target belt adjacent to the second pulley.
12. The aerial transport vehicle according to claim 1, characterized in that, The adjustment mechanism includes a plurality of adjusters, and each of the adjusters is positioned corresponding to and spaced apart from one of the belts; wherein, when the adjustment mechanism performs the adjustment operation, at least one of the adjusters abuts against the corresponding belt.
13. The aerial transport vehicle according to claim 12, characterized in that, Each of the aforementioned adjusters includes: A rotating component, corresponding to the belt facing each other; and A displacement member is connected to the rotating member; wherein, the displacement member can move the rotating member to the corresponding belt when the adjustment operation is performed, so that the rotating member can be driven to rotate by the lifting and lowering of the corresponding belt.
14. The aerial transport vehicle according to claim 13, characterized in that, The adjustment mechanism includes multiple buffers, each corresponding to a rotating component of one of the multiple adjusters; in each adjuster and its corresponding buffer, the displacement member can move the rotating component to the corresponding belt during the adjustment operation, and cause the rotating component and the corresponding buffer to abut against both sides of the corresponding belt.
15. The aerial transport vehicle according to claim 1, characterized in that, The plurality of pulleys includes a first pulley and two second pulleys located on either side of the first pulley; at least one auxiliary pulley is of a plurality and includes two first auxiliary pulleys corresponding to the first pulley and two second auxiliary pulleys respectively corresponding to the two second pulleys, wherein the two first auxiliary pulleys are located on one side of the drive rod, and the two second auxiliary pulleys are located on the other side of the drive rod; the plurality of belts includes: A first belt is wound around the first pulley and the two first auxiliary pulleys, and the bottom end of the first belt is connected to a connecting portion located at the center of the two corners of the clamping mechanism; and Two second belts are each wound around a second pulley and a corresponding second auxiliary pulley, and the bottom ends of the two second belts are respectively connected to two connecting portions located at the other two corners of the clamping mechanism.
16. An acquisition module for an aerial transport vehicle, characterized in that, The aerial transport vehicle acquisition module includes: A hoisting mechanism, comprising: A supporting structure; A set of transmission wheels is installed on the support body; A driving component, mounted on the support and connected to the transmission wheel assembly; and Multiple belts are wound around the drive pulley assembly at intervals from each other, and each belt has a bottom end away from the drive pulley assembly; A clamping mechanism comprising a plurality of connecting portions, wherein the clamping mechanism is suspended by being connected to the bottom ends of a plurality of belts via the plurality of connecting portions; and An adjustment mechanism is installed on the support body, and the position of the adjustment mechanism corresponds to and is spaced from at least one of the belts, which is defined as a target belt; The adjustment mechanism can perform an adjustment operation by abutting against the target belt, so that the height of the connecting part connected to the target belt is raised accordingly.
17. The aerial transport vehicle acquisition module according to claim 16, characterized in that, The transmission wheel assembly is mounted on the support and includes a transmission rod, a plurality of pulleys fixed to the transmission rod, and at least one auxiliary wheel corresponding to at least one of the pulleys; the driving member is connected to the transmission rod; each belt is wound around one of the pulleys, and at least one belt is wound around at least one of the auxiliary wheels.
18. The aerial transport vehicle acquisition module according to claim 16, characterized in that, When the clamping mechanism of the acquisition module moves toward a carrier via the hoisting mechanism, the adjustment mechanism can adjust the levelness of the clamping mechanism by performing the adjustment operation.
19. The aerial transport vehicle acquisition module according to claim 16, characterized in that, After the acquisition module acquires a carrier with the clamping mechanism and before the clamping mechanism is raised by the hoisting mechanism, the adjustment mechanism stops performing the adjustment operation so that the adjustment mechanism does not contact the target belt.
20. The aerial transport vehicle acquisition module according to claim 16, characterized in that, The adjustment mechanism includes at least one adjuster, which comprises: A rotating component, corresponding to the target belt; and A displacement component is connected to the rotating component; The adjustment mechanism includes at least one buffer, which is configured corresponding to the rotating member of at least one of the adjusters; wherein, in at least one of the adjusters, the displacement member can move the rotating member to the target belt when the adjustment operation is performed, and cause the rotating member and at least one of the buffers to abut against both sides of the target belt respectively, and the rotating member can be driven to rotate by the lifting and lowering of the target belt.