Aerial walking carrying vehicle

Abstract

The utility model discloses a carrying vehicle capable of walking in the air. The carrying vehicle comprises a walking assembly, a lifting assembly, a transverse moving power assembly, a mounting base, a belt and a gripper assembly. The mounting seat comprises a mounting seat outer frame and a mounting seat inner frame, the mounting seat outer frame and the mounting seat inner frame form a double-layer drawer type structure, the mounting seat inner frame and the transverse movement power assembly are both arranged on the inner side of the mounting seat outer frame, and the mounting seat inner frame is driven by the transverse movement power assembly to stretch outwards along the outer frame; the action assembly is arranged on the outer frame of the mounting seat; the lifting assembly is arranged on the inner frame of the mounting seat; the lifting assembly is a mechanism for lifting through a belt, and one end of the belt of the lifting assembly is connected with the gripper assembly. According to the aerial walking carrying vehicle, the clamping jaw mechanism can clamp material boxes of different specifications, accurate and stable carrying of the material boxes is achieved through sensing and positioning mechanisms such as the shaking detection sensor, the gripper winding and positioning device and the mushroom head detection sensor, and efficient transferring of the material boxes is achieved through the lifting assembly with the transverse moving function.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the logistics carrying technical field, especially relates to an aerial walking carrying vehicle. BACKGROUND

[0002] The aerial walking carrying vehicle mainly runs in the environment with aerial track, and it can directly enter the loading and unloading port of the storage equipment or process equipment through the driving of the transmission system to drive the lifting mechanism, so that the efficient carrying of materials is realized. The aerial walking carrying vehicle is widely applied to the industrial manufacturing field, such as the semiconductor wafer production workshop, intelligent stereoscopic warehouse and the like.

[0003] The existing aerial walking carrying vehicle still has room for improvement in many aspects, for example: 1) the jaw mechanism of the carrying vehicle is developed and designed, so that the jaw mechanism can clamp a plurality of specifications of materials, that is, the application range of the carrying vehicle is improved; 2) the overall structure of the carrying vehicle is simplified, the component parts of the carrying vehicle are reduced, the procurement cost of the carrying vehicle is greatly reduced, and the market is facilitated; 3) on the basis of ensuring the carrying precision and efficiency of the carrying vehicle, various sensors on the carrying vehicle are optimized, the safety is improved, and the maintenance cost is reduced; 4) the carrying vehicle runs on the aerial track to realize the carrying of materials, and the lifting mechanism and the horizontal moving mechanism are involved in the carrying process. The above mechanisms need to be optimized in structure under the condition of considering the functions, on the basis of ensuring the carrying effect, the self-weight of the carrying vehicle is reduced, and the manufacturing cost is reduced. CONTENT OF THE UTILITY MODEL

[0004] The utility model aims at providing an aerial walking carrying vehicle, the jaw mechanism of the carrying vehicle can clamp different specifications of material boxes, the accurate and stable carrying of the material boxes is realized through the shaking detection sensor, the gripper winding positioning device, the mushroom head detection sensor and other sensing positioning mechanisms, and the efficient transfer of the material boxes is realized through the lifting assembly with the horizontal moving function.

[0005] In order to realize the above-mentioned purpose, the technical scheme of the utility model is to design an aerial walking carrying vehicle, which comprises a walking assembly, a lifting assembly, a horizontal moving force assembly, a mounting seat, a belt, a gripper assembly;

[0006] The walking assembly is a structure for the forward running of the aerial walking carrying vehicle;

[0007] The mounting seat comprises a mounting seat outer frame and a mounting seat inner frame, the mounting seat outer frame and the mounting seat inner frame form a double-layer drawer type structure, the mounting seat inner frame and the horizontal moving force assembly are arranged on the inner side of the mounting seat outer frame, and the mounting seat inner frame is driven by the horizontal moving force assembly to stretch out or retract along the outer frame; the walking assembly is arranged on the outer frame of the mounting seat; the lifting assembly is arranged on the inner frame of the mounting seat; the lifting assembly is a mechanism for lifting through the belt, and one end of the belt of the lifting assembly is connected with the gripper assembly.

[0008] Preferably, the action assembly comprises a walking assembly mounting seat, a walking wheel mounted on the walking assembly mounting seat, and a walking drive motor for driving the walking wheel; the walking assembly mounting seat of the walking assembly is mounted on the outside surface of the mounting seat outer frame through a walking assembly connecting block; the walking assembly connecting block is centrally provided with a groove for the track to pass through.

[0009] Preferably, the walking assembly is composed of a motor, a motor-driven gear, a rack mounted on a slide rail, the rack is engaged with the gear, and the motor drives the gear to rotate, thereby enabling the aerial walking carrier to run forward.

[0010] Preferably, the walking assembly is composed of a motor, a motor-driven pulley, and a belt, the motor drives the pulley to rotate, and the belt drives the aerial walking carrier to run forward.

[0011] Preferably, the walking assembly is composed of a motor-driven steel wire winding wheel and a steel wire, the steel wire winding wheel has two ends, one unwinds the steel wire, and the other winds the steel wire, and the aerial walking carrier runs forward through the winding of the steel wire.

[0012] Further, the mounting seat further comprises a slide rail; the inner walls of the two sides of the mounting seat outer frame are provided with slide rails, the mounting seat inner frame is located inside the mounting seat outer frame, and the two sides of the mounting seat inner frame slide on the slide rails.

[0013] Further, the lifting assembly comprises a lifting base, a lifting drive motor, a winding wheel group, and an idler group; the lifting base is provided with the lifting drive motor, a plurality of winding wheel groups, and an idler group, the rotating shaft of the lifting drive motor is connected to the winding wheel group, and a belt is wound around the winding wheel group and the idler group; the lifting base is arranged on the inside surface of the mounting seat inner frame of the mounting seat.

[0014] Further, the lifting assembly further comprises a shaking detection sensor and a gripper winding positioning device; the gripper winding positioning device is provided with a photoelectric switch inside, and the photoelectric switch controls the start and stop of the lifting drive motor.

[0015] Further, the horizontal moving force assembly comprises a horizontal moving drive motor and an engaging chain transmission device; the housing of the engaging chain transmission device is fixed to the inside of the mounting seat outer frame, the telescopic chain of the engaging chain transmission device is connected to the mounting seat inner frame, and the mounting seat inner frame is driven to slide outward along the slide rail through the telescopic chain of the engaging chain transmission device.

[0016] Further, the gripper assembly comprises a gripper seat, a limiting baffle, a gripper winding positioning protrusion, and a connecting block; the back side of the gripper seat is provided with a plurality of connecting blocks, the connecting blocks are connected with a belt; the front and rear side edges of the gripper seat are provided with limiting baffles; the front side of the gripper seat is provided with a gripper, and the gripper comprises a gripper shell, a gripper plate, a gripper plate hinged block, a clamping jaw arm, and a screw rod motor; the gripper shell is arranged in the center of the gripper seat, the screw rod motor is arranged in the gripper shell, the screw rod of the screw rod motor is a bidirectional screw rod, two clamping jaw arms that move synchronously in opposite directions or in the same direction are arranged on the screw rod motor, the outer side end portions of the two clamping jaw arms are hinged with the gripper plate hinged block, and the gripper plate hinged block is hinged with the gripper plate.

[0017] Further, the gripper seat is provided with a gripper winding positioning protrusion, and the side edge of the gripper seat is further provided with a cable fixing support.

[0018] Further, the gripper shell is provided with a mushroom head detection sensor on the outer side thereof.

[0019] Further, a metal strip is arranged on the track where the air walking transfer vehicle is located, power is transmitted to the air walking transfer vehicle through the metal strip, a gripper power cable is further arranged on the inner frame of the mounting seat, and the screw rod motor of the gripper assembly is powered through the gripper power cable.

[0020] The utility model has the advantages and beneficial effects that:

[0021] 1) The horizontal movement of the material box during the transfer process is realized through the pull-out type mounting seat design, the material box storage position is not directly below the track but on one side of the track, a passageway space is left directly below the track, and the utility model is suitable for the case.

[0022] 2) The belt type lifting assembly realizes the vertical lifting of the material box during the transfer process, the shaking detection sensor can detect whether the shaking of the material box during the transfer process exceeds the range, the falling accidents are reduced, the gripper winding positioning device and the gripper winding positioning protrusion arranged on the gripper assembly are matched with each other, and the height control of the lifted material box is realized.

[0023] 3) The mushroom head detection sensor is used to realize the positioning of the material box and the gripper assembly, the gripper is driven by the screw rod, and the gripper driven by the screw rod can be applied to different specifications of material boxes. DRAWINGS

[0024] Figure 1 It is a structural schematic view of the embodiment 1.

[0025] Figure 2 It is a structural schematic view of the walking assembly of the embodiment 1.

[0026] Figure 3 It is a structural schematic view of the lifting assembly and the horizontal movement force assembly of the embodiment 1.

[0027] Figure 4 Structure diagram of the front end of the gripper assembly of Example 1.

[0028] Figure 5 Structure diagram of the rear end of the gripper assembly of Example 1.

[0029] Figure 6 Structure diagram of the inner side of the gripper of Example 1.

[0030] Figure 7 Structure diagram of the walking assembly of Example 2.

[0031] Figure 8 Structure diagram of the walking assembly of Example 3.

[0032] Figure 9 Structure diagram of the walking assembly of Example 4.

[0033] Wherein, the walking assembly 1, the walking assembly mounting seat 1-1, the walking drive motor 1-2, the walking wheel 1-3, the lifting assembly 2, the lifting base 2-1, the lifting drive motor 2-2, the winding wheel set 2-3, the idler set 2-4, the shaking detection sensor 2-5, the gripper winding positioning device 2-6, the gripper power supply cable 2-7, the horizontal moving force assembly 3, the horizontal moving drive motor 3-1, the meshing chain transmission device 3-2, the mounting seat 4, the mounting seat outer frame 4-1, the slide rail 4-2, the mounting seat inner frame 4-3, the belt 5, the gripper assembly 6, the gripper seat 6-1, the limiting baffle 6-2, the cable fixing support 6-3, the gripper shell 6-4, the mushroom head detection sensor 6-5, the gripper plate 6-6, the gripper plate hinged block 6-7, the gripper winding positioning protruding piece 6-8, the connecting block 6-9, the first clamping jaw arm 6-10, the second clamping jaw arm 6-11, the limiting plate 6-12, the lead screw motor 6-13, the walking assembly connecting block 7, the wafer box A, the gear 8, the rack 9, the belt pulley 10, the belt 11, the steel wire winding wheel 12, the steel wire 13, the transition wheel 14. DETAILED DESCRIPTION

[0034] The specific embodiments of the utility model will be further described below in combination with the drawings and examples. The following examples are only used to more clearly illustrate the technical scheme of the utility model, and cannot limit the protection scope of the utility model. Example 1

[0035] An aerial walking transfer vehicle comprises a walking assembly 1, a lifting assembly 2, a horizontal moving force assembly 3, a mounting seat 4, a belt 5, a gripper assembly 6 and a walking assembly connecting block 7.

[0036] The walking assembly 1 comprises a walking assembly mounting seat 1-1, a walking drive motor 1-2 and a walking wheel 1-3. The walking drive motor 1-2 is arranged on the walking assembly mounting seat 1-1 and drives the walking wheel 1-3.

[0037] The mounting seat 4 comprises a mounting seat outer frame 4-1, sliding rails 4-2 and a mounting seat inner frame 4-3. The sliding rails 4-2 are arranged on the inner walls of the mounting seat outer frame 4-1. The mounting seat inner frame 4-3 is arranged on the inner side of the mounting seat outer frame 4-1 and slides on the sliding rails 4-2.

[0038] The walking assembly mounting seat 1-1 of the walking assembly 1 is arranged on the outer side surface of the mounting seat outer frame 4-1 of the mounting seat 4 through a walking assembly connecting block 7. The walking assembly connecting block 7 is centrally provided with a groove for the track.

[0039] The lifting assembly 2 comprises a lifting base 2-1, a lifting drive motor 2-2, a winding wheel set 2-3, an idler set 2-4, a shaking detection sensor 2-5, a gripper winding positioning device 2-6 and a gripper power cable 2-7. The lifting drive motor 2-2, the winding wheel set 2-3 and the idler set 2-4 are arranged on the lifting base 2-1. The rotating shaft of the lifting drive motor 2-2 is connected to the winding wheel set 2-3. The belt 5 is wound around the winding wheel set 2-3 and the idler set 2-4. The lifting base 2-1 is provided with the shaking detection sensor 2-5 and the gripper winding positioning device 2-6. The gripper winding positioning device 2-6 is internally provided with a photoelectric switch which controls the start and stop of the lifting drive motor 2-2. The lifting base 2-1 is arranged on the inner side surface of the mounting seat inner frame 4-3 of the mounting seat 4. The gripper power cable 2-7 is also arranged on the mounting seat inner frame 4-3.

[0040] The horizontal moving force assembly 3 comprises a horizontal moving drive motor 3-1 and a meshing chain transmission device 3-2 (model ZCA35N500EL-J2F, brand: Tsubaki). The housing of the meshing chain transmission device 3-2 is fixed to the inner side of the mounting seat outer frame 4-1. The telescopic chain of the meshing chain transmission device 3-2 is connected to the mounting seat inner frame 4-3. The mounting seat inner frame 4-3 is driven by the telescopic chain of the meshing chain transmission device 3-2 to slide outward along the sliding rails 4-2.

[0041] The gripper assembly 6 comprises a gripper seat 6-1, a limiting baffle 6-2, a cable fixing support 6-3, a gripper winding positioning protrusion 6-8 and a connecting block 6-9.

[0042] The back side of the grabber seat 6-1 is provided with a plurality of connecting blocks 6-9 connected with the belt 5, and limiting baffle plates 6-2 for limiting the wafer box A box body and end cover are arranged on the front and rear side edges of the grabber seat 6-1; a grabber winding positioning protruding piece 6-8 is arranged on the grabber seat 6-1, when the belt 5 is wound upward, the grabber seat 6-1 is lifted to a position close to the bottom of the lifting base 2-1, the tip of the grabber winding positioning protruding piece 6-8 is inserted into the grabber winding positioning device 2-6, and the photoelectric switch in the grabber winding positioning device 2-6 is triggered to stop the winding of the belt 5.

[0043] The side edge of the grabber seat 6-1 is further provided with a cable fixing support 6-3.

[0044] A grabber is arranged on the front side of the grabber seat 6-1, and the grabber is composed of a grabber shell 6-4, a mushroom head detection sensor 6-5, a grab plate 6-6, a grab plate hinged block 6-7, a first clamping jaw arm 6-10, a second clamping jaw arm 6-11, a limiting plate 6-12 and a lead screw motor 6-13; the grabber shell 6-4 is arranged in the center of the grabber seat 6-1, the lead screw motor 6-13 is arranged in the grabber shell 6-4, the lead screw of the lead screw motor 6-13 is a bidirectional lead screw, the first clamping jaw arm 6-10 and the second clamping jaw arm 6-11 are arranged on the lead screw motor 6-13, and the limiting plate 6-12 is arranged at the center of the lead screw and drives the first clamping jaw arm 6-10 and the second clamping jaw arm 6-11 to move synchronously towards or away from each other with the rotation of the lead screw, the grab plate hinged block 6-7 is hinged to the outer side end of the first clamping jaw arm 6-10 and the second clamping jaw arm 6-11, and the grab plate 6-6 is hinged to the grab plate hinged block 6-7.

[0045] The mushroom head detection sensor 6-5 is arranged on the outside center of the grabber shell 6-4, and a groove for the mushroom head detection sensor 6-5 to probe into is arranged on the top of the wafer box A; when the grabber assembly 6 moves to the upper part of the wafer box A, the mushroom head detection sensor 6-5 probes into the groove on the top of the wafer box A, and at this time, the mushroom head detection sensor 6-5 triggers the grabber assembly 6 to grab the wafer box A.

[0046] The grabber power cable 2-7 of the lifting assembly 2 supplies power to the lead screw motor 6-13 of the grabber assembly 6.

[0047] A metal strip is arranged on the track where the air walking carrier is located, and power is transmitted to the air walking carrier through the metal strip.

[0048] The use process of the utility model is as follows:

[0049] 1) The air walking carrier travels on the track until reaches above the wafer box A, the transverse drive motor 3-1 drives the telescopic chain of the meshing chain transmission device 3-2 to extend outward, so that the inner frame 4-3 of the mounting seat slides outward;

[0050] 2) The lifting drive motor 2-2 drives the winding wheel assembly 2-3 to rotate, and the belt 5 drives the gripper assembly 6 to move down to directly above the wafer cassette A. When the mushroom head detection sensor 6-5 enters the top groove of the wafer cassette A, it triggers the gripper assembly 6 to grab the wafer cassette A; the limit baffle 6-2 prevents the end cover of the cassette from detaching.

[0051] 3) After grabbing wafer cassette A, belt 5 retracts, and gripper assembly 6 raises wafer cassette A until the tip of gripper winding positioning protrusion 6-8 extends into gripper winding positioning device 2-6, triggering photoelectric switch located in gripper winding positioning device 2-6 to stop belt 5 winding; then, transverse drive motor 3-1 drives telescopic chain of meshing chain transmission device 3-2 to retract, mounting base inner frame 4-3 resets to initial position, and then aerial transport trolley moves wafer cassette A to designated position.

[0052] 4) When the overhead conveyor moves to the designated position, it descends via belt 5 to place wafer cassette A at the designated position, gripper assembly 6 opens, and wafer cassette A is lowered. Example 2

[0053] like Figure 7 As shown, based on embodiment 1, the walking component 1 of the aerial transport vehicle is improved by consisting of a motor, a gear 8 driven by the motor, and a rack 9 mounted on the slide rail. The rack 9 meshes with the gear 8, and the gear 8 is driven to rotate by the motor, thereby making the aerial transport vehicle move forward. Example 3

[0054] like Figure 8 As shown, based on embodiment 1, the walking component 1 of the aerial transport vehicle is improved by a motor, a motor-driven pulley 10 and a belt 11. The motor drives the pulley 10 to rotate, and the belt 11 drives the aerial transport vehicle to move forward. Example 4

[0055] like Figure 9 As shown, an improvement is made based on Embodiment 1. The traveling component 1 of the aerial transport vehicle consists of a motor-driven wire winding wheel 12, a wire 13, and a transition wheel 14. The wire winding wheel 12 has two ends, one for releasing the wire 13 and the other for winding it up. The aerial transport vehicle moves forward by winding the wire 13. The transition wheel 14 helps the wire 13 to turn.

[0056] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. An air walking transport vehicle characterized by comprising: The walking assembly, the lifting assembly, the horizontal moving force assembly, the mounting seat, the belt, and the gripper assembly are provided. The walking assembly is a structure for forward movement of the aerial walking carrier. The mounting seat comprises a mounting seat outer frame and a mounting seat inner frame, and the mounting seat outer frame and the mounting seat inner frame form a double-layer drawer structure.

2. The air walking transport vehicle according to claim 1, characterized by: The walking assembly is provided on the outer frame of the mounting seat.

3. The air walking transport vehicle according to claim 1, characterized by: The walking assembly comprises a walking assembly mounting seat, walking wheels mounted on the walking assembly mounting seat, and a walking drive motor for driving the walking wheels.

4. The air walking carrier according to claim 1, characterized by: The walking assembly mounting seat of the walking assembly is mounted on the outer side surface of the mounting seat outer frame of the mounting seat through a walking assembly connecting block.

5. The air walking carrier according to claim 1, characterized by: The walking assembly comprises a motor, a gear driven by the motor, and a rack mounted on a slide rail.

6. The air walking carrier vehicle according to claim 1, characterized by: The walking assembly comprises a motor, a belt pulley driven by the motor, and a belt.

7. The air walking carrier vehicle according to claim 1, characterized by: The walking assembly comprises a steel wire winding wheel driven by a motor and a steel wire.

8. The air walking transport vehicle according to claim 1, characterized by: The mounting seat further comprises a slide rail.

9. The air walking carrier vehicle according to claim 1, characterized by: The inner walls of the mounting seat outer frame on both sides are provided with slide rails. The lifting assembly comprises a lifting base, a lifting drive motor, a winding wheel set, and an idler set. The lifting assembly further comprises a shaking detection sensor and a gripper winding positioning device. The horizontal moving force assembly comprises a horizontal moving drive motor and an engaging chain transmission device. The engaging chain transmission device is fixed to the inner side of the mounting seat outer frame, and the telescopic chain of the engaging chain transmission device is connected to the mounting seat inner frame.

10. The air walking transport vehicle according to claim 1, characterized by: The gripper assembly comprises a gripper seat, a limiting baffle, a gripper winding positioning protrusion, and a connecting block. The back side of the gripper seat is provided with a plurality of connecting blocks, and the connecting blocks are connected with a belt. The front and rear side edges of the gripper seat are provided with limiting baffles. The front side of the gripper seat is centrally provided with a gripper, which comprises a gripper shell, a gripper plate, a gripper plate hinged block, a clamping jaw arm, and a lead screw motor. The gripper shell is arranged in the center of the gripper seat, and the lead screw motor is arranged in the gripper shell. The lead screw of the lead screw motor is a bidirectional lead screw. Two clamping jaw arms that move synchronously in the same direction or in opposite directions are arranged on the lead screw motor. The outer side end portions of the two clamping jaw arms are hinged with the gripper plate hinged block, and the gripper plate hinged block is hinged with the gripper plate.

11. The air walking transport vehicle according to claim 10, characterized by: The gripper seat is provided with a gripper winding positioning protrusion. The side edge of the gripper seat is also provided with a cable fixing support.

12. The air walking transport vehicle according to claim 10, wherein: A mushroom head detection sensor is arranged on the outside of the gripper shell.

13. The air walking transport vehicle according to claim 1, characterized by: A metal strip is arranged on the track where the air walking transport vehicle is located, and the air walking transport vehicle is powered by the metal strip. A gripper power cable is arranged on the inner frame of the mounting seat, and the lead screw motor of the gripper assembly is powered by the gripper power cable.

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