CN116344423A

CN116344423A - Material handling crown block based on wireless power supply and control method thereof

Info

Publication number: CN116344423A
Application number: CN202310611793.XA
Authority: CN
Inventors: 龚昱; 余君山
Original assignee: Huaxin Jiaxing Intelligent Equipment Co ltd; Shanghai Xinchuangda Semiconductor Equipment Technology Co ltd
Current assignee: Huaxin Jiaxing Intelligent Equipment Co ltd; Shanghai Xinchuangda Semiconductor Equipment Technology Co ltd
Priority date: 2023-05-29
Filing date: 2023-05-29
Publication date: 2023-06-27
Anticipated expiration: 2043-05-29
Also published as: CN116344423B

Abstract

The embodiment of the application discloses a wireless power supply-based material handling crown block and a control method thereof. The material handling crown block is erected to walk on two rails, and each rail is provided with a litz wire extending along the rail. The material handling crown block comprises a power taking device and a driving piece. One side of the electricity taking device is provided with an electricity taking opening, and the electricity taking device is clamped outside the litz wire through the electricity taking opening and is matched with the litz wire to perform non-contact electricity taking. Before the electricity taking device in the material handling crown block moves to the litz wire interruption, the electricity taking device is driven to rotate through the driving piece so as to adjust the orientation of the electricity taking opening, and then the electricity taking device can select one of the two litz wires to be matched with electricity taking through the electricity taking opening. Therefore, the time of power taking interruption of the power taking device is shortened, and the power requirement of the power taking device is reduced.

Description

Material handling crown block based on wireless power supply and control method thereof

Technical Field

The application relates to the technical field of material handling crown blocks, in particular to a material handling crown block based on wireless power supply and a control method thereof.

Background

In early semiconductor wafer factories, the material is carried by manual pushing, along with the rapid development of semiconductor technology, the size of the wafer is increased from 150mm to 200mm to 300mm, the whole weight of the wafer is increased from 3kg to 5kg to 9kg, the manual carrying cannot meet the production requirement, the semiconductor manufacturing process is numerous and complex, equipment is expensive, the requirements on the operation environment and the material carrying are high, the equipment efficiency and the product yield are very sensitive, and the equipment efficiency and the product yield are direct factors influencing the cost competitiveness of enterprises. To provide stable, efficient material handling, automated material handling systems (Automatic Material Handling System, AMHS for short) are employed.

The AMHS can replace manpower to carry out material handling, so that the operation manpower of a production line can be greatly reduced; meanwhile, the AMHS can greatly eliminate manual operation errors, improve the environmental cleanliness, reduce vibration in the carrying process and greatly help to improve the product yield. These characteristics make AMHS fully valuable in semiconductor manufacturing processes, and therefore, AMHS has wide application in semiconductor manufacturing facilities, and is used in the general semiconductor industry for panels, solar energy, and the like.

From software and hardware analysis, AMHS systems include transport systems with material handling overhead Vehicles (Overhead Hoist Transport, abbreviated to OHT), automated Guided Vehicles (Automatic Guided Vehicle, abbreviated to AGV), rail Guided Vehicles (RGV), conveyor belts (Conveyor) as auxiliary transport systems, and storage devices with storage (Stocker), UTS (Under Track Storage) as cores, NTB (Near tool Buffer) as auxiliary storage devices.

The material transfer crown block walks along the preset track under the guidance of the track, and the material transfer platform is positioned below the track and corresponds to the preset track. The material handling crown block moves to a position corresponding to the material transfer platform, so that the workpiece container moves up and down, and the workpiece container is transferred between the material transfer platform and the material transfer platform.

The prior wafer factory is internally and generally provided with a non-contact power supply system (Inductive Power Transfer, IPT for short), wherein the IPT is a technology for transmitting power and signals in a non-mechanical contact mode, the power is transmitted through coupling of a power taking device on an OHT and litz wires arranged on a track, the working principle of the power taking device is similar to that of a traditional transformer, and the power is supplied to an AMHS in a mode of converting electric energy, magnetic field energy and electric energy and transmitting the electric energy by utilizing magnetic field coupling. At the branching road of the track, the litz wire is interrupted at the notch, and the electricity taking device is interrupted due to the interruption of the litz wire during the process of passing through the notch of the track when the material handling crown block is carried out, so that the power supply of the crown block is prevented from being completely interrupted by installing two electricity taking devices front and back, and the work load of the electricity taking device which is not interrupted when one electricity taking device is interrupted is additionally increased.

In view of this, it is necessary to develop a wireless power supply-based material handling overhead crane for solving the problem that the power supply of the power supply device is interrupted too long at the track gap.

Disclosure of Invention

The embodiment of the application provides a wireless power supply-based material handling crown block and a control method thereof, which shorten the time of power taking interruption of a power taking device.

In order to solve the technical problems, the embodiment of the application discloses the following technical scheme:

in one aspect, a wireless power supply-based material handling crown block is provided, the material handling crown block is erected on two rails to walk, each rail is provided with a litz wire extending along the rail, and the material handling crown block comprises a power taking device and a driving piece. One side of the electricity taking device is provided with an electricity taking opening, and the electricity taking device is clamped outside the litz wire through the electricity taking opening and is matched with the litz wire to perform non-contact electricity taking; the driving piece drives the electricity taking device to rotate so as to adjust the orientation of the electricity taking opening, and then the electricity taking device can select one of the two litz wires to be matched with electricity taking through the electricity taking opening.

In addition to or in lieu of one or more of the features disclosed above, the material handling crown block also includes a body, a connecting axle, and a travel section. The body main body is used for bearing materials; the connecting shaft is rotatably arranged on the body main body around the axis of the connecting shaft; the walking part is fixedly connected with the connecting shaft, and the walking part is erected on the two rails to walk; the electricity taking device is rotatably arranged on the connecting shaft or the walking part around the axis of the connecting shaft.

In addition to or in lieu of one or more of the features disclosed above, the material handling crown block also includes a reversing wheel and a linkage assembly. The reversing wheel can move along a preset direction so that the material handling crown block can select to go straight or turn at the bifurcation; the reversing wheel and the electricity taking device are in linkage fit by the linkage assembly, so that the reversing wheel movement and the electricity taking device rotation are synchronously carried out; the driving piece drives the reversing wheel to move along a preset direction to drive the electricity taking device to rotate.

In addition to or in lieu of one or more of the features disclosed above, the linkage assembly includes a spindle, a swing arm, a mover, a first transmission, a second transmission. The rotating shaft can rotate around the axis of the rotating shaft; the swing arm is arranged on the rotating shaft; the movable piece can move along a preset direction, the movable piece is in transmission fit with the swing arm, so that the swing arm drives the movable piece to move along the preset direction when rotating around the axis of the rotating shaft, and the reversing wheel is rotatably arranged on the movable piece; the first transmission piece is arranged on the rotating shaft; the second transmission part is arranged on the electricity taking device, and the first transmission part is in transmission fit with the second transmission part, so that the electricity taking device is driven to rotate when the rotating shaft rotates; wherein, the driving piece drives the pivot to rotate.

In addition to or in lieu of one or more of the features disclosed above, the first transmission member is a first gear disposed coaxially with the shaft; the second transmission part is a second gear, and the second gear and the rotation axis of the electricity taking device are coaxially arranged; the first gear and the second gear are meshed for transmission.

In addition to or in lieu of one or more of the features disclosed above, the drive and shaft combination forms a dual output shaft motor.

In addition to or in lieu of one or more of the features disclosed above, the materials handling overhead traveling crane further includes a locking assembly that selectively locks or unlocks the power take-off when the power take-off is rotated to a predetermined attitude.

In addition to or in lieu of one or more of the features disclosed above, the locking assembly includes a first connector, a second connector, a moveable member, and a resilient member. The surface of the first connecting piece is provided with a groove; the second connecting piece and the first connecting piece can rotate relatively around the rotation axis of the electricity taking device; the movable piece is movably arranged on the second connecting piece and can reciprocate relative to the second connecting piece along the radial direction of the rotation axis; the elastic piece is configured to apply an elastic force to the movable piece so that the movable piece is elastically propped against the first connecting piece; wherein, one of the first connecting piece and the second connecting piece sets up in getting the electrical apparatus, and when getting the electrical apparatus and rotating to predetermined gesture, the moving part inserts at least partially and locates the recess to restrict first connecting piece and second connecting piece and rotate around the axis of rotation relatively, the shape of the bottom surface of recess and the part that is used for inserting of moving part and locates in the recess is configured as, when the electrical apparatus is got in the drive piece drive rotation, the moving part can overcome elasticity, withdraws from the recess.

In addition to or in lieu of one or more of the features disclosed above, the bottom surface of the recess and the portion of the moveable member for insertion into the recess are both spherical in shape.

In another aspect, a method for controlling a material handling crown block based on wireless power supply is provided, comprising the steps of: judging whether a power taking device of the material handling crown block passes through a notch at a bifurcation of the track; and responding to the fact that the electricity taking device passes through the notch, sending a first control instruction, wherein the first control instruction controls the driving part of the material handling crown block to act, so that the driving part drives the electricity taking device to rotate, and then the electricity taking device is switched from the first litz wire to the second litz wire.

In addition to or in lieu of one or more of the features disclosed above, after the step of issuing the first control instruction in response to the electrical machine passing through the gap, determining whether the electrical machine has passed through the gap; and responding to the fact that the electricity taking device passes through the notch, sending a second control instruction, wherein the second control instruction controls the driving piece to act, so that the driving piece drives the electricity taking device to rotate, and then the electricity taking device is switched from taking electricity from the second litz wire to taking electricity from the first litz wire.

One of the above technical solutions has the following advantages or beneficial effects:

before the power taking device moves to the litz wire interruption position, the driving piece drives the power taking device to rotate, and the power taking device is switched to the complete litz wire position on the other side to take power by adjusting the orientation of a power taking opening of the power taking device. Therefore, the time of power taking interruption of the power taking device is shortened, and the power requirement of the power taking device is reduced.

Drawings

Technical solutions and other advantageous effects of the present application will be made apparent from the following detailed description of specific embodiments of the present application with reference to the accompanying drawings.

FIG. 1 is a top view of a related art material handling overhead crane positioned on a track;

FIG. 2 is a schematic illustration of the material handling crown block of FIG. 1 traveling straight through a branch road junction;

FIG. 3 is a schematic illustration of the material handling crown block of FIG. 1 being bent through a branch junction;

FIG. 4 is a front view of a material handling crown block positioned on a track in accordance with one embodiment of the present application;

FIG. 5 is a left side view of FIG. 4;

FIG. 6 is a top view of FIG. 4;

FIG. 7 is a cross-sectional view A-A of FIG. 4;

FIG. 8 is a schematic illustration of the material handling crown block of FIG. 4 traveling straight through a branch road junction;

FIG. 9 is a schematic diagram of the positions of the first and second extractors in the state shown in FIG. 8;

FIG. 10 is a schematic illustration of the material handling crown block of FIG. 4 turning through a branch junction;

FIG. 11 is a schematic view of the positions of the first and second extractors in the state shown in FIG. 10;

FIG. 12 is a front view of a material handling crown block positioned on a track in accordance with another embodiment of the present application;

FIG. 13 is a left side view of FIG. 12, with the rail omitted;

FIG. 14 is a sectional view B-B in FIG. 12;

FIG. 15 is a schematic diagram of the positions of the first and second power extractors when the second power extractor is passing through the notch during the straight movement of the material handling overhead travelling crane shown in FIG. 12 through the branch road;

FIG. 16 is a schematic illustration of the locations of the first and second extractors after the second extractor passes through the notch during the straight movement of the material handling overhead travelling crane of FIG. 12 through the branch road;

FIG. 17 is a schematic diagram of the locations of the first and second extractors when the first extractor is passing through a gap during a turn of the material handling crown block shown in FIG. 12 through a crossing;

FIG. 18 is a schematic diagram of the locations of the first power extractor and the second power extractor after the first power extractor passes through the gap during the turning of the material handling crown block shown in FIG. 12 through the crossing;

FIG. 19 is a flow chart of a method of controlling the material handling crown block of FIG. 12;

FIG. 20 is a partial structural cross-sectional view of a material handling crown block in accordance with another embodiment of the present application;

FIG. 21 is a cross-sectional view of C-C of FIG. 20, with the first extractor in a first or second position;

fig. 22 is a C-C sectional view of fig. 20, with the first extractor in a first attitude and a second attitude switching process.

Reference numerals illustrate:

101-track; 1011—main way; 1012-branch; 102-a first guide bar; 103-a first litz wire; 104-a second guide bar; 105-a second litz wire; 106-a first guiding surface; 107-a material handling crown block; 108-a second guiding surface; 109-first travel; 111-a second walking part; 113-a body main body; 115-a first electricity extractor; 117-a second electricity extractor; 119-gap; 120-connecting shaft; 121-a support; 123-travelling wheels; 125-a walk drive; 126-guiding wheels; 127-steering switch assembly; 129-guide; 131-moving member; 133-reversing wheels; 135-rotating shaft; 137-reversing drive; 139-swing arms; 141-a through hole; 143-bearings; 145-power take-off opening; 147-drive assembly; 149—a first gear; 151-a second gear; 153-a rotary drive; 155-a first connector; 157-a second connector; 159-a moveable member; 161-elastic member; 163-grooves; 165-a receiving slot; x-transverse width direction; y-front-rear direction.

Detailed Description

In order to make the objects, technical solutions and advantageous effects of the present application more clear, the present application is further described in detail below with reference to the accompanying drawings and detailed description. It should be understood that the detailed description is presented herein for purposes of illustration only and is not intended to limit the application.

Please refer to fig. 1. Fig. 1 is a top view of a related art material handling crown block 107 disposed on a track 101.

The rail 101 is provided in a fixed state on a ceiling portion (e.g., a shop roof) by a bracket (not shown). The track 101 extends along a predetermined path. The two rails 101 are spaced apart in the lateral direction X of the material handling crown block 107 to form a travel path between the two rails 101.

The first litz wire 103 and the second litz wire 105 are respectively disposed corresponding to the two rails 101 and respectively extend along the extending direction of the rails 101. The first litz wire 103 is arranged adjacent to one track 101 and the second litz wire 105 is arranged adjacent to the other track 101.

The material handling overhead traveling crane 107 has a first traveling section 109, a second traveling section 111, and a vehicle body main body 113. The first traveling portion 109 and the second traveling portion 111 are rotatably connected to the vehicle body 113, respectively. The first traveling portion 109 and the second traveling portion 111 are provided at intervals in the front-rear direction Y of the material handling overhead travelling crane 107. The front of the material handling crown block 107 is the direction of travel of the material handling crown block 107. The first traveling unit 109 and the second traveling unit 111 travel on the rail 101.

The materials handling overhead travelling crane 107 also has a first electricity extractor 115 and a second electricity extractor 117. The first power extractor 115 and the second power extractor 117 have the same structure. Alternatively, the first extractor 115 and the second extractor 117 may be commercially available "U" -shaped extractors, or "E" -shaped extractors.

Referring to fig. 2 and 3, fig. 2 is a schematic diagram of the material handling overhead travelling crane 107 shown in fig. 1 traveling straight through a branch junction. FIG. 3 is a schematic illustration of the material handling crown block 107 of FIG. 1 turning through a diverging junction. The arrow in the figure indicates the direction of travel of the material handling crown block 107.

As shown in fig. 2, the track 101 includes a main road 1011 and a branch road 1012 at a branching road. The intersection of main leg 1011 and leg 1012 forms a notch 119.

At the bifurcation of track 101, material handling crown block 107 may select straight or turn according to the scheduling instructions. Specifically, the first travel portion 109 of the material handling crown block 107 has a reversing wheel 133. The diverting pulley 133 has a first limit position (left side in fig. 1) and a second limit position (right side in fig. 1) in the lateral width direction X. In the state shown in fig. 1, the diverting pulley 133 is in the second limit position. The steering wheel 133 is switched between the first limit position and the second limit position by the steering driver 137, and guides the first traveling part 109 to move straight or turn.

At the branching, a first guide bar 102 and a second guide bar 104 are provided. The first guide bar 102 extends in a first direction and the second guide bar 104 extends in a second direction. The first direction and the second direction intersect. The first direction coincides with the extending direction of the main path 1011. The second direction coincides with the direction of extension of the branch 1012. One end of the second guide bar 104 is connected to the middle of the first guide bar 102, and the connection is in arc transition. The combination of the first guide bar 102 and the second guide bar 104 forms a first guide surface 106 and a second guide surface 108 on opposite sides of the two rails 101 in the direction of separation. The first guide surface 106 extends in a first direction and the second guide surface 108 extends in the first direction and then gradually turns to extend in a second direction. When the diverting pulley 133 is in the first limit position, it is guided by the first guide surface 106 to move in the first direction, that is, to guide the first running part 109 straight (as shown in fig. 2). When the diverting pulley 133 is in the second limit position, it is guided by the second guide surface 108 to move in the first direction, then gradually turn, and finally move in the second direction, that is, to guide the first traveling part 109 to turn (as shown in fig. 3).

The first litz wire 103 or the second litz wire 105 is interrupted at a gap 119 to avoid the material handling crown block 107. This results in the first power extractor 115 or the second power extractor 117 also interrupting power extraction at the notch 119.

Specifically, as shown in fig. 2, when the second travelling portion 111 passes through the gap 119 during the process of the material handling overhead travelling crane 107 going straight through the crossing, the second power collector 117 will power off, and at this time, the material handling overhead travelling crane 107 only supplies power by the first power collector 115.

When the first travelling part 109 passes through the gap 119 during the turning of the material handling overhead travelling crane 107 passing through the branch road, the first electricity collector 115 will break, and at this time, the material handling overhead travelling crane 107 is powered by the second electricity collector 117 only.

Thus, in the related art, the first power extractor 115 or the second power extractor 117 may be interrupted during the time that the material handling crown block 107 passes through the gap 119 of the track 101. The time for power interruption is the time for passing through the notch 119.

According to the material handling crown block 107 of the embodiment, before the material handling crown block 107 moves to the notch 119 of the track 101, the reversing driver in the material handling crown block 107 drives the electricity taking device to rotate, so that the direction of the electricity taking opening of the electricity taking device is adjusted, and the electricity taking device is switched to another litz wire to take electricity. The power take-off is still able to take power during the time that the material handling crown block 107 passes through the gap 119. The time of the power taking interruption of the power taking device is the time of the power taking device to finish gesture switching. Therefore, the time for interrupting the power taking of the power taking device is shortened. For example, the time for the electricity taking device to pass through the track notch 119 is 2-3S, and according to the application, the time for the electricity taking opening of the electricity taking device to turn is only 0.02-0.05S, so that the time for the electricity taking interruption of the electricity taking device is greatly shortened, and the requirement on the power of the electricity taking device is reduced.

Please refer to fig. 4 to fig. 6. Fig. 4-6 are front, left, and top views, respectively, of a material handling crown block 107 according to an embodiment of the present disclosure disposed on a track 101. The rail 101 is omitted from the left view.

The material handling crown block 107 includes a body 113, a first travel portion 109, and a second travel portion 111.

The body 113 is used for loading materials and lifting the materials to transfer the materials with the material transfer platform. The specific structure of the body 113 is not related to the point of improvement of the present embodiment, which is not described in the present embodiment, and reference is made to the related design.

The first traveling portion 109 and the second traveling portion 111 are provided at intervals in the front-rear direction Y of the material handling overhead travelling crane 107, and are rotatably connected to the vehicle body main body 113 via the connecting shaft 120, respectively. Specifically, the top end of the connecting shaft 120 is fixedly connected to the first traveling portion 109, the bottom end of the connecting shaft 120 is rotatably connected to the vehicle body main body 113, and the first traveling portion 109 is rotatable relative to the vehicle body main body 113 about the axis of the connecting shaft 120. The second walking portion 111 is connected to the body 113 in a similar manner, and will not be described here.

The first traveling part 109 and the second traveling part 111 are respectively used for driving the vehicle body 113 to travel on the track 101. The first traveling unit 109 and the second traveling unit 111 have the same structure, and the first traveling unit 109 will be described.

The first runner 109 includes a seat 121. The support 121 is fixedly connected to the connecting shaft 120. The support 121 is used for mounting the remaining components of the first runner 109.

The first traveling part 109 further includes a traveling driver 125 and traveling wheels 123 provided on the support 121. The traveling wheels 123 are provided one at each end of the material handling crown block 107 in the lateral direction X. One travelling wheel 123 is pressed on the track 101 on one side, and the other travelling wheel 123 is pressed on the track 101 on the other side. The travel drive 125 drives the travel wheels 123 to rotate such that the travel wheels 123 roll on the upper surface of the track 101. In addition, the first traveling part 109 is also provided with a guide wheel 126 so that the first traveling part 109 can move under the guide of the rail 101.

The first runner 109 also includes a steer switch assembly 127. The steering switching unit 127 is used to guide the first travel unit 109 to select straight or turn at the intersection.

The steering switching assembly 127 includes a guide 129, a moving member 131, two diverting wheels 133, a rotating shaft 135, a diverting driver 137, and a swing arm 139.

The guide 129 is provided to the support 121. The moving member 131 is slidably engaged with the guide member 129 in the lateral direction X of the material handling crown block 107. The moving member 131 and the guide member 129 may be a slide rail and a slider assembly.

The two reversing wheels 133 are rotatably disposed on the moving member 131 about their own axes, respectively.

The rotating shaft 135 is rotatably disposed on the support 121. The rotation shaft 135 is disposed in parallel with the connection shaft 120.

The reversing actuator 137 is provided to the support 121. The reversing driver 137 is used to drive the rotation shaft 135 to rotate. In this embodiment, the reversing drive 137 and the shaft 135 together comprise a dual output shaft motor.

One end of the swing arm 139 is connected with the rotating shaft 135, and the other end is in transmission fit with the moving member 131. Specifically, the swing arm 139 is provided with a through hole 141, and the through hole 141 extends in the radial direction of the rotation shaft 135. A part of the movable member 131 is inserted into the through hole 141, and is movable relative to the swing arm 139 in the extending direction of the through hole 141. When the rotating shaft 135 rotates, the swing arm 139 can be driven to swing, and the swing arm 139 can drive the moving member 131 to move in the transverse width direction X.

The diverting pulley 133 has a first limit position (left side in fig. 6) and a second limit position (right side in fig. 6) in the lateral width direction X. In the state shown in fig. 6, the diverting pulley 133 is in the first limit position. The steering wheel 133 is switched between the first limit position and the second limit position by the steering driver 137, and guides the first traveling part 109 to move straight or turn. The materials handling overhead traveling crane 107 also includes a first power extractor 115 and a second power extractor 117. The first electricity collector 115 is disposed corresponding to the first travelling portion 109 and is used for collecting electricity from the first litz wire 103 or the second litz wire 105 for use by the material handling crown block 107. The second power extractor 117 is disposed corresponding to the second traveling portion 111, and is configured to extract power from the first litz wire 103 or the second litz wire 105 for use by the material handling crown block 107.

The related structure of the first power extractor 115 is described in detail below, and the second power extractor 117 may refer to the implementation.

The first power extractor 115 is rotatably provided on a connection shaft 120 connected to the first travel unit 109. Specifically, the first electricity collector 115 may be connected to the connection shaft 120 through a bearing 143. The first power extractor 115 is rotatable about the connection shaft 120.

Alternatively, the first electricity extractor 115 is a commercially available "U" shaped electricity extractor, or "E" shaped electricity extractor. One side of the first power collector 115 is provided with a power collecting opening 145, and the power collecting opening 145 is clamped outside the first litz wire 103 or the second litz wire 105 to be matched with the first litz wire 103 or the second litz wire 105 for non-contact power collection.

When the first power extractor 115 rotates, the orientation of the power extraction opening 145 can be adjusted. The first power extractor 115 can be selectively rotated to a first posture or a second posture, so that the power extracting opening 145 can be selectively clamped on the first litz wire 103 or the second litz wire 105, and further selectively cooperates with one of the first litz wire 103 and the second litz wire 105 to perform non-contact power extraction.

The diverting wheel 133 in the first travelling part 109 is interlocked with the first electricity extractor 115 so that the first electricity extractor 115 rotates around the axis of the connecting shaft 120 when the diverting wheel 133 moves in the lateral width direction X.

Referring to fig. 7, fig. 7 is a cross-sectional view A-A of fig. 4.

When the diverting pulley 133 is in the first limit position, the first electricity extractor 115 is in the first posture (the electricity extraction opening 145 is oriented to the left in fig. 7); when the diverting pulley 133 is in the second limit position, the first electricity extractor 115 is in the second posture (the electricity extraction opening 145 is oriented to the right in fig. 7).

To achieve the above-described linkage, the material handling crown block 107 also includes a drive assembly 147. The transmission assembly 147 is respectively connected to the rotating shaft 135 and the first power extractor 115. When the rotating shaft 135 rotates, the first electricity extractor 115 is driven to rotate by the transmission assembly 147.

Specifically, the transmission assembly 147 includes a first gear 149 and a second gear 151. The first gear 149 is coaxially fixed to the rotation shaft 135. The second gear 151 is fixed to the first power extractor 115 and is disposed coaxially with the connection shaft 120. The first gear 149 and the second gear 151 are engaged to drive the rotation shaft 135 to rotate the first electricity extractor 115.

The transmission ratio of the first gear 149 and the second gear 151 may be adapted according to the specific situation.

Please refer to fig. 6 and 7.

In the initial state, the reversing wheels 133 in the first travelling part 109 and the second travelling part 111 are respectively located at the first limit positions, and the first electricity extractors 115 and the second electricity extractors 117 are respectively located at the first postures and are respectively clamped on the first litz wire 103.

Please refer to fig. 8 and 9. Fig. 8 is a schematic view of the material handling crown block 107 of fig. 4 traveling straight through a branch junction. Fig. 9 is a schematic diagram showing the positions of the first power extractor 115 and the second power extractor 117 in the state shown in fig. 8.

Before the material handling crown block 107 enters the branch intersection, the reversing wheels 133 in the first traveling portion 109 and the second traveling portion 111 respectively maintain the first limit positions so that the material handling crown block 107 can travel straight through the branch intersection. The first extractor 115 and the second extractor 117 maintain the first posture, respectively.

During the straight traveling of the material handling overhead travelling crane 107 through the diverging junction, neither the first extractor 115 nor the second extractor 117 leaves the first litz wire 103. The first power extractor 115 and the second power extractor 117 do not interrupt power extraction.

Please refer to fig. 10 and 11. Fig. 10 is a schematic view of the material handling crown block 107 of fig. 4 turning through a branch junction. Fig. 11 is a schematic diagram showing the positions of the first power extractor 115 and the second power extractor 117 in the state shown in fig. 10.

Before the first traveling part 109 enters the branch road, the reversing wheel 133 of the first traveling part 109 is switched to the second limit position, and at the same time, the first electricity extractor 115 is switched to the second posture. The first power extractor 115 is separated from the first litz wire 103 and is in turn engaged with the second litz wire 105. During the process that the first travelling part 109 passes through the notch 119 of the track 101, the first electricity extractor 115 extracts electricity from the second litz wire 105, and the second electricity extractor 117 extracts electricity from the first litz wire 103.

Before the second traveling part 111 enters the branch road, the reversing wheel 133 of the second traveling part 111 is switched to the second limit position, and at the same time, the second power extractor 117 is switched to the second posture. The second power take-off 117 is separated from the first litz wire 103 and is in turn engaged with the second litz wire 105. In the process that the second travelling part 111 passes through the notch 119 of the track 101, the first electricity extractor 115 extracts electricity from the second litz wire 105, and the second electricity extractor 117 extracts electricity from the first litz wire 103.

During the process of turning the material handling crown block 107 through the branch road, the first power extractor 115 and the second power extractor 117 are switched from the first litz wire 103 to the second litz wire 105 in sequence, respectively. The time when the power taking of the first power taking device 115 and the second power taking device 117 is interrupted, that is, the time when the first posture is switched to the second posture. The power-off time is relatively short.

When the diverting wheel 133 is switched between the first limit position and the second limit position, the first electricity extractor 115 or the second electricity extractor 117 follows the action of the diverting wheel 133 and is switched between the first posture and the second posture. At the rest of the time, the first power extractor 115 and the second power extractor 117 are kept fixed with respect to the connection shaft 120. In this way, the first power extractor 115 and the second power extractor 117 are facilitated to stably extract power. Specifically, when the material handling crown block 107 walks along the arc-shaped track 101, the first power extractor 115 can rotate along with the first walking portion 109, so that the first litz wire 103 and the first power extractor 115 are maintained in an optimal sensing area in real time.

The reason why the second power extractor 117 can stably extract power is the same as that of the first power extractor 115, and will not be described here.

In order to keep the first electricity collector 115 fixed relative to the first walking portion 109, in this embodiment, the reversing driver 137 drives the reversing wheel 133 to switch between the first limit position and the second limit position, and then keeps the reversing wheel 133 in the current position. Since the diverting wheel 133 is interlocked with the first electricity extractor 115, the first electricity extractor 115 is also kept in the current posture. Specifically, the reversing driver 137 always applies a torsion force to the rotation shaft 135 so that the reversing wheel 133 is maintained at the current position.

In this embodiment, the orientations of the first power extractor 115 and the second power extractor 117 do not need to be controlled separately. When the material handling crown block 107 passes through the fork, the reversing wheel 133 is controlled to act according to a conventional control method.

In the above embodiment, during the traveling of the material handling crown block 107, the power taking openings 145 of the first power taking device 115 and the second power taking device 117 are always facing the same side, and power is taken from one of the first litz wire 103 and the second litz wire 105 at the same time. The present application is not limited thereto, and in other embodiments, the following manner may also be adopted: when the material handling crown block 107 passes through the crossing, the power taking openings 145 of the first power taking device 115 and the second power taking device 117 face to the same side, and the first power taking device 115 and the second power taking device 117 simultaneously take power from one of the first litz wire 103 and the second litz wire 105; during the traveling of the material handling crown block 107 on the other road sections except the bifurcation, the power taking openings 145 of the first power taking device 115 and the second power taking device 117 face opposite sides, respectively, the first power taking device 115 takes power from one of the first litz wire 103 and the second litz wire 105, and the second power taking device 117 takes power from the other of the first litz wire 103 and the second litz wire 105. The following is detailed with reference to examples.

Referring to fig. 12 and 14, fig. 12 is a front view of a material handling crown block 107 according to another embodiment of the present disclosure disposed on a track 101, fig. 13 is a left side view of fig. 12, the track 101 is omitted, and fig. 14 is a cross-sectional view B-B of fig. 12.

In the embodiment shown in fig. 4, the electricity collector is linked with the reversing wheel 133, and the reversing wheel 133 is driven to move by the reversing driver 137 and simultaneously the electricity collector is driven to rotate. In this embodiment, the electricity collector and the reversing wheel 133 are not linked, and the reversing wheel 133 and the electricity collector can move relatively independently. The present embodiment is further provided with a rotation driver 153, and the electricity-taking device is driven to rotate by the rotation driver 153.

The differences between the present embodiment and the embodiment shown in fig. 4 are described with emphasis, and the details are not repeated, and reference is made to the description of the embodiment shown in fig. 4.

The first runner 109 includes a steering switch assembly 127. The steering switch assembly 127 includes a reversing wheel 133 and a reversing drive 137.

The reversing driver 137 is configured to drive the reversing wheel 133 to reciprocate, so that the reversing wheel 133 is switched between a first limit position and a second limit position, and the first travelling portion 109 is further configured to select to go straight or turn to pass through the diverging point. Since the reversing wheel 133 is no longer coupled to the first power extractor 115, in this embodiment, the reversing drive 137 may be a single output shaft motor. The remaining components of the steering switch assembly 127 may be referred to the embodiment shown in fig. 4 described above.

The second traveling portion 111 may be disposed with reference to the first traveling portion 109, and will not be described herein.

The materials handling overhead traveling crane 107 includes a first power extractor 115 and a second power extractor 117. The first electricity collector 115 is disposed corresponding to the first travelling portion 109 and is used for collecting electricity from the first litz wire 103 or the second litz wire 105 for use by the material handling crown block 107. The second power extractor 117 is disposed corresponding to the second travelling portion 111, and is configured to extract power from the first litz wire 103 and the second litz wire 105 for use by the material handling overhead travelling crane 107.

As shown in fig. 14, during the process of the material handling overhead travelling crane 107 traveling on the other road sections except the bifurcation, the power taking opening 145 of the first power taking device 115 faces to the left in the drawing and is clamped outside the first litz wire 103, so that the first power taking device 115 takes power from the first litz wire 103, and the power taking opening 145 of the second power taking device 117 faces to the right in the drawing and is clamped outside the second litz wire 105, so that the second power taking device 117 takes power from the second litz wire 105.

The first power extractor 115 is rotatably provided on a connection shaft 120 connected to the first travel unit 109. Specifically, the first electricity collector 115 can rotate about the connection shaft 120. When the first power extractor 115 rotates, the orientation of the power extraction opening 145 can be adjusted. The first power extractor 115 can be selectively rotated to a first posture or a second posture, so that the power extracting opening 145 can be selectively clamped on the first litz wire 103 or the second litz wire 105, and one of the first litz wire 103 and the second litz wire 105 can be selected to cooperate for non-contact power extraction.

The materials handling overhead traveling crane 107 also includes a rotary drive 153 corresponding to the first power extractor 115 and a transmission assembly 147. The rotation driver 153 is configured to drive the first extractor 115 to rotate through the transmission assembly 147, so that the first extractor 115 is switched between the first posture and the second posture.

Specifically, the transmission assembly 147 includes a first gear 149 and a second gear 151. The rotary drive 153 is arranged on the support 121 in the first running gear 109. The first gear 149 is disposed at a driving end of the rotary driver 153, and the rotary driver 153 can drive the first gear 149 to rotate. The rotary drive 153 may be a motor, and the first gear 149 is coaxially fixed to an output shaft of the motor. The second gear 151 is fixed to the first power extractor 115, and is coaxially disposed with the connection shaft 120 corresponding to the first traveling unit 109. The first gear 149 and the second gear 151 are engaged to drive the rotation driver 153 to rotate the first electricity extractor 115. The transmission ratio of the first gear 149 and the second gear 151 may be adapted according to the specific situation.

The second power extractor 117 is rotatably provided on the connection shaft 120 corresponding to the second traveling part 111. The materials handling overhead traveling crane 107 also includes a rotary drive 153 corresponding to the second power take off 117 and a transmission assembly 147. That is, in the present embodiment, the number of the rotary drivers 153 and the transmission assemblies 147 is two. The rotation driver 153 is configured to drive the second power extractor 117 to rotate through the transmission assembly 147, so that the second power extractor 117 is switched between the first posture and the second posture. The manner in which the rotation driver 153 drives the first power extractor 115 may be referred to specifically, and will not be described herein.

Please refer to fig. 14. In the initial state, the first electricity extractor 115 is in a first posture and is clamped to the first litz wire 103, and the second electricity extractor 117 is in a second posture and is clamped to the second litz wire 105.

Please refer to fig. 15 and 16. Fig. 15 is a schematic diagram illustrating the positions of the first electricity extractor 115 and the second electricity extractor 117 when the second electricity extractor 117 is passing through the notch 119 during the process of the material handling crown block 107 shown in fig. 12 going straight through the branch road. Fig. 16 is a schematic diagram illustrating the positions of the first electricity extractor 115 and the second electricity extractor 117 after the second electricity extractor 117 passes through the notch 119 during the process of the material handling crown block 107 shown in fig. 12 going straight through the branch road. The arrow in the figure indicates the direction of travel of the material handling crown block 107.

The action process of the first electricity extractor 115 during the process that the material handling crown block 107 passes through the branch road is as follows: the first electricity extractor 115 always keeps the first posture, that is, the first electricity extractor 115 is always clamped on the first litz wire 103.

The motion process of the second power collector 117 in the process of the material handling crown block 107 going straight through the branch road is as follows: before the second electricity extractor 117 passes through the notch 119, the second electricity extractor 117 is switched from the second posture to the first posture, that is, the second electricity extractor 117 is switched from being clamped to the second litz wire 105 to being clamped to the first litz wire 103; the second electricity extractor 117 keeps the first posture during the process of passing through the notch 119, that is, the second electricity extractor 117 keeps clamped on the second litz wire 105; after the second electricity extractor 117 passes through the notch 119, the second electricity extractor 117 is switched from the second posture to the first posture, that is, the second electricity extractor 117 is switched from being clamped to the first litz wire 103 to being clamped to the second litz wire 105.

In summary, in the process that the material handling crown block 107 passes through the branch road, the first electricity extractor 115 always extracts electricity from the first litz wire 103, the second electricity extractor 117 extracts electricity from the second litz wire 105, then extracts electricity from the first litz wire 103, and finally resets to extract electricity from the second litz wire 105.

Please refer to fig. 17 and 18. Fig. 17 is a schematic diagram of the positions of the first electricity picker 115 and the second electricity picker 117 when the first electricity picker 115 is passing through the notch 119 during the turning of the material handling crown block 107 shown in fig. 12 passing through the branch road. Fig. 18 is a schematic diagram illustrating the positions of the first electricity extractor 115 and the second electricity extractor 117 after the first electricity extractor 115 passes through the notch 119 during the turning process of the material handling crown block 107 shown in fig. 12 passing through the crossing. The arrow in the figure indicates the direction of travel of the material handling crown block 107.

The action process of the first electricity extractor 115 during the process of turning the material handling crown block 107 through the crossing is as follows: before the first electricity extractor 115 passes through the notch 119, the first electricity extractor 115 is switched from a first posture to a second posture, that is, the first electricity extractor 115 is switched from being clamped to the first litz wire 103 to being clamped to the second litz wire 105; the first electricity extractor 115 keeps a second posture during the process of passing through the notch 119, namely the first electricity extractor 115 keeps clamped on the second litz wire 105; after the first electricity extractor 115 passes through the notch 119, the first electricity extractor 115 is reset, and the second posture is switched to the first posture, that is, the first electricity extractor 115 is switched from being clamped to the second litz wire 105 to being clamped to the first litz wire 103.

The motion process of the second power collector 117 in the process of the material handling crown block 107 going straight through the branch road is as follows: the second power extractor 117 always maintains the second posture, that is, the second power extractor 117 is always clamped on the second litz wire 105.

To sum up, in the process that the material handling crown block 107 turns to pass through the branch road, the first electricity extractor 115 firstly extracts electricity from the first litz wire 103, then extracts electricity from the second litz wire 105, finally resets, extracts electricity from the first litz wire 103, and the second electricity extractor 117 always extracts electricity from the second litz wire 105.

In this embodiment, during the process of the material handling crown block 107 passing through the crossing, the first power extractor 115 or the second power extractor 117 is reset after being switched between the first posture and the second posture once. The first power extractor 115 or the second power extractor 117 is interrupted twice, and the time of each power interruption is the time of switching between the first posture and the second posture. The time for the power outage of the material handling crown block 107 is relatively short.

Referring to fig. 19, fig. 19 is a flowchart of a control method of the material handling overhead travelling crane 107 shown in fig. 12.

The following describes a control method of the material handling crown block 107 of the present embodiment. Since the technical problem to be solved in this embodiment is to shorten the power taking interruption time of the power taking device, the control method focuses on describing the control method for turning the power taking device, and the control method of the rest of the material handling crown block 107 can refer to the prior art.

The control method comprises the following steps.

Step S201, judging whether a power taking device of the material handling crown block passes through a notch at a branching road of the track.

Specifically, in the present embodiment, if the material handling overhead travelling crane 107 moves straight through the branch road, the first electricity collector 115 does not pass through the notch 119, and the second electricity collector 117 passes through the notch 119. If the material handling crown block 107 turns to pass through the branch road, the first electricity extractor 115 passes through the notch 119, and the second electricity extractor 117 does not pass through the notch 119. The orientations of the initial states of the first power extractor 115 and the second power extractor 117 may be stored in a control system (not shown) in advance as first information. The control system also has second information by which the control system plans the material handling crown block 107 to travel straight or turn at the fork. Therefore, the control system can determine whether the first power extractor 115 or the second power extractor 117 passes through the notch 119 according to the first information and the second information.

Step S202, a first control instruction is sent out in response to that the electricity taking device passes through the notch. The first control instruction controls the driving part of the material handling crown block to act, so that the driving part drives the electricity taking device to rotate, and the electricity taking device is switched from the first litz wire to the second litz wire.

Specifically, the positional information of the first electricity extractor 115 or the second electricity extractor 117 on the track 101 is acquired. The positional information reflects the position of the first power extractor 115 or the second power extractor 117 relative to the notch 119. In response to the first power extractor 115 or the second power extractor 117 moving to a first predetermined distance before the notch 119, a first control command is issued.

In this embodiment, when the first traveling part 109 or the second traveling part 111 passes through the crossing, the control system needs to obtain the position information of the first traveling part 109 or the second traveling part 111 on the track 101 to control the reversing wheel 133 to move at a suitable position, so that the first traveling part 109 or the second traveling part 111 passes through the crossing according to a predetermined plan. The position of the first electricity extractors 115 with respect to the first traveling part 109 is predetermined, and thus, position information of the first electricity extractors 115 on the track 101 can be obtained. Similarly, the position of the second electricity extractor 117 with respect to the second traveling part 111 is predetermined, and therefore, the positional information of the second electricity extractor 117 on the track 101 can be obtained.

In this embodiment, if the material handling overhead travelling crane 107 moves straight through the branch road, the second power extractor 117 moves to the first predetermined distance in front of the notch 119, and the power extraction from the second litz wire 105 is switched to the power extraction from the first litz wire 103. If the material handling crown block 107 turns through the diverging junction, the first power extractor 115 moves to a first predetermined distance in front of the gap 119, and power extraction from the first litz wire 103 is switched to power extraction from the second litz wire 105.

Step S203, judging whether the electricity taking device passes through the notch.

Specifically, it may be determined whether the first electricity extractor 115 or the second electricity extractor 117 has passed through the notch 119 through the position information of the first electricity extractor 115 or the second electricity extractor 117 on the track 101. In response to the electricity extractor moving to a second predetermined distance after the notch 119, it is determined whether the electricity extractor has passed through the notch 119.

And step S204, responding to the fact that the electricity taking device passes through the notch, and sending a second control instruction. The second control instruction controls the driving part to act, so that the driving part drives the electricity taking device to rotate, and the electricity taking device is switched from taking electricity from the second litz wire to taking electricity from the first litz wire.

Specifically, in the present embodiment, if the material handling overhead travelling crane 107 moves straight through the branch road, the second power extractor 117 switches from extracting power from the first litz wire 103 to extracting power from the second litz wire 105 after passing through the notch 119. If the material handling overhead travelling crane 107 turns to pass through the branch road, the first power extractor 115 switches from extracting power from the second litz wire 105 to extracting power from the first litz wire 103 after passing through the notch 119.

Referring to fig. 20 to 22, fig. 20 is a partial structural cross-sectional view of a material handling crown block 107 according to another embodiment of the present application, fig. 21 is a C-C cross-sectional view of fig. 20, a first power taker 115 is in a first posture or a second posture, and fig. 22 is a C-C cross-sectional view of fig. 20, the first power taker 115 being in a first posture and a second posture switching process.

The embodiment provides a limit structure, so that the electricity taking device can be fixed relative to the walking part when in a first posture or a second posture. The limiting structure provided in this embodiment can be applied to the material handling crown block 107 of any of the above embodiments. In this embodiment, the limiting structure (locking assembly) between the first electricity picker 115 and the first travelling portion 109 is mainly described, and the rest of the limiting structure can refer to the above embodiment, which is not repeated here. The limit structure between the second power extractor 117 and the second traveling part 111 may be set with reference to the limit structure between the first power extractor 115 and the first traveling part 109.

The first electricity extractor 115 is rotatably disposed on the connecting shaft 120. Specifically, the first electricity collector 115 is connected to the connection shaft 120 through two bearings 143. The first power extractor 115 is rotatable about the connection shaft 120.

The material handling crown block 107 also includes a locking assembly that acts on the first extractor 115 and the first travel portion 109, respectively, and selectively locks the first extractor 115 with the first travel portion 109 to limit rotation or unlock when the first extractor 115 rotates to a first posture or a second posture relative to the first travel portion 109.

In this embodiment, the connecting shaft 120 is fixedly connected with the first travelling unit 109, and the first electricity extractor 115 is fixedly connected with the connecting shaft 120, so that the first electricity extractor 115 is fixed relative to the first travelling unit 109. In other embodiments, the locking assembly may also act on the first extractor 115 and the support 121 in the first walking portion 109, respectively, and selectively lock the first extractor 115 with the support 121 to limit rotation or unlock the first extractor 115 when the first extractor 115 rotates to the first posture or the second posture relative to the first walking portion 109.

The locking assembly includes a first link 155, a second link 157, a movable member 159, and an elastic member 161.

The first connector 155 is fixedly connected to the first travel portion 109. Specifically, the first connecting member 155 is fixedly sleeved outside the connecting shaft 120. The outer circumferential wall surface of the first coupling member 155 is provided with a groove 163. The number of grooves 163 is two. The two grooves 163 are uniformly distributed in the circumferential direction of the first connecting member 155.

The second connection member 157 is fixedly connected to the first electricity extractor 115. Specifically, the second connecting member 157 is sleeved outside the first connecting member 155. The pair of opposed surfaces of the first coupling member 155 and the second coupling member 157 are each cylindrical surfaces.

The movable member 159 is movably disposed at the second connection member 157 and is movable relative to the second connection member 157 in a radial direction of the connection shaft 120. Specifically, the second link 157 is provided with a receiving groove 165 toward the first link 155 side. The receiving groove 165 extends in the radial direction of the connection shaft 120. The movable member 159 is slidably fitted in the receiving groove 165. One end of the movable member 159 is spherical. The number of the movable pieces 159 is two and corresponds to the grooves 163 one by one.

The elastic member 161 is configured to apply an elastic force to the movable member 159 such that the spherical end portion of the movable member 159 elastically abuts against the second connection member 157. Specifically, the elastic member 161 is accommodated in the accommodating groove 165. The elastic member 161 elastically abuts against the second connecting member 157 and the movable member 159, respectively, at opposite ends in the radial direction of the connecting shaft 120. The elastic member 161 may be a spring. The number of the elastic members 161 is two, and corresponds to the movable members 159 one by one.

During the rotation of the first electricity collector 115 relative to the first travelling part 109, the second connecting member 157 rotates about the axis of the connecting shaft 120 relative to the first connecting member 155, and the spherical end of the movable member 159 is inserted into the groove 163 when rotating to the position of the groove 163, so as to limit the rotation of the first electricity collector 115 relative to the first travelling part 109, and at this time, the locking assembly locks the first electricity collector 115 and the first travelling part 109. When the torque force driving the first power extractor 115 to rotate is greater than a predetermined value, the movable member 159 is withdrawn from the recess 163 against the elastic force of the elastic member 161, and at this time, the locking assembly is unlocked.

The locking assembly in this embodiment can fixedly connect the first electricity extractor 115 with the first walking portion 109 when the first electricity extractor 115 rotates to the first posture or the second posture relative to the first walking portion 109, so that the first electricity extractor 115 is locked. The first power extractor 115 is unlocked when a torque greater than a predetermined value is applied thereto.

In the material handling overhead travelling crane 107 of each of the above embodiments, the power take-off is provided on the connecting shaft 120, but the present application is not limited thereto, and in other embodiments, the power take-off may be provided on the traveling section or the vehicle body main body 113 as needed.

To sum up, before moving to the litz wire interruption position, the driving piece drives the electricity taking device to rotate, and the direction of the electricity taking opening of the electricity taking device is adjusted to enable the electricity taking device to be switched to the complete litz wire position on the other side to take electricity. Therefore, the time of power taking interruption of the power taking device is shortened, and the power requirement of the power taking device is reduced.

In addition, the electricity taking device is arranged on the walking part or on the connecting shaft fixedly connected with the walking part, so that the electricity taking device and the litz wire can be kept in an optimal sensing area in real time when the material handling crown block walks along an arc-shaped track.

The above steps are presented merely to aid in understanding the method, structure, and core ideas of the present application. It will be apparent to those skilled in the art that various changes and modifications can be made herein without departing from the principles of the application, which are also intended to be within the scope of the appended claims.

Claims

1. Material handling overhead traveling crane based on wireless power supply, material handling overhead traveling crane erects walking on two tracks, every the track all is equipped with one and follows the litz wire that track extends, its characterized in that, material handling overhead traveling crane includes:

The power taking device is provided with a power taking opening at one side, is clamped outside the litz wire through the power taking opening, and is matched with the litz wire to perform non-contact power taking;

the driving piece drives the electricity taking device to rotate so as to adjust the direction of the electricity taking opening, and then the electricity taking device can select one of the two litz wires to be matched with the electricity taking opening to take electricity.

2. The materials handling crown block of claim 1, further comprising:

the vehicle body is used for bearing materials;

the connecting shaft is rotatably arranged on the body main body around the axis of the connecting shaft;

the walking part is fixedly connected with the connecting shaft and is erected on the two rails to walk;

the electricity taking device is rotatably arranged on the connecting shaft or the walking part around the axis of the connecting shaft.

3. The materials handling crown block of claim 1, further comprising:

a reversing wheel movable in a predetermined direction to cause the material handling crown block to select straight or turn at a bifurcation;

The linkage assembly is used for carrying out linkage matching on the reversing wheel and the electricity taking device so as to synchronously carry out the movement of the reversing wheel and the rotation of the electricity taking device;

the driving piece drives the electricity extractor to rotate by driving the reversing wheel to move along the preset direction.

4. The materials handling crown block of claim 3, wherein said linkage assembly comprises:

the rotating shaft can rotate around the axis of the rotating shaft;

the swing arm is arranged on the rotating shaft;

the moving piece can move along the preset direction, the moving piece is in transmission fit with the swing arm, so that the swing arm drives the moving piece to move along the preset direction when rotating around the axis of the rotating shaft, and the reversing wheel is rotatably arranged on the moving piece;

the first transmission piece is arranged on the rotating shaft;

the second transmission piece is arranged on the electricity taking device, and the first transmission piece is in transmission fit with the second transmission piece, so that the electricity taking device is driven to rotate when the rotating shaft rotates;

wherein the driving piece drives the rotating shaft to rotate.

5. The material handling crown block of claim 4,

the first transmission part is a first gear, and the first gear and the rotating shaft are coaxially arranged;

the second transmission part is a second gear, and the second gear and the rotation axis of the electricity taking device are coaxially arranged;

the first gear and the second gear are meshed for transmission.

6. The material handling crown block of claim 4,

the driving piece and the rotating shaft are combined to form the double-output-shaft motor.

7. The materials handling crown block of claim 1, further comprising:

and the locking component selectively locks or unlocks the electricity extractor when the electricity extractor rotates to a preset gesture.

8. The materials handling crown block of claim 7, wherein the locking assembly comprises:

the surface of the first connecting piece is provided with a groove;

a second connector, the second connector and the first connector being capable of relative rotation about a rotational axis of the electricity extractor;

the movable piece is movably arranged on the second connecting piece and can reciprocate relative to the second connecting piece along the radial direction of the rotation axis;

An elastic member configured to apply an elastic force to the movable member, so that the movable member elastically abuts against the first connecting member;

wherein, first connecting piece with one of the second connecting piece set up in get the electrical apparatus, get electrical apparatus rotatory to when predetermined gesture, the moving part inserts at least partially and locates the recess, thereby restriction first connecting piece with the second connecting piece is around the axis of rotation relative rotation, the bottom surface of recess with the shape of the part that is used for inserting of moving part locates in the recess is configured as, when the driving piece drive get electrical apparatus rotatory, the moving part can overcome the elasticity, withdraws from the recess.

9. The materials handling crown block of claim 8, wherein,

the bottom surface of the groove and the part of the movable piece, which is used for being inserted into the groove, are both spherical.

10. A control method of a material handling crown block based on wireless power supply is characterized by comprising the following steps:

judging whether a power taking device of the material handling crown block passes through a notch at a bifurcation of a track;

and responding to the electricity taking device to pass through the notch, sending a first control instruction, wherein the first control instruction controls the driving piece of the material handling crown block to act, so that the driving piece drives the electricity taking device to rotate, and further the electricity taking device is switched from a first litz wire to a second litz wire.

11. The control method according to claim 10, further comprising, after said step of issuing a first control instruction in response to said power extractor passing through said notch:

judging whether the electricity taking device passes through the notch or not;

and responding to the electricity taking device to pass through the notch, sending a second control instruction, wherein the second control instruction controls the driving piece to act, so that the driving piece drives the electricity taking device to rotate, and the electricity taking device is switched from the second litz wire to the first litz wire.