CN116453994B - Crown block carrying device - Google Patents
Crown block carrying device Download PDFInfo
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- CN116453994B CN116453994B CN202310710925.4A CN202310710925A CN116453994B CN 116453994 B CN116453994 B CN 116453994B CN 202310710925 A CN202310710925 A CN 202310710925A CN 116453994 B CN116453994 B CN 116453994B
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- 230000033001 locomotion Effects 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 15
- 230000006698 induction Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000004065 semiconductor Substances 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67733—Overhead conveying
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
Abstract
The invention discloses a crown block carrying device which comprises rails and crown blocks running along the rails, wherein the rails comprise at least two rails which are communicated through turnouts, the turnouts comprise inlets and outlets, and the crown block carrying device further comprises a passing mechanism and a position sensing mechanism. The passing mechanism is arranged on a track close to the turnout entrance and used for indicating the passing state of the crown block at the corresponding position, the passing mechanism comprises a first moving piece, the first moving piece can extend or retract towards the inner side of the track, the crown block comprises a first sensor, and the first sensor is used for sensing the extending or retracting of the first moving piece. The position sensing mechanism comprises an entering sensor group, the entering sensor group is arranged on a track between the passing mechanism and the turnout entrance, the crown block further comprises a moving component which moves synchronously with the entering sensor group, and the entering sensor group can sense the moving component to judge the position of the crown block on the track. The overhead travelling crane carrying device can effectively guide the overhead travelling crane at the turnout position, and avoid the overhead travelling crane from colliding or rear-end collision on the track.
Description
Technical Field
The invention relates to the technical field of automatic transmission systems of semiconductor manufacturing materials for wafer processing, in particular to an overhead travelling crane carrying device.
Background
An Automated Material Handling System (AMHS) is used to handle wafer cassettes (FOUPs) during wafer processing. The core part in the AMHS is a crown block and a corresponding track, and the tracks are communicated through turnout because the wafer box needs to move between different tracks. The crown block automatically grabs and conveys the wafer box from one base station (Loadport) to the other base station, manual intervention is not needed in the whole process, pollution of a human body to a clean room is avoided, and meanwhile productivity is greatly improved. The crown block can pass through a plurality of turnouts in the advancing process, the turnouts can be functionally divided into two categories of 'split flow' and 'confluence', innumerable crown blocks on the AMHS are converged or split flow on the same turnout, and if traffic control of the crown block is not carried out, congestion among the crown blocks is easily caused, and even collision occurs to each other.
Disclosure of Invention
In order to overcome the defects, the invention aims to provide the overhead travelling crane carrying device which can effectively guide the overhead travelling crane at the turnout position and avoid the overhead travelling crane from colliding or rear-end collision on the track.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a crown block handling device, includes the track and follows the crown block that the track went, the track includes two at least, two the track passes through the switch intercommunication, the switch includes entry and export, still includes current mechanism and position sensing mechanism.
The passing mechanism is arranged on a track close to the turnout entrance and used for indicating the passing state of the crown block at the corresponding position, the passing mechanism comprises a first moving piece, the first moving piece can extend or retract towards the inner side of the track, the crown block comprises a first sensor, and the first sensor is used for sensing the extending or retracting of the first moving piece.
The position sensing mechanism comprises an entering sensor group which is arranged on a track between the passing mechanism and the turnout entrance, the crown block further comprises a moving component which moves synchronously with the entering sensor group, and the entering sensor group can sense the moving component to judge the position of the crown block on the track.
The invention has the beneficial effects that: on one hand, a passing mechanism is arranged on the track, and switching of the travelling state of the crown block at the position can be realized through the cooperation of the first moving part and the first sensor on the crown block; on the other hand, an entering sensor group positioned between the passing mechanism and the turnout entrance is arranged on the track, and the entering sensor group is matched with a moving assembly on the crown block to sense the position of the crown block on the track. The position sensing mechanism is matched with the passing mechanism, so that the crown block is guided to pass at the turnout, and collision or rear-end collision of the crown block on a track is avoided.
Further, each driving-in sensor group comprises a fourth sensor and a fifth sensor, the fourth sensor and the fifth sensor are correlation sensors, the fourth sensor and the fifth sensor are arranged at intervals along the travelling direction of the vertical crown block in the horizontal plane, and the fourth sensor is arranged on one side, close to the crown block, of the fifth sensor.
The motion assembly comprises a second motion piece and a third motion piece which are arranged at intervals along the travelling direction of the crown block and synchronously travel with the second motion piece, the second motion piece can only shield the correlation light of the fourth sensor, at the moment, the crown block enters the induction zone where the driving-in sensor group is located, the third motion piece can shield the correlation light of the fourth sensor and the fifth sensor at the same time, and at the moment, the crown block leaves the induction zone where the driving-in sensor group is located.
The fourth sensor and the fifth sensor which are arranged at intervals are matched with the second moving part and the third moving part which are different in length to sense whether the crown block enters or leaves an induction area where the entering sensor group is located, and then two kinds of position information of the crown block are acquired. When the crown block only shields the correlation light of one fourth sensor close to the crown block, the front end of the crown block reaches the position, and the crown block enters an induction zone where the driving-in sensor group is located; when the crown block simultaneously shields the correlation light of the fourth sensor and the fifth sensor, the rear end of the crown block reaches the position, and the crown block leaves the sensing area where the driving sensor group is located.
Further, the crown block comprises a traveling head capable of traveling along the track, in the direction perpendicular to the traveling direction of the crown block in the horizontal plane, the distance that the third moving part extends out of the traveling head is greater than the distance that the second moving part extends out of the traveling head, and the distance from the end part of the third moving part extending out of the traveling head to the end part of the second moving part extending out of the traveling head is not less than the distance between the fourth sensor and the fifth sensor in the direction perpendicular to the traveling direction of the crown block. Therefore, the second moving part can only shield the correlation light of the fourth sensor, and the third moving part can shield the correlation light of the fourth sensor and the fifth sensor at the same time. The length of the third moving member may be set to be longer than the length of the second moving member.
Further, three of the driving-in sensor groups are arranged, and the three driving-in sensor groups are arranged in the same vertical plane perpendicular to the travelling direction of the crown block. Two of the driving-in sensor groups are used for collecting the position condition of the area where the turnout is located when the crown block runs straight along the track, and the other driving-in sensor group is used for collecting the position condition of the turnout when the crown block runs and shunts along the turnout.
Furthermore, the position sensing mechanism further comprises an outgoing sensor group located in front of the exit along the travelling direction of the crown block, three outgoing sensor groups are arranged in the same vertical plane perpendicular to the travelling direction of the crown block, and the outgoing sensor group and the incoming sensor group are identical in structure. The two outgoing sensor groups are used for collecting the position condition of the area where the outgoing turnout is located when the crown block runs straight along the track, and the other outgoing sensor group is used for collecting the position condition of the outgoing turnout when the crown block runs and shunts along the turnout.
Further, the first moving member comprises a shading part extending along the travelling direction of the crown block, and the first moving member always shades the correlation light of the first sensor in the process that the shading part shades the first sensor until the crown block is completely stopped. That is, the length of the shading part is required to be satisfied that the shading part is always positioned in the sensing range of the first sensor in the process of starting braking to completely stopping the crown block. The length restriction of shading portion guarantees that the overhead traveling crane is at the whole in-process of parking, and shading portion is all the time with first sensor cooperation production parking signal, avoids the overhead traveling crane not stopping completely before just taking place the circumstances of parking signal interruption.
Further, the first moving part can move along a straight line under the driving of the driving component. The driving assembly comprises a driving piece, an eccentric piece and an adapter plate, wherein the driving piece is fixed on the track, the driving piece can drive the eccentric piece to eccentrically rotate, the adapter plate is sleeved outside the eccentric piece and is driven by the eccentric piece to linearly reciprocate, and one end of the adapter plate is fixedly connected with the first moving piece. The driving assembly drives the first moving part to reciprocate through the eccentric structure, the moving distance of the first moving part is determined by the eccentric distance of the eccentric part, no additional limit is needed, and the first moving part reciprocates in a range.
Furthermore, the eccentric part is an eccentric wheel, the adapter plate is provided with a guide groove corresponding to the eccentric part, and the eccentric part is embedded in the guide groove and can be abutted against the side wall of the guide groove in the rotating process so as to push the adapter plate to move.
Furthermore, the guide groove is a waist-shaped groove, extends along the travelling direction of the crown block, can be abutted against two long sides of the guide groove, and can not be abutted against two circular arc sides of the guide groove all the time in the rotating process. Therefore, in the rotating process of the eccentric part, the eccentric part is only abutted against the long side of the guide groove, and the adapter plate is pushed to do linear motion along one direction.
Further, the driving assembly further comprises at least one guide piece, wherein the guide piece is a linear bearing fixed on the track and a guide rod sliding along the linear bearing, the guide rod extends along the moving direction of the first moving piece, and the guide rod is fixedly connected with the first moving piece. Since the first moving member has a certain length and is driven by only one driving assembly, the stability is poor, and thus the guide member is provided to guide the movement of the first moving member.
Further, the passing mechanism further comprises a feedback assembly for detecting the extended and retracted state of the first moving member. The feedback assembly comprises a second sensor, a third sensor and a shading sheet which are arranged at intervals along the moving direction of the first moving piece, wherein the second sensor and the third sensor are fixed on the vertical frame, and the shading sheet is fixed on the adapter plate and moves synchronously with the adapter plate.
When the adapter plate moves to the position corresponding to the second sensor and the third sensor, a feedback signal is generated, and the passing mechanism is in a passing or non-passing state.
Further, two first sensors are arranged, and the two first sensors are arranged at intervals in the horizontal plane and perpendicular to the travelling direction of the crown block. The crown block advances along the front-back direction, and two first sensors are positioned at the two sides of the crown block in the left-right direction, and the heights of the two first sensors are equal. Thus, no matter which track body of one track the passing mechanism is arranged on, there is a first sensor corresponding to the passing mechanism.
Drawings
FIG. 1 is a top view of an embodiment of the present invention;
FIG. 2 is a schematic perspective view of a passing mechanism according to an embodiment of the present invention;
FIG. 3 is a top view of a pass-through mechanism according to an embodiment of the invention;
FIG. 4 is a schematic view of a driving sensor set according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an overhead travelling crane according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a first sensor according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a second moving member according to an embodiment of the present invention.
In the figure:
1. a track; 11. track one; 12. a second track; 2. a turnout; 21. an inlet; 22. an outlet; 4. a crown block; 41. a first sensor; 411. a sensor holder; 42. a second moving member; 421. a lightening hole; 43. a third moving member; 44. a guide wheel; 45. a walking head; 5. a passing mechanism; 50. a fixing frame; 51. a first moving member; 52. a driving member; 53. an eccentric member; 54. an adapter plate; 541. a guide groove; 55. a linear bearing; 56. a guide rod; 57. a second sensor; 58. a third sensor; 59. a light shielding sheet; 6. driving into a sensor group; 61. a fourth sensor; 62. a fifth sensor; 63. a connecting frame; 7. and (5) driving out of the sensor group.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.
Referring to fig. 1, the crown block carrying device of the invention comprises a track 1 and crown blocks 4 running along the track 1, wherein the track 1 comprises at least two tracks, and the two tracks 1 are communicated through a turnout 2. The track 1 and the turnout 2 comprise a pair of track 1 bodies which are parallel to each other, the travelling wheels of the crown block 4 travel along the pair of track bodies, and a travelling space for the crown block 4 to travel is formed between the pair of track bodies. The two rails 1 are mutually close to each other, the rail bodies are provided with notches, and two ends of the turnout 2 are respectively connected to the notches of the two rail bodies.
The switch 2 is inclined so that the crown block 4 turns into the switch 2, the switch 2 is provided with an inlet 21 and an outlet 22, and the inlet 21 and the outlet 22 respectively correspond to notches of different rail 1 bodies. The crown block 4 on one track 1 can enter the switch 2 from the entrance 21 of the switch 2 and then enter the other track 1 through the exit 22 of the switch 2.
In order to avoid collisions and jams of the crown block 4 to the switch 2, the crown block handling device further comprises a position sensing mechanism and a passing mechanism 5, wherein the position sensing mechanism is used for acquiring the position of the crown block 4 on the rails 1, namely the position of the crown block 4 on the two rails 1 relative to the switch 2. The passing mechanism 5 is used for indicating passing states at corresponding positions so as to enable the crown block 4 to stop or travel at the passing mechanism 5 and avoid stopping congestion or collision, the passing states comprise a passable state and an unvented state, and the passing mechanism 5 is positioned behind the position sensing mechanism in the travelling direction of the crown block 4.
When the traveling speed of the crown block 4 is reduced because the crown block 4 passes through the turnout 2, the rear crown block 4 is controlled to stop waiting for the front crown block 4 to pass when a vehicle enters in the rear, and the passing mechanism 5 is arranged on the track 1 so as to control the rear crown block 4 to stop traveling and avoid collision with the front crown block 4. Referring to fig. 1, each track 1 is provided with a passing mechanism 5 along the travelling direction of the crown block 4 at a position close to the turnout 2, that is, the passing mechanism 5 on each track 1 is located at the rear of the turnout 2 along the travelling direction of the crown block 4, and the crown block 4 on each track 1 passes through the passing mechanism 5 first and then passes through the turnout 2 (that is, a notch corresponding to the track body). Therefore, before the crown block 4 enters the turnout 2 to converge, the passing state of the crown blocks 4 on the two rails 1 can be controlled through the passing mechanism 5, and the crown blocks 4 on the two rails 1 are prevented from colliding after converging through the turnout 2 or colliding with the crown blocks 4 behind the respective rails 1.
Referring to fig. 2 and 3, the passing mechanism 5 is fixed on one of the rail 1 bodies of the rail 1 and located at one side of the crown block 4, and comprises a first moving member 51 and a driving assembly, wherein the driving assembly is fixed on the rail 1 and can drive the first moving member 51 to reciprocate linearly in a horizontal plane, and the moving direction of the first moving member 51 is perpendicular to the travelling direction of the crown block 4. The first moving member 51 can extend or retract toward the inner side of the track (i.e., toward the crown block) during movement, and when the first moving member 51 extends toward the inner side of the track, it is sensed by the first sensor on the crown block passing by, and the first sensor 41 fixed on the crown block 4 can be blocked, at this time, the crown block 4 stops traveling. When the first moving member 51 is retracted away from the inner side of the track, it cannot be sensed by the first sensor 41 on the passing crown block, i.e. the first sensor 41 on the crown block 4 cannot be covered, and the crown block 4 will continue to travel there without stopping the signal.
In one embodiment, the first moving member 51 includes a light shielding portion extending in the traveling direction of the crown block 4, the light shielding portion having a rectangular parallelepiped structure, and the light shielding portion being capable of being interposed between the pair of first sensors 41 during movement to generate a parking signal. The length of the light shielding part is required to be within the sensing range of the first sensor 41 all the time in the process from the start of braking to the complete stop of the crown block 4. I.e. the crown block 4 receives the parking signal and starts braking until it is completely stopped, the first sensor 41 is always within the working range of the first moving member 51. The length limitation of the shading part ensures that the shading part is matched with the first sensor 41 all the time to generate a parking signal in the whole parking process of the crown block 4, and the situation that the parking signal is interrupted before the crown block 4 is completely stopped is avoided.
In one embodiment, referring to fig. 2, the driving assembly includes a driving member 52, an eccentric member 53 and an adapter plate 54, wherein the driving member 52 is fixed on the track 1, the driving member 52 can drive the eccentric member 53 to eccentrically rotate, the adapter plate 54 is sleeved outside the eccentric member 53 and is pushed by the eccentric member 53 to reciprocate along a straight line, and one end of the adapter plate 54 is fixedly connected with the first moving member 51.
Referring to fig. 2 and 3, the eccentric 53 is an eccentric, which is a circular wheel eccentrically disposed from the output shaft of the driving member 52 so that the eccentric 53 does not rotate about its own axis but eccentrically rotates. The driving member 52 is a motor, and the rotating shaft and the eccentric wheel are eccentrically fixed. The adapter plate 54 is provided with a guide groove 541 corresponding to the eccentric member 53, and the eccentric member 53 is embedded in the guide groove 541 and can abut against the side wall of the guide groove 541 to push the adapter plate to move during rotation.
Referring to fig. 3, the guide groove 541 is a waist-shaped groove, extends along the traveling direction of the crown block 4, and the eccentric member 53 can abut against two long sides of the guide groove 541 and does not always abut against two circular arc sides of the guide groove 541 during rotation. The maximum vertical distance from the edge of the eccentric member 53 to the rotation axis of the driving member 52 connected to the eccentric member 53 is d, the distance between the two circular arc sides of the guide groove 541 is not less than 2d, and the distance between the two long sides of the guide groove 541 is less than 2d and greater than the diameter of the eccentric member 53. This ensures that during rotation of the eccentric 53, it will only abut against the long side of the guiding slot 541, pushing the adapter plate to move straight in only one direction.
Of course, in some embodiments, the guiding groove 541 may be a rectangular groove, and the length direction extends along the traveling direction of the crown block 4. The eccentric 53 may be a push rod eccentrically connected to the driving member 52, and the push rod pushes the adapter plate in the guide groove 541. The specific shapes of the guide groove 541 and the eccentric member 53 are not limited, as long as the eccentric structure can be utilized to realize that the eccentric member 53 cooperates with the guide groove 541 in the eccentric rotation process, so as to push the adapter plate to reciprocate along a straight line.
In this embodiment, the driving assembly is configured as an eccentric structure, and the eccentric wheel is matched with the guiding groove 541 on the adapter plate to push the adapter plate to move along a straight line, so as to drive the first moving member 51 to move. The moving distance of the first moving member 51 is determined by the eccentric distance of the eccentric member 53, and the first moving member 51 reciprocates in a range without additional limitation.
In one embodiment, the driving assembly further comprises at least one guide member, wherein the guide member is a linear bearing 55 fixed on the track 1 and a guide rod 56 sliding along the linear bearing 55, the guide rod 56 extends along the moving direction of the first moving member 51, and the guide rod 56 is fixedly connected with the first moving member 51. Since the first mover 51 has a certain length and is driven by only one driving assembly, the stability is poor, and thus the guide is provided to guide the movement of the first mover 51.
In one embodiment, the middle position of the first moving member 51 is fixed to the adapter plate, and the two guide members are symmetrically arranged at two sides of the adapter plate.
Referring to fig. 2, the passing mechanism 5 further includes a fixing frame 50, the fixing frame 50 is fixed to the upper end of the track 1, and a driving member 52 and a linear bearing 55 are fixed to the fixing frame 50. The fixing frame 50 lifts the driving assembly to a height corresponding to the first sensor 41 so that the first mover can be inserted into the first sensor 41 when it moves in the horizontal direction.
In one embodiment, the passing mechanism 5 further comprises a feedback assembly for detecting whether the first mover is in the extended or retracted state. Referring to fig. 2 and 3, the feedback assembly includes a second sensor 57, a third sensor 58, and a light shielding sheet 59 disposed at intervals along the moving direction of the first moving member, the second sensor 57 and the third sensor 58 are fixed on the stand, and the light shielding sheet 59 is fixed on the adapter plate and moves synchronously with the adapter plate. When the adapter plate is moved to a position corresponding to the second sensor 57 and the third sensor 58, a feedback signal is generated indicating that the passing mechanism 5 is in a passable or non-passable state.
The second sensor 57 and the third sensor 58 are correlation sensors, and include a transmitting end and a receiving end disposed at an upper-lower interval, and a correlation light ray can be generated between the transmitting end and the receiving end, and when the light shielding sheet 59 moves between the transmitting end and the receiving end, the correlation light ray can be shielded, and a shielding signal, that is, a feedback signal of the feedback assembly, is generated.
In one embodiment, referring to fig. 6, the first sensor 41 is also an correlation sensor, and is configured identically to the second sensor 57, again with vertically disposed correlation light between the emitting and receiving ends. The first sensor 41 is fixed on the crown block 4 through a sensor bracket 411, the transmitting end and the receiving end of the first sensor 41 are vertically spaced on the sensor bracket 411, and the sensor bracket 411 is fixed on the upper end face of the traveling head 45 of the crown block 4. The two first sensors 41 are provided, the two first sensors 41 are fixed on two sides of the crown block 4, are located on two sides of a direction perpendicular to the traveling direction of the crown block 4 in a horizontal plane, and as shown in fig. 5, the crown block 4 travels in the front-rear direction, the two first sensors 41 are located on two sides of the crown block 4 in the left-right direction, and the two first sensors 41 are at equal heights. Thus, no matter which one of the rails 1 is provided with the passing mechanism 5, the corresponding first sensor 41 is provided on the body of the rail 1.
When the first moving member is in an extending state under the driving of the driving assembly, that is, extends to the inner side of the track, the first moving member can shield the opposite rays of the first sensor 41 on the side surface of the crown block 4, and when the first moving member is in a retracting state, the opposite rays of the first sensor 41 are not shielded. When the first moving member is in an extended state and shields the correlation light of the first sensor 41, the passing mechanism 5 is in an unvented state, and the crown block 4 stops moving at the moment; when the first moving element is retracted and the correlation light of the first sensor 41 cannot be blocked, the passing mechanism is in a passable state, and the crown block 4 continues to travel at this time.
The position sensing mechanism is used for collecting the position of the crown block 4 on the track 1. The position sensor comprises an entrance sensor group 6 located behind the entrance 21 of the switch 2 in the travelling direction of the crown block 4 and an exit sensor group 7 located in front of the exit 22 of the switch 2, the entrance sensor group 6 being arranged on the track 1 between the passing means 5 and the entrance 21 of the switch 2. The crown block comprises a motion component which synchronously runs with the crown block, and the motion component can be sensed by the driving-in sensor group 6 and the driving-out sensor group 7 in the synchronous running process of the crown block, so that the position of the crown block on a track is acquired.
Referring to fig. 1, three driving-in sensor groups 6 are provided, namely a driving-in sensor group I to a driving-in sensor group III, wherein the driving-in sensor group I and the driving-in sensor group II are used for acquiring the position condition of the area where the turnout 2 is located when the crown block 4 is in the straight direction along the track 1 and the driving-in sensor group I and the driving-in sensor group II are used for acquiring the position condition of the turnout 2 when the crown block 4 is in the driving diversion along the turnout 2. The first driving sensor group and the second driving sensor group are arranged on the rail 1 body which is not provided with a notch and corresponds to the rail 1, namely, the two rail 1 bodies are not connected with the turnout 2 respectively, and when the first driving sensor group and the second driving sensor group are triggered by the crown block 4, the crown block 4 is indicated to directly move along the corresponding rail 1 and enter the area where the turnout 2 is located. The drive-in sensor group three is arranged on the body of the rail 1 connected with the entrance 21 of the switch 2 and is positioned behind the entrance 21 of the switch 2. When the crown block 4 triggers the driving into the third sensor group, it is indicated that the crown block 4 will turn into the switch 2.
The three driving-out sensor groups 7 are also arranged, namely, a driving-out sensor group I to a driving-out sensor group III, which are respectively arranged in the same vertical plane perpendicular to the travelling direction of the crown block 4. The first outgoing sensor group and the second outgoing sensor group are used for collecting the position condition of the area where the outgoing turnout 2 is located when the crown block 4 runs straight along the track 1, and the third outgoing sensor group is used for collecting the position condition of the outgoing turnout 2 when the crown block 4 runs and shunts along the turnout 2. The first outgoing sensor group and the second outgoing sensor group are arranged on the rail 1 body which is not provided with a notch and corresponds to the rail 1, namely, the two rail 1 bodies are not connected with the turnout 2, and when the first outgoing sensor group and the second outgoing sensor group are triggered by the crane 4, the crane 4 is indicated to directly move along the corresponding rail 1 and out of the area where the turnout 2 is located. The exit sensor group III is arranged on the body of the track 1 connected with the outlet 22 of the turnout 2 and is positioned in front of the outlet 22 of the turnout 2. When the crown block 4 triggers the exit sensor group three, it is indicated that the crown block 4 has exited from the switch 2.
Because the crown block 4 has a certain length, the crown block can sequentially enter the sensing area where the driving sensor group 6 is located at the head and the tail. When the front end (namely, the headstock) of one track 1 enters the sensing area where the driving sensor group 6 is located, the first moving part 51 of the passing mechanism 5 on the other track 1 is driven to extend, and the other track 1 is in an unvented state at the moment, so that the crown block 4 on the two tracks 1 is prevented from being collided when the two tracks are converged. When the rear end (i.e. the tail) of the crown block 4 on one track 1 enters the sensing area where the driving sensor group 6 is located, the first moving part 51 of the passing mechanism 5 on the same track 1 is driven to extend, and at this time, the passing state of the passing mechanism 5 on the track 1 is switched from the passable state to the non-passable state, so that rear-end collision between the crown block 4 on the rear side and the crown block 4 in the front side on the same track 1 is avoided.
In one embodiment, referring to fig. 4, each of the entering sensor group 6 and the exiting sensor group 7 includes a fourth sensor 61 and a fifth sensor 62, the fourth sensor 61 and the fifth sensor 62 being disposed at intervals in a horizontal plane along a direction perpendicular to a traveling direction of the crown block 4, wherein the fourth sensor 61 is disposed on a side of the fifth sensor 62 near the crown block 4, and the fourth sensor 61 and the fifth sensor 62 are also correlation sensors. The fourth sensor 61 and the fifth sensor 62 are used to detect whether the crown block 4 passes or not. When the crown block 4 only shields the correlation light near one fourth sensor 61 of the crown block 4, it means that the front end of the crown block 4 reaches the position, and the crown block 4 head enters the sensing area where the driving sensor group 6 is located; when the overhead travelling crane 4 simultaneously shields the correlation light of the fourth sensor 61 and the fifth sensor 62, it means that the rear end of the overhead travelling crane 4 reaches the position, and at this time, the overhead travelling crane 4 leaves the sensing area where the entrance sensor group 6 is located.
The fourth sensor 61 and the fifth sensor 62 are commonly fixed to one connecting frame 63, the connecting frame 63 is fixed to the track 1, the fourth sensor 61 and the fifth sensor 62 are disposed at intervals in the left-right direction along the connecting frame 63, and the reflecting ends and the receiving ends of the fourth sensor 61 and the fifth sensor 62 are disposed at intervals up and down the fixing frame 50.
The moving assembly comprises a second moving member 42 and a third moving member 43, wherein the second moving member 42 and the third moving member 43 are arranged at intervals along the travelling direction of the crown block 4, the second moving member 42 is positioned in front of the third moving member 43 in the travelling direction of the crown block 4, and the second moving member 42 and the third moving member 43 synchronously move with the crown block 4. The second moving member 42 can block only the correlation light of the fourth sensor 61, and the third moving member 43 can block the correlation light of both the fourth sensor 61 and the fifth sensor 62.
Referring to fig. 5, the crown block 4 includes a traveling head 45 traveling along the track 1, and the traveling wheels are rotatably connected to the traveling wheels capable of traveling on the body of the track 1, and in a direction (left-right direction in the drawing) perpendicular to the traveling direction of the crown block 4 in a horizontal plane, a distance from the third moving member 43 to an edge of the traveling head 45 is greater than a distance from the second moving member 42 to an edge of the traveling head 45, that is, in the same direction, a distance from the third moving member 43 extending out of the edge of the traveling head 45 is greater than a distance from the second moving member 42 extending out of the edge of the traveling head 45.
In one embodiment, the second moving member 42 and the third moving member 43 are both rectangular structures, and the length of the third moving member 43 is longer than the length of the second moving member 42, so that the second moving member 42 and the third moving member 43 are arranged with their length directions perpendicular to the traveling direction of the crown block 4 when fixed to the crown block 4. This ensures that the second mover 42 can only block the correlation light of the fourth sensor 61, while the third mover 43 can block the correlation light of both the fourth sensor 61 and the fifth sensor 62. Of course, the second moving member 42 and the third moving member 43 may be provided in equal length, but the end of the third moving member 43 protrudes from the end of the second moving member 42 in the direction perpendicular to the traveling direction of the crown block 4 in the horizontal plane. But the vertical distance from the end of the third moving member 43 to the end of the second moving member 42 in the direction perpendicular to the traveling direction of the crown block 4 in the horizontal plane is not smaller than the interval between the fourth sensor 61 and the fifth sensor 62.
In one embodiment, referring to fig. 7, the second moving member 42 and the third moving member 43 are further provided with a weight reducing hole 421, and the weight is reduced at a middle position of the second moving member 42 and the third moving member 43, so that the second moving member 42 and the third moving member 43 are reduced and the influence of the reflected light of the light shielding fourth sensor 61 and the fifth sensor 62 is avoided.
In order to prevent the crown block 4 from touching at the junction of the rails 1 or from a rear-end collision of crown blocks 4 on the same rail 1. When the crown block 4 is driven to the driving sensor group 6 of each track 1, and the second moving piece 42 of the crown block 4 on one track 1 shields the fourth sensor 61 to generate a shading signal, the passing mechanism 5 on the other track 1 is driven to be switched into an unvented state, and the crown block 4 on the other track 1 stops moving; when the third moving member 43 of the crown block 4 blocks the fourth sensor 61 and the fifth sensor 62 to generate a blocking signal, the passing mechanism 5 on the same track 1 is driven to switch to an unvented state, and the crown block 4 at the rear of the same track 1 senses the unvented state to stop traveling.
Referring to fig. 5, the walking head 45 further includes two guiding wheels 44 disposed at intervals along the traveling direction thereof, each guiding wheel 44 can reciprocate (i.e., move left and right) in the horizontal plane perpendicular to the traveling direction of the crown block 4, the guiding wheel 44 can move to the leftmost or rightmost side of the traveling direction of the crown block 4, and the second moving member 42 and the third moving member 43 are fixedly connected with the two guiding wheels, respectively, and can move left and right synchronously with the guiding wheels 44.
In this embodiment, referring to fig. 1, two rails 1 are a first rail 11 and a second rail 12 respectively, which are arranged along the left and right sides, the crown block 4 on the first rail 11 can directly move and enter the second rail 12 along the turnout 2, and the crown block 4 on the second rail 12 can only directly move, and the right rail 1 body on the first rail 11 and the left rail 1 body on the second rail 12 are provided with notches. Thus, the first drive-in sensor group 6 and the first drive-out sensor group 7 on the first rail 11 are arranged on the rail 1 body on the left side thereof, the second drive-in sensor group 6 and the second drive-out sensor group 7 on the second rail 12 are arranged on the rail 1 body on the right side thereof, the third drive-in sensor is arranged on the right side of the first rail 11 and behind the entrance 21 of the switch 2, and the third drive-out sensor is arranged on the left side of the second rail 12 and in front of the exit 22 of the switch 2.
When the crown block 4 moves straight on the track one 11, the guide wheel 44 of the crown block 4 moves to the leftmost end in the traveling direction, and when the crown block 4 on the track one 11 turns right into the switch 2, the guide wheel 44 of the crown block 4 moves to the rightmost end in the traveling direction. While the guiding wheel 44 of the crown block 4 on the second track 12 is always at the rightmost end of the travel direction.
Before the crown block 4 enters the position sensing mechanism, the passing mechanism 5 is in a passable state, i.e. the first moving member is in a retracted state. When the second moving member 42 of the crown block 4 traveling on the second track 12 is first covered and driven into the fourth sensor 61 on the first sensor group, the first moving member of the passing mechanism 5 on the first track 11 is driven to extend, the passing mechanism 5 on the first track 11 is turned into an unvented state, and the crown block 4 on the first track 11 stops traveling when entering the passing mechanism 5 thereon, i.e. the crown block 4 on the second track 12 first passes, the crown block 4 on the first track 11 waits, and the crown block 4 on the first track 11 is prevented from turning right to enter the second track 12 and collide with the crown block 4. When the third moving part 43 of the crown block 4 on the second track 12 simultaneously shields the fourth sensor 61 and the fifth sensor 62 on the first sensor group, the first moving part of the passing mechanism 5 on the second track 12 is driven to extend out and turn into an unvented state, so that rear-end collision of the rear-end vehicles on the second track 12 is prevented. When the crown block 4 passes through the second track 12 and exits the sensor group, the passing mechanism 5 on the first track 11 is turned into a passable state. Then the crown block 4 on the first track 11 and the second track 12 alternately pass.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and to implement the same, but are not intended to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.
Claims (11)
1. The utility model provides a crown block handling device, includes the track and follows the crown block that the track went, the track includes two at least, two the track passes through the switch intercommunication, the switch includes entry and export, its characterized in that: the system also comprises a passing mechanism and a position sensing mechanism;
the passing mechanism is arranged on a track close to the turnout entrance and used for indicating the passing state of the crown block at the corresponding position, the passing mechanism comprises a first moving part, the first moving part can extend or retract towards the inner side of the track, and the crown block comprises a first sensor which is used for sensing the extending or retracting of the first moving part;
the position sensing mechanism comprises an entering sensor group, the entering sensor group is arranged on a track between the passing mechanism and the turnout entrance, the crown block further comprises a moving assembly which synchronously moves with the entering sensor group, and the entering sensor group can sense the moving assembly to judge the position of the crown block on the track;
when the front end of the crown block on one track enters the sensing area where the driving sensor group is located, the first moving part on the other track extends out, and the passing mechanism of the other track is in an unvented state; when the rear end of the crown block on one track enters the sensing area where the driving sensor group is located, the first moving part on the same track stretches out, and the passing mechanism of the same track is in an unvented state.
2. The overhead travelling crane handling assembly of claim 1, wherein: each driving-in sensor group comprises a fourth sensor and a fifth sensor, the fourth sensor and the fifth sensor are correlation sensors, the fourth sensor and the fifth sensor are arranged at intervals along the travelling direction of the vertical crown block in a horizontal plane, and the fourth sensor is arranged at one side, close to the crown block, of the fifth sensor;
the motion assembly comprises a second motion piece and a third motion piece which are arranged at intervals along the travelling direction of the crown block, the second motion piece can only shield the correlation light of the fourth sensor, and the third motion piece can shield the correlation light of the fourth sensor and the fifth sensor at the same time.
3. The overhead travelling crane handling assembly of claim 2, wherein: the crown block comprises a traveling head capable of traveling along a track, in the direction perpendicular to the traveling direction of the crown block in the horizontal plane, the distance from the third moving part to the traveling head is greater than the distance from the second moving part to the traveling head, and the distance from the end part of the third moving part to the end part of the second moving part to the traveling head is not less than the distance between the fourth sensor and the fifth sensor.
4. The overhead travelling crane handling assembly of claim 1, wherein: the driving-in sensor groups are arranged in three, and the three driving-in sensor groups are arranged in the same vertical plane perpendicular to the travelling direction of the crown block.
5. The overhead travelling crane handling assembly of claim 1, wherein: the position sensing mechanism further comprises an outgoing sensor group located in front of the exit along the travelling direction of the crown block, three outgoing sensor groups are arranged in the same vertical plane perpendicular to the travelling direction of the crown block, and the outgoing sensor group and the incoming sensor group are identical in structure.
6. The overhead travelling crane handling assembly of claim 1, wherein: the first moving part comprises a shading part extending along the travelling direction of the crown block, and the first moving part always shades the correlation light of the first sensor in the process that the shading part shields the first sensor until the crown block is completely stopped.
7. Crown block handling device according to any one of claims 1-6, characterized in that: the first moving part can move along a straight line under the drive of the driving component;
the driving assembly comprises a driving piece, an eccentric piece and an adapter plate, wherein the driving piece is fixed on the track, the driving piece can drive the eccentric piece to eccentrically rotate, the adapter plate is sleeved outside the eccentric piece and is driven by the eccentric piece to linearly reciprocate, and one end of the adapter plate is fixedly connected with the first moving piece.
8. The overhead travelling crane handling assembly of claim 7 wherein: the eccentric part is an eccentric wheel, a guide groove corresponding to the eccentric part is formed in the adapter plate, and the eccentric part is embedded in the guide groove and can be abutted against the side wall of the guide groove in the rotating process so as to push the adapter plate to move;
the guide groove is a waist-shaped groove and extends along the advancing direction of the crown block, and the eccentric part can be abutted against two long sides of the guide groove and can not be abutted against two circular arc sides of the guide groove all the time in the rotating process.
9. The overhead travelling crane handling assembly of claim 8, wherein: the driving assembly further comprises at least one guide piece, wherein the guide piece is a linear bearing fixed on the track and a guide rod sliding along the linear bearing, the guide rod extends along the moving direction of the first moving piece, and the guide rod is fixedly connected with the first moving piece.
10. The overhead travelling crane handling assembly of claim 7 wherein: the passing mechanism further comprises a feedback assembly, wherein the feedback assembly is used for detecting the extending and retracting states of the first moving piece;
the feedback assembly comprises a second sensor, a third sensor and a shading sheet which are arranged at intervals along the moving direction of the first moving piece, wherein the second sensor and the third sensor are fixed on the vertical frame, and the shading sheet is fixed on the adapter plate and moves synchronously with the adapter plate.
11. The overhead travelling crane handling assembly of claim 1, wherein: the two first sensors are arranged at intervals in the horizontal plane and perpendicular to the travelling direction of the crown block.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310710925.4A CN116453994B (en) | 2023-06-15 | 2023-06-15 | Crown block carrying device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310710925.4A CN116453994B (en) | 2023-06-15 | 2023-06-15 | Crown block carrying device |
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| CN116453994A CN116453994A (en) | 2023-07-18 |
| CN116453994B true CN116453994B (en) | 2023-09-08 |
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| CN116880491A (en) * | 2023-07-21 | 2023-10-13 | 弥费科技(上海)股份有限公司 | Anti-collision control device, system and method for AMHS (automated mechanical transmission) carrying trolley |
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| CN101844672A (en) * | 2009-03-27 | 2010-09-29 | 株式会社大福 | Article transport device |
| JP2012164271A (en) * | 2011-02-09 | 2012-08-30 | Murata Mach Ltd | Rail-guided truck system |
| TW201910234A (en) * | 2017-08-04 | 2019-03-16 | 日商大福股份有限公司 | Item transport equipment |
| KR20210039236A (en) * | 2019-10-01 | 2021-04-09 | 주식회사 알티자동화 | Smart over-head hoist transporter system |
| CN116031190A (en) * | 2023-03-28 | 2023-04-28 | 浙江果纳半导体技术有限公司 | Conveying system |
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| JP6179406B2 (en) * | 2014-01-10 | 2017-08-16 | 株式会社ダイフク | Transport device |
| JP6225803B2 (en) * | 2014-04-07 | 2017-11-08 | 株式会社ダイフク | Goods transport equipment |
| KR20230040570A (en) * | 2021-09-16 | 2023-03-23 | (주)휴민텍 | Method for controlling junction position transport of overhead hoist transport carriage |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101844672A (en) * | 2009-03-27 | 2010-09-29 | 株式会社大福 | Article transport device |
| JP2012164271A (en) * | 2011-02-09 | 2012-08-30 | Murata Mach Ltd | Rail-guided truck system |
| TW201910234A (en) * | 2017-08-04 | 2019-03-16 | 日商大福股份有限公司 | Item transport equipment |
| KR20210039236A (en) * | 2019-10-01 | 2021-04-09 | 주식회사 알티자동화 | Smart over-head hoist transporter system |
| CN116031190A (en) * | 2023-03-28 | 2023-04-28 | 浙江果纳半导体技术有限公司 | Conveying system |
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