CN120003919A - Overhead Crane and Overhead Crane System - Google Patents
Overhead Crane and Overhead Crane System Download PDFInfo
- Publication number
- CN120003919A CN120003919A CN202510106105.3A CN202510106105A CN120003919A CN 120003919 A CN120003919 A CN 120003919A CN 202510106105 A CN202510106105 A CN 202510106105A CN 120003919 A CN120003919 A CN 120003919A
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- China
- Prior art keywords
- reading device
- track
- arm
- crown block
- curved track
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The application discloses a crown block and a crown block system, wherein the crown block comprises a main body frame, a travelling mechanism connected to the main body frame and used for travelling on a crown block track, the crown block track comprises a linear track and a curved track, a transplanting mechanism connected to the main body frame and used for transplanting materials, a first reading device connected to the main body frame and used for reading a first label arranged on the linear track, an actuating mechanism connected to the main body frame, a second reading device connected to the actuating mechanism, wherein the actuating mechanism is used for driving the second reading device to move to a storage position when the travelling mechanism travels to the linear track and driving the second reading device to move to an extending position when the travelling mechanism travels to the curved track, and the second reading device is used for reading a second label arranged on the curved track when the travelling mechanism is in the extending position. According to the crown block and the crown block system, the crown block can be positioned on the curved track.
Description
Technical Field
The application relates to the technical field of material conveying equipment, in particular to a crown block and a crown block system.
Background
Overhead travelling crane (Overhead Hoist Transport, OHT) travels on overhead travelling crane track, effecting transport of materials such as wafer cassettes, reticle cassettes, etc. The overhead travelling crane track comprises a linear track and a curved track, and the overhead travelling crane usually scans a positioning code arranged on the linear track through a code scanning device at a specific position on the overhead travelling crane to realize positioning of the overhead travelling crane, so that grabbing or placing of materials on the linear track is performed. The code scanning device is fixed in position and faces the linear crown block track in the vertical direction.
When the overhead traveling crane is in the crooked track, this sweep a yard device and be difficult to just to the crooked track in vertical direction to, overhead traveling crane is difficult to realize the location on the crooked track generally, is difficult to carry out snatching or placing of material on the crooked track, and then, does not set up the board near the crooked track generally, causes the space utilization of mill low.
There is therefore a need for an improvement to at least partially solve the above-mentioned problems.
Disclosure of Invention
In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In order to at least partially solve the above-mentioned problems, according to a first aspect of the present invention, there is provided an overhead travelling crane comprising:
A main body frame;
The travelling mechanism is connected to the main body frame and used for travelling on a crown block track, wherein the crown block track comprises a linear track and a curved track;
the transplanting mechanism is connected with the main body frame and used for transplanting materials;
The first reading device is connected to the main body frame and is used for reading a first label arranged on the linear track;
an actuating mechanism connected to the main body frame;
a second reading device connected to the actuation mechanism;
The actuating mechanism is used for driving the second reading device to move to the storage position when the travelling mechanism travels to the linear track, and driving the second reading device to move to the extension position when the travelling mechanism travels to the curved track;
the second reading device is used for reading a second label arranged on the curved track when the second reading device is in the extending position.
Illustratively, the actuating mechanism includes:
A base connected to the main body frame;
The first end of the first arm is rotatably connected to the base;
A second arm, a first end of the second arm being rotatably connected to a second end of the first arm, the second reading device being connected to a second end of the second arm;
the first actuating device is arranged on the base and/or the first arm and is used for driving the first arm to rotate relative to the base;
And the second actuating device is arranged on the first arm and/or the second arm and is used for driving the second arm to rotate relative to the first arm.
Illustratively, the first tag comprises at least one of a bar code, a two-dimensional code, and a RIFD electronic tag, and the first reading device comprises at least one of a bar code scanner, a two-dimensional code scanner, and a RIFD reader, respectively;
the second tag includes at least one of a bar code, a two-dimensional code, and a RIFD electronic tag, and correspondingly, the second reading device includes at least one of a bar code scanner, a two-dimensional code scanner, and a RIFD reader.
Illustratively, the first and second labels are located on a first horizontal portion surface of the linear track and a second horizontal portion surface of the curved track, respectively;
The projection of the first reading device in the vertical direction can be at least partially overlapped with the first horizontal part surface of the linear track when the travelling mechanism travels on the linear track;
the projection of the second reading device in the vertical direction can at least partially coincide with a second horizontal part surface of the curved track when the travelling mechanism travels on the curved track and the second reading device is in the extended position.
According to a second aspect of the present invention, there is provided an overhead travelling crane comprising:
A main body frame;
the travelling mechanism is connected to the main body frame and used for travelling on a crown block track, wherein the crown block track comprises a linear track and a curved track;
the transplanting mechanism is connected with the main body frame and used for transplanting materials;
an actuating mechanism connected to the main body frame;
A reading device connected to the actuation mechanism;
The actuating mechanism is used for driving the reading device to move to a first position when the travelling mechanism travels to the linear track, and driving the reading device to move to a second position when the travelling mechanism travels to the curved track;
The reading device is used for reading a first label arranged on the linear track when the reading device is in the first position, and reading a second label arranged on the curved track when the reading device is in the second position.
Illustratively, the actuating mechanism includes:
A base connected to the main body frame;
The first end of the first arm is rotatably connected to the base;
A second arm, a first end of the second arm being rotatably connected to a second end of the first arm, the reading device being connected to the second end of the second arm;
the first actuating device is arranged on the base and/or the first arm and is used for driving the first arm to rotate relative to the base;
And the second actuating device is arranged on the first arm and/or the second arm and is used for driving the second arm to rotate relative to the first arm.
Illustratively, the first tag comprises at least one of a bar code, a two-dimensional code, and a RIFD electronic tag, the second tag comprises at least one of a bar code, a two-dimensional code, and a RIFD electronic tag, and the reading device comprises at least one of a bar code scanner, a two-dimensional code scanner, and a RIFD reader, respectively.
Illustratively, the first and second labels are located on a first horizontal portion surface of the linear track and a second horizontal portion surface of the curved track, respectively;
The projection of the reading device in the vertical direction can be at least partially overlapped with the first horizontal part surface of the linear track when the travelling mechanism travels on the linear track and the reading device is at the first position;
The projection of the reading device in the vertical direction can at least partially coincide with a second horizontal portion surface of the curved track when the travel mechanism travels the curved track and the reading device is in the second position.
According to a third aspect of the present invention there is provided an overhead travelling crane system comprising an overhead travelling crane rail and an overhead travelling crane as described above;
The overhead travelling crane track comprises a linear track and a curved track, wherein a first label and a second label are respectively arranged on the linear track and the curved track.
Illustratively, the first tag includes at least one of a bar code, a two-dimensional code, and a RIFD electronic tag;
the second tag comprises at least one of a bar code, a two-dimensional code and a RIFD electronic tag.
According to the crown block and the crown block system, the crown block can effectively read the first label arranged on the linear track and the second label arranged on the curved track, so that the crown block can effectively realize positioning and grabbing or placing materials when being positioned on the linear track and the curved track, a machine table can be arranged near the curved track, and the space utilization rate of a factory can be remarkably improved.
Drawings
The following drawings are included to provide an understanding of the application and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the application and their description to explain the principles and apparatus of the application. In the drawings of which there are shown,
FIG. 1 is a schematic top view of a crown block system of the related art;
FIG. 2 is a schematic top view of a crown block in a linear track according to the related art;
FIG. 3 is a schematic top view of a crown block of the related art in a curved track;
FIG. 4 is a schematic front view of a crown block and crown block track according to a first embodiment of the present application;
FIG. 5 is a schematic top view of an overhead travelling crane according to a first embodiment of the application;
FIG. 6 is a schematic top view of the crown block in a linear track according to the first embodiment of the present application;
FIG. 7 is a schematic top view of the crown block in a curved track according to the first embodiment of the present application;
FIG. 8 is a schematic top view of an overhead travelling crane according to a second embodiment of the application;
FIG. 9 is a schematic top view of a crown block in a linear track according to a second embodiment of the present application;
FIG. 10 is a schematic top view of a crown block in a curved track according to a second embodiment of the present application;
fig. 11 is a schematic top view of an overhead travelling crane system according to an embodiment of the application.
Reference numerals illustrate:
10-crown block, 11-travelling mechanism, 12-code scanning device, 20-crown block track, 21-straight line track, 22-curved track, 30-machine and 40-positioning code;
100-crown block, 100' -crown block, 110-main body frame, 120-travelling mechanism, 130-transplanting mechanism, 131-rotating unit, 132-lateral transplanting unit, 133-clamping unit, 140-first reading device, 150-actuating mechanism, 151-base, 152-first arm, 153-second arm, 160-second reading device, 170-actuating mechanism, 171-base, 172-first arm, 173-second arm, 180-reading device;
200-crown block tracks, 210-straight tracks, 220-curved tracks;
300-first tag;
400-second tag;
500-machine table.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the application may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the application.
It should be understood that the present application may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art. In the drawings, the size of layers and regions, as well as the relative sizes, may be exaggerated for clarity. Like numbers refer to like elements throughout.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the present application.
Spatially relative terms, such as "under," "below," "beneath," "under," "above," "over," and the like, may be used herein for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use and operation in addition to the orientation depicted in the figures.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.
Embodiments of the application are described herein with reference to cross-sectional illustrations that are schematic illustrations of idealized embodiments (and intermediate structures) of the application. In this way, variations from the shapes of the illustrations as a result, for example, of manufacturing techniques and/or tolerances, are to be expected. Thus, embodiments of the application should not be limited to the specific shapes shown herein, but rather include deviations in shapes that result, for example, from manufacturing. Thus, the illustrations shown in the figures are schematic in nature, and their shapes are not intended to illustrate the actual shape of a device and are not intended to limit the scope of the application.
The crown block system of the related art will be described with reference to fig. 1 to 3. The crown block system includes crown blocks 10 and crown block rails 20.
The overhead traveling crane rail 20 includes a straight rail 21 and a curved rail 22, wherein a plurality of positioning codes 40 (e.g., bar codes containing positioning information, etc.) are provided on the straight rail 21.
The crown block 10 is provided with a travelling mechanism 11, a code scanning device 12 and a transplanting mechanism. The crown block 10 travels on the crown block track 20 through the traveling mechanism 11, the traveling mechanism 11 may include a motor, a transmission assembly and at least four traveling wheels, the traveling wheels are located on the crown block track 20, and the motor drives the traveling wheels to rotate through the transmission assembly so that the crown block 10 travels on the crown block track 20. The code scanning device 12 is disposed at a fixed position on the crown block 10, referring to fig. 2, when the crown block 10 is located on the linear rail 21, the code scanning device 12 faces the linear rail 21 in the vertical direction, so that when the crown block 10 travels on the linear rail 21, the code scanning device 12 can scan the positioning code 40 on the linear rail 21 to realize positioning of the crown block 10. Further, the crown block 10 may be stopped at an appropriate position while traveling on the linear rail 21 to grasp a material (such as a wafer cassette or the like) from a preset position by the transplanting mechanism or to place the material carried by the crown block 10 to a preset position, thereby realizing conveyance of the material.
Referring to fig. 3, when the carriage 10 is positioned on the curved track 22, the code scanning device 12 may be vertically offset from the curved track 22, and even if the positioning code 40 is disposed on the curved track 22, it is difficult for the code scanning device 12 to effectively scan it to acquire positioning information. Thus, it is often difficult to position the crown block 10 on the curved track 22, and further, it is difficult for the crown block 10 to grasp or place material on the curved track 22. Therefore, referring to fig. 1, in a factory, the machine 30 is generally disposed only near the linear rail 21, and the machine 30 is not generally disposed near the curved rail 22, resulting in low space utilization of the factory.
An overhead traveling crane according to a first embodiment of the present application, which includes a main body frame 110, a traveling mechanism 120, a transplanting mechanism 130, a first reading device 140, an actuating mechanism 150, and a second reading device 160, is exemplarily described with reference to fig. 4 to 8.
The main body frame 110 is a frame structure on the crown block 100, which is used for carrying and mounting other components on the crown block 100, and the other components on the crown block 100 are directly or indirectly connected to the main body frame 110. The main body frame 110 is a metal frame, and may be formed of one metal piece or may be formed of a plurality of metal pieces connected to each other.
The traveling mechanism 120 is connected to the main body frame 110 for traveling on the crown block rail 200. For example, the traveling mechanism 120 may include a motor, a transmission assembly, and at least four traveling wheels configured to travel on the crown block rail 200 in a rolling manner, and rotatably disposed on the main body frame 110, the motor and the transmission assembly being disposed on the main body frame 110, the motor driving the traveling wheels to rotate through the transmission assembly to travel the crown block 100 on the crown block rail 200. The overhead traveling crane rail 200 includes a linear rail 210 and a curved rail 220, wherein the linear rail 210 is a rail having a linear extending direction, and the curved rail 220 is a rail having a curved extending direction. The linear track 210 is provided with a first tag 300 and the curved track 220 is provided with a second tag 400, and both the first tag 300 and the second tag 400 may contain positioning information.
The transplanting mechanism 130 is connected to the main body frame 110 for transplanting the material. It should be noted that, the term "transferring material" includes grasping material from one location, moving the material with the material, and placing the material at another location. Illustratively, the material may be a wafer box or a reticle box, and the wafer box may be a FOUP (Front Opening Unified Pod, front opening wafer transfer box) or a FOSB (Front Opening Shipping Box, front opening wafer transport box), where the FOUP is mainly used for transporting wafers in a production process, the FOSB is mainly used for transporting bare wafers, and the reticle box is used for transporting reticles (also referred to as reticles) used in a semiconductor manufacturing process.
For example, referring to fig. 4, the transplanting mechanism 130 may include a rotation unit 131, a lateral transplanting unit 132, and a clamping unit 133, the rotation unit 131 being connected to the main body frame 110, the lateral transplanting unit 132 being connected to the rotation unit 131, the clamping unit 133 being connected to the lateral transplanting unit 132. The rotating unit 131 is used for driving the transverse transplanting unit 132 and the clamping unit 133 to integrally rotate around a rotating shaft extending along the vertical direction, the transverse transplanting unit 132 is used for enabling the clamping unit 133 to move in the horizontal direction, the transverse transplanting unit 132 is used for driving the clamping unit 133 to lift in the vertical direction, and the clamping unit 133 is used for clamping materials when the materials are grabbed and loosening the clamped materials when the materials are placed. It should be noted that, the transplanting mechanism 130 is a conventional mechanical structure, and the specific structures of the rotating unit 131, the transverse transplanting unit 132, and the clamping unit 133 are known to those skilled in the art, and are not described in detail herein.
The first reading device 140 is connected to the main body frame 110, and the first reading device 140 is used for reading the first tag 300 disposed on the linear track 210. The first reading device 140 is fixedly or detachably connected to the main body frame 110, and is fixed in position on the crown block 100, and when the crown block 100 is located on the linear rail 210, the position of the first reading device 140 corresponds to the position of the first tag 300 disposed on the linear rail 210 (i.e. the relative positional relationship between the two can ensure that the first reading device 140 can read the first tag 300 to obtain the positioning information contained in the first tag). Thus, when the crown block 100 travels on the linear rail 210, the first reading device 140 may read the first tag 300 disposed on the linear rail 210 to obtain positioning information in the first tag 300, so as to realize positioning of the crown block 100. Further, when the crown block 100 travels on the linear rail 210, it may be stopped at a proper position to grasp the material from a preset position by the transplanting mechanism 130 or to place the material carried by the crown block 100 to a preset position, thereby realizing the conveyance of the material.
The actuating mechanism 150 is connected to the main body frame 110. Specifically, the actuating mechanism 150 may be directly or indirectly connected to the main body frame 100, for example, the actuating mechanism 150 may be connected to the traveling mechanism 120 or the transplanting mechanism 130, and indirectly connected to the main body frame 110 through the traveling mechanism 120 or the transplanting mechanism 130. The second reading device 160 is connected to the actuation mechanism 150. The actuating mechanism 150 is a mechanical structure that drives the second reading device 160 to move at least in a horizontal direction. The actuating mechanism 150 is configured to drive the second reading device 160 to move to the storage position (as shown in fig. 6) when the traveling mechanism 120 travels to the linear track 210, and at this time, since the first reading device 140 can read the first tag 300 disposed on the linear track 210 to position the crown block 100, the second reading device 160 does not perform the reading operation, so as to reduce unnecessary power consumption or unnecessary collision risk. The actuating mechanism 150 is further configured to drive the second reading device 160 to move to the extended position (as shown in fig. 7) when the travelling mechanism 120 travels to the curved track 220, and the second reading device 160 is configured to read the second tag 400 disposed on the curved track 220 when in the extended position. That is, when the second reading device 160 is in the extended position, the relative positional relationship between the second reading device 160 and the second tag 400 ensures that the second reading device 160 can read the second tag 400 to obtain the positioning information contained therein. Thus, when the crown block 100 travels on the curved track 220, the second reading device 160 may read the second tag 400 disposed on the curved track 220 to obtain positioning information in the second tag 400, so as to realize positioning of the crown block 100. Further, when the crown block 100 travels on the curved track 220, it may be stopped at an appropriate position to grasp the material from a preset position by the transplanting mechanism 130 or to place the material carried by the crown block 100 to a preset position, thereby realizing the conveyance of the material.
Illustratively, the second reading device 160 in the stowed position is closer to the center of the crown block 100 than the second reading device 160 in the extended position. It should be further noted that, in the present application, the extended position is not a fixed position, on one hand, for the same curved track 220, the extended position of the second reading device 160 may be changed continuously according to the change of the position of the crown block 100 in the curved track 220, and on the other hand, for different curved tracks 220 (for example, a curved track 220 with a larger arc and a curved track 220 with a smaller arc), the actuating mechanism 150 may drive the second reading device 160 to correspondingly move to different extended positions, so as to ensure that the second reading device 160 can read the second tag 400 disposed on the curved track 220 in different curved tracks 220 to obtain the positioning information contained therein.
According to the overhead travelling crane 100 disclosed by the application, the first tag 300 arranged on the linear track 210 and the second tag 400 arranged on the curved track 220 can be effectively read to acquire the positioning information contained in the first tag, so that the overhead travelling crane 100 can be effectively positioned when being positioned on the linear track 210 and the curved track 220 and can be used for grabbing or placing materials, a machine table can be arranged near the curved track 220, and the space utilization rate of a factory can be obviously improved.
Referring to fig. 5, in the present embodiment, the actuating mechanism 150 includes a base 151, a first arm 152, a second arm 153, a first actuating device (not shown), and a second actuating device (not shown).
The base 151 is connected to the main body frame 110. Illustratively, the base 151 may be detachably coupled to the main body frame 110 by a coupling member such as a bolt, or fixedly coupled to the main body frame 110 by a means such as welding.
A first end of the first arm 152 is rotatably coupled to the base 151. Illustratively, a first end of the first arm 152 may be rotatably coupled to the base 151 via a bearing, and the first arm 152 may be rotatable relative to the base 151 about a rotational axis extending in a vertical direction. Illustratively, the first arm 152 may be a metal rod.
The first end of the second arm 153 is rotatably connected to the second end of the first arm 152, and the second reading device 160 is connected to the second end of the second arm 153. Illustratively, a first end of the second arm 153 may be rotatably coupled to a second end of the first arm 152 by a bearing, and the second arm 153 may be rotatable relative to the first arm 152 about a rotational axis extending in a vertical direction. Illustratively, the second arm 153 may be a metal rod. Illustratively, the second reading device 160 may be detachably coupled to the second end of the second arm 153 by a coupling such as a bolt.
The first actuating device is disposed on the base 151 and/or the first arm 152, and is configured to drive the first arm 152 to rotate relative to the base 151, so as to drive the second arm 153 and the second reading device 160 to move integrally in a horizontal direction, for example. For example, the first actuating means may comprise a motor provided on one of the base 151 and the first arm 152 and a transmission assembly provided on the base 151 and/or the first arm 152, the motor being in transmission connection with the other of the base 151 and the first arm 152 via the transmission assembly, such that the motor is operable to drive the first arm 152 in rotation relative to the base 151. By way of example, the drive assembly may be a gear drive assembly, a belt drive assembly, or the like. It should be noted that the first actuating means may also be other means known to a person skilled in the art capable of driving one of the two rotatably connected articles in rotation relative to the other.
The second actuating device is disposed on the first arm 152 and/or the second arm 153, and is used for driving the second arm 153 to rotate relative to the first arm 152, so as to drive the second reading device 160 to move in a horizontal direction as a whole. As an example, the second actuating means may comprise a motor provided on one of the first arm 152 and the second arm 153 and a transmission assembly provided on the first arm 152 and/or the second arm 153, the motor being in transmission connection with the other of the first arm 152 and the second arm 153 via the transmission assembly, whereby the motor is operable to drive the second arm 153 in rotation relative to the first arm 152. By way of example, the drive assembly may be a gear drive assembly, a belt drive assembly, or the like. It should be noted that the second actuating means may also be other means known to a person skilled in the art capable of driving one of the two rotatably connected articles in rotation with respect to the other.
Thus, by controlling the angle at which the first actuating device drives the first arm 152 to rotate and the angle at which the second actuating device drives the second arm 153 to rotate, the second reading device 160 can be driven to switch between the storage position and the extended position. For example, when the crown block 100 travels to the curved track 220 (for example, when the first scanning device scans the positioning information acquired by the first tag 300 to determine that the crown block 100 is about to enter the curved track 220), the first actuating device and the second actuating device may rotate the first arm 152 and the second arm 153 according to the preset angle data, so that the second reading device 160 may read the second tag 400 disposed on the curved track 220 when moving from the storage position to the extended position.
In an exemplary embodiment, the crown block 100 includes a controller (not shown) including a control module, a communication module, a travel module, an action module, a reading module, and the like, all of which are connected to the control module. The travel module is in control connection with the travel mechanism 120 (e.g., in control connection with a motor in the travel mechanism 120) for controlling the travel mechanism 120 to travel, slow down or stop on the crown block rail 200, the actuation module is in control connection with the actuation mechanism 150 (e.g., in control connection with a first actuation device and a second actuation device in the actuation mechanism 150) for controlling the actuation mechanism 150 to switch the second reading device 160 between the stowed position and the extended position, the reading module is in control connection with the first reading device 140 and the second reading device 160 for controlling the first reading device 140 and the second reading device 160 to read or stop reading and obtain information therefrom, the communication module is in communication connection with the crown block control system for receiving control instructions from the crown block control system, and, illustratively, the communication module can also be used for transmitting information of the crown block 100 (e.g., information read by the first reading device 140 and the second reading device 160) to the crown block control system, and the control module can also be used for controlling at least one of the travel module, the actuation module and the reading module to perform a corresponding action according to the control instructions received by the communication module, and the communication module can also be used for transmitting information to the second reading device 160 to the crown block control system through the communication module 140.
In some embodiments, when the crown block 100 travels on the linear track 210, the reading module controls the first reading device 140 to read the first tag 300 disposed on the linear track 210 to obtain the positioning information contained therein, and after each time the first reading device 140 reads the positioning information, the control module sends the positioning information read by the first reading device 140 to the crown block control system through the communication module, the crown block control system sends a control instruction to the communication module according to the positioning information, and the control module controls at least one of the traveling module, the action module and the reading module to perform a corresponding action according to the control instruction, for example, controls the traveling module to make the traveling mechanism 120 continue traveling on the linear track 210. When the positioning information received by the crane control system indicates that the crane 100 will travel from the linear track 210 to the curved track 220, the crane control system sends a control instruction for simultaneously controlling the traveling module, the action module and the reading module to act to the communication module, and the control module controls the traveling module, the action module and the reading module to act correspondingly according to the control instruction, specifically controls the traveling module to control the traveling mechanism 120 to travel on the curved track 220 according to the control instruction, controls the action module to control the actuating mechanism 150 to drive the second reading device 160 to move to the extended position according to the control instruction, and controls the reading module to control the first reading device 140 to stop reading according to the control instruction, and controls the second reading device 160 to read. Thus, the second reading device 160 in the extended position can effectively read the second tag 400 disposed on the curved track 220 to obtain the positioning information contained therein when the crown block 100 travels on the curved track 220. After the second reading device 160 reads the positioning information, the control module sends the positioning information read by the second reading device 160 to the crown block control system through the communication module, the crown block control system sends a control command to the communication module according to the positioning information, and the control module controls at least one of the driving module, the action module and the reading module to perform corresponding actions according to the control command.
In some embodiments, when the crown block 100 is in an initial position (e.g., when the linear track 210) the crown block control system sends a target position to the communication module, and the control module controls the travel module to operate according to the target position to cause the crown block 100 to travel from the initial position to the target position. When the crown block 100 travels on the linear track 210, the reading module controls the first reading device 140 to read the first tag 300 disposed on the linear track 210 to obtain the positioning information contained in the first tag. After the first reading device 140 reads the positioning information, the control module controls at least one of the driving module, the motion module and the reading module to perform a corresponding motion according to the positioning information, for example, controls the driving module to control the traveling mechanism 120 to continue traveling a preset distance on the linear track 210 to the target position. When the positioning information read by the first reading device 140 indicates that the crown block 100 will travel from the linear track 210 to the curved track 220, the control module directly controls the traveling module, the action module and the reading module to act correspondingly according to the pre-configured action program, specifically, controls the traveling module to control the traveling mechanism 120 to travel on the curved track 220, controls the action module to control the actuating mechanism 150 to drive the second reading device 160 to move to the extended position, controls the reading module to control the first reading device 140 to stop reading, and controls the second reading device 160 to read. Thus, when the crown block 100 travels on the curved track 220, the second reading device 160 can effectively read the second tag 400 disposed on the curved track 220 to obtain the positioning information contained therein. After the second reading device 160 reads the positioning information, the control module controls at least one of the driving module, the action module and the reading module to perform corresponding actions according to the positioning information read by the second reading device 160.
In some embodiments, the control module obtains the command of the crown block control system, then controls the traveling module to control the traveling mechanism 120 to travel on the curved track 220 according to the control command, and the control module directly controls the action module to act correspondingly, in some embodiments, the control module directly controls the traveling module to act, and then controls the action module to control the braking mechanism 150 to act correspondingly according to the control command after obtaining the command of the crown block control system, and in some embodiments, the control module controls the action module to act correspondingly based on the command and a pre-configured action program in the control module after obtaining the command of the crown block control system. The application is not limited thereto, and is not limited thereto.
The first tag 300 includes at least one of a bar code, a two-dimensional code, and a RIFD electronic tag, and correspondingly, the first reading device 140 includes at least one of a bar code scanner, a two-dimensional code scanner, and a RIFD reader. The RIFD reader can read information contained in the RIFD electronic tag by near field communication. By way of example, the information contained in the first tag 300 may include information for controlling traveling of the crown block, such as positioning information, etc., and the present application is not limited to the specific content of the information for controlling traveling of the crown block contained in the first tag 300, as the case may be. The second tag 400 is identical to the first tag 300 and is merely provided in a different position, and a description thereof will not be repeated. That is, the second tag 400 includes at least one of a bar code, a two-dimensional code, and a RIFD electronic tag, and correspondingly, the second reading device 160 includes at least one of a bar code scanner, a two-dimensional code scanner, and a RIFD reader.
Illustratively, the first and second labels 300 and 400 are located on a first horizontal portion surface of the linear rail 210 and a second horizontal portion surface of the curved rail 220, respectively. Wherein the first horizontal portion surface of the linear rail 210 may be a portion of the horizontal surface of the upper side or the lower side of the linear rail 210 (in the vertical direction), and the second horizontal portion surface of the curved rail 220 may be a portion of the horizontal surface of the upper side or the lower side of the curved rail 220 (in the vertical direction).
When the traveling mechanism 120 travels on the linear rail 210, the projection of the first reading device 140 in the vertical direction can at least partially coincide with the first horizontal portion surface of the linear rail 210. Specifically, when the first horizontal portion surface of the linear rail 210 is located on the horizontal surface of the upper side (in the vertical direction) of the linear rail 210, the first reading device 140 is located above the linear rail 210, the projection of the movement trace of the first reading device 140 in the vertical direction is at least partially coincident with the first horizontal portion surface (as shown in fig. 6), and when the first horizontal portion surface of the linear rail 210 is located on the horizontal surface of the lower side (in the vertical direction) of the linear rail 210, the first reading device 140 is located below the linear rail 210, and the projection of the movement trace of the first reading device 140 in the vertical direction is at least partially coincident with the first horizontal portion surface. Thus, the first reading device 140 can be aligned with the first tag 300 in the vertical direction when moving to the first tag 300, and thus information contained in the first tag 300 can be effectively read.
When the traveling mechanism 120 travels on the curved track 220 and the second reading device 160 is in the extended position, the projection of the second reading device 160 in the vertical direction can at least partially coincide with the second horizontal portion surface of the curved track 220. Specifically, when the second horizontal portion surface of the curved track 220 is located on the horizontal surface of the upper side (in the vertical direction) of the curved track 220, the second reading device 160 in the extended position is located above the curved track 220, the projection of the movement locus of the second reading device 160 in the vertical direction downward at least partially coincides with the second horizontal portion surface (as shown in fig. 7), and when the second horizontal portion surface of the curved track 220 is located on the horizontal surface of the lower side (in the vertical direction) of the curved track 220, the second reading device 160 in the extended position is located below the curved track 220, and the projection of the movement locus of the second reading device 160 in the vertical direction at least partially coincides with the second horizontal portion surface. Thus, the second reading device 160 in the extended position may be vertically aligned with the second tag 400 when moved thereto, and thus information contained in the second tag 400 may be effectively read.
An overhead traveling crane 100 'according to a second embodiment of the present application is exemplarily described with reference to fig. 8 to 10, and the overhead traveling crane 100' includes a main body frame 110, a traveling mechanism 120, a transplanting mechanism 130, an actuating mechanism 170, and a reading device 180. The main body frame 110, the traveling mechanism 120, and the transplanting mechanism 130 are the same as those of the above-described embodiment, and a description thereof will not be repeated.
The actuating mechanism 170 is connected to the main body frame 110. Specifically, the actuating mechanism 170 may be directly or indirectly connected to the main body frame 100, for example, the actuating mechanism 170 may be connected to the traveling mechanism 170 or the transplanting mechanism 130, and indirectly connected to the main body frame 110 through the traveling mechanism 120 or the transplanting mechanism 130. The reading device 180 is connected to the actuating mechanism 170. The actuating mechanism 170 is a mechanical structure that drives the reading device 180 to move at least in a horizontal direction. The actuating mechanism 170 is configured to drive the reading device 180 to move to a first position (as shown in fig. 9) when the travelling mechanism 120 travels to the linear track 210, and the reading device 180 is configured to read the first tag 300 disposed on the linear track 210 when in the first position. That is, when the reading device 180 is in the first position, the relative positional relationship between the reading device 180 and the first tag 300 can ensure that the reading device 180 can read the first tag 300 to obtain the positioning information contained therein. Thus, when the crown block 100 'travels on the linear track 210, the reading device 180 may read the first tag 300 disposed on the linear track 210 to obtain positioning information in the first tag 300, so as to realize positioning of the crown block 100'. Further, when the crown block 100 'travels on the linear rail 210, it may be stopped at an appropriate position to grasp the material from a preset position by the transplanting mechanism 130 or to place the material carried by the crown block 100' to a preset position, thereby realizing the conveyance of the material.
The actuating mechanism 170 is further configured to drive the reading device 180 to move to a second position (as shown in fig. 10) when the travelling mechanism 120 travels to the curved track 220, and the reading device 180 is configured to read a second label 400 disposed on the curved track 220 when in the second position. That is, when the reading device 180 is in the second position, the relative positional relationship between the reading device 180 and the second tag 400 can ensure that the reading device 180 can read the second tag 400 to obtain the positioning information contained therein. Thus, when the crown block 100 'travels on the curved track 220, the reading device 180 may read the second tag 400 disposed on the curved track 220 to obtain positioning information in the second tag 400, so as to position the crown block 100'. Further, the overhead traveling crane 100 'may be stopped at an appropriate position to grasp the material from a preset position by the transplanting mechanism 130 or to place the material carried by the overhead traveling crane 100' to a preset position, thereby realizing the conveyance of the material.
It should be noted that the first position may be a fixed position, and the second position may not be a fixed position, so that, for the same curved track 220, the second position where the reading device 180 is located may be changed continuously with the change of the position of the crown block 100' in the curved track 220, and, for different curved tracks 220 (e.g., a curved track 220 with a larger arc and a curved track 220 with a smaller arc), the actuating mechanism 170 may drive the reading device 180 to move to a different second position, so as to ensure that the reading device 180 can read the second tag 400 disposed on the curved track 220 in each of the different curved tracks 220 to obtain the positioning information contained in the second tag.
According to the overhead travelling crane 100', the first tag 300 arranged on the linear track 210 and the second tag 400 arranged on the curved track 220 can be effectively read to acquire the positioning information contained in the first tag, so that the overhead travelling crane 100' can effectively realize positioning and grasp or place materials when being positioned on the linear track 210 and the curved track 220, a machine can be arranged near the curved track 220, and the space utilization rate of a factory can be remarkably improved.
In the present embodiment, the actuating mechanism 170 includes a base 171, a first arm 172, a second arm 173, a first actuating device (not shown), and a second actuating device (not shown). The specific structure and operation principle of the base 171, the first arm 172, the second arm 173, the first actuating means, and the second actuating means are the same as those of the base 151, the first arm 152, the second arm 153, the first actuating means, and the second actuating means of the above-described embodiments, and the description thereof will not be repeated.
In an exemplary embodiment, the crown block 100' includes a controller (not shown) including a control module, a communication module, a travel module, an action module, a reading module, and the like, all of which are connected to the control module. The travel module is in control connection with the travel mechanism 120 (e.g., in control connection with a motor in the travel mechanism 120) for controlling the travel mechanism 120 to travel, slow down or stop on the crown block track 200, the actuation module is in control connection with the actuation mechanism 170 (e.g., in control connection with a first actuation device and a second actuation device in the actuation mechanism 170) for controlling the actuation mechanism 170 to switch the reading device 180 between a first position and a second position, the reading module is in control connection with the reading device 180 for controlling the reading device 180 to read and obtain information read by the reading device, the communication module is in communication connection with the crown block control system for receiving control instructions from the crown block control system, the communication module may also be used for sending information of the crown block 100' (e.g., information read by the reading device 180) to the crown block control system, and the control module may be used for controlling at least one of the travel module, the actuation module and the reading module to perform a corresponding action based on the control instructions received by the communication module, and the control module may also be used for sending information read by the reading device 180 to the crown block control system via the communication module.
In some embodiments, when the crown block 100' travels on the linear track 210, the control module controls the actuating module to control the actuating mechanism 170 to drive the reading device 180 to move to the first position, the reading module controls the reading device 180 to read the first tag 300 disposed on the linear track 210 to obtain the positioning information contained in the first tag, after the reading device 180 reads the positioning information each time, the control module sends the positioning information read by the reading device 180 to the crown block control system through the communication module, the crown block control system sends a control instruction to the communication module according to the positioning information, and the control module controls at least one of the traveling module, the actuating module and the reading module to perform corresponding actions according to the control instruction, for example, controls the traveling module to control the traveling mechanism 120 to continue traveling on the linear track 210. When the positioning information received by the crane control system indicates that the crane 100' is about to travel from the linear track 210 to the curved track 220, the crane control system sends a control instruction for simultaneously controlling the traveling module and the action module to act to the communication module, and the control module controls the traveling module and the action module to act correspondingly according to the control instruction, specifically, controls the traveling module to control the traveling mechanism 120 to travel on the curved track 220 according to the control instruction, and controls the action module to control the actuating mechanism 170 to drive the reading device 180 to move to the second position according to the control instruction. Thus, the reading device 180 in the second position can effectively read the second tag 400 disposed on the curved track 220 to obtain the positioning information contained therein when the crown block 100' travels on the curved track 220. After the positioning information is read by the reading device 180, the control module sends the positioning information read by the reading device 180 to the crown block control system through the communication module, the crown block control system sends a control instruction to the communication module according to the positioning information, and the control module controls at least one of the running module, the action module and the reading module to perform corresponding actions according to the control instruction.
In some embodiments, the control module obtains the command of the crown block control system, then controls the traveling module to control the traveling mechanism 120 to travel on the curved track 220 according to the control command, and the control module directly controls the action module to act correspondingly, in some embodiments, the control module directly controls the traveling module to act, and then controls the action module to control the braking mechanism 150 to act correspondingly according to the control command after obtaining the command of the crown block control system, and in some embodiments, the control module controls the action module to act correspondingly based on the command and a pre-configured action program in the control module after obtaining the command of the crown block control system. The application is not limited thereto, and is not limited thereto.
In some embodiments, the crown block 100 'is in an initial position (e.g., when the linear track 210) and the crown block control system sends a target position to the communication module, according to which the control module controls the travel module to operate to cause the crown block 100' to travel from the initial position to the target position. When the crown block 100' travels on the linear track 210, the control module controls the action module to control the actuating mechanism 170 to drive the reading device 180 to move to the first position, and the reading module controls the reading device 180 to read the first tag 300 arranged on the linear track 210 so as to acquire the positioning information contained in the first tag. After the positioning information is read by the reading device 180, the control module controls at least one of the driving module, the action module and the reading module to perform corresponding actions according to the positioning information, for example, controls the driving module to control the travelling mechanism 120 to continue travelling a preset distance on the linear track 210 to the target position. When the positioning information read by the reading device 180 indicates that the crown block 100' is about to travel from the linear track 210 to the curved track 220, the control module directly controls the traveling module and the action module to act correspondingly according to the pre-configured action program, specifically, controls the traveling module to control the traveling mechanism 120 to travel on the curved track 220, and controls the action module to control the actuating mechanism 170 to drive the reading device 180 to move to the second position. Thus, when the crown block 100' travels on the curved track 220, the reading device 180 can effectively read the second tag 400 disposed on the curved track 220 to obtain the positioning information contained therein. After the positioning information is read by the reading device 180, the control module controls at least one of the driving module, the action module and the reading module to perform corresponding actions according to the positioning information read by the reading device 180.
In this embodiment, the first tag 300 and the second tag 400 are the same as the above-described embodiment, and a description thereof will not be repeated. That is, the first tag 300 and the second tag 400 each include at least one of a bar code, a two-dimensional code, and a RIFD electronic tag, and correspondingly, the reading device 180 includes at least one of a bar code scanner, a two-dimensional code scanner, and a RIFD reader.
Illustratively, the first and second labels 300 and 400 are located on a first horizontal portion surface of the linear rail 210 and a second horizontal portion surface of the curved rail 220, respectively. Wherein the first horizontal portion surface of the linear rail 210 may be a portion of the horizontal surface of the upper side or the lower side of the linear rail 210 (in the vertical direction), and the second horizontal portion surface of the curved rail 220 may be a portion of the horizontal surface of the upper side or the lower side of the curved rail 220 (in the vertical direction).
When the traveling mechanism 120 travels on the linear track 210 and the reading device 180 is in the first position, the projection of the reading device 180 in the vertical direction can at least partially coincide with the first horizontal portion surface of the linear track 210. Specifically, when the first horizontal portion surface of the linear rail 210 is located on the horizontal surface of the upper side (in the vertical direction) of the linear rail 210, the reading device 180 in the first position is located above the linear rail 210, the projection of the movement locus of the reading device 180 in the first position in the vertical direction is at least partially overlapped with the first horizontal portion surface (as shown in fig. 9), and when the first horizontal portion surface of the linear rail 210 is located on the horizontal surface of the lower side (in the vertical direction) of the linear rail 210, the reading device 180 in the first position is located below the linear rail 210, and the projection of the movement locus of the reading device 180 in the first position in the vertical direction is at least partially overlapped with the first horizontal portion surface. Thus, the reading device 180 in the first position may be aligned with the first tag 300 in the vertical direction when moved to the first tag 300, and thus information contained in the first tag 300 may be effectively read.
When the travel mechanism 120 travels on the curved track 220 and the reading device 180 is in the second position, the projection of the reading device 180 in the vertical direction can at least partially coincide with the second horizontal portion surface of the curved track 220. Specifically, when the second horizontal portion surface of the curved track 220 is located on the horizontal surface of the upper side (in the vertical direction) of the curved track 220, the reading device 180 located at the second position is located above the curved track 220, the projection of the movement trace of the reading device 180 in the vertical direction downward coincides at least partially with the second horizontal portion surface (as shown in fig. 10), and when the second horizontal portion surface of the curved track 220 is located on the horizontal surface of the lower side (in the vertical direction) of the curved track 220, the reading device 180 located at the second position is located below the curved track 220, and the projection of the movement trace of the reading device 180 in the vertical direction coincides at least partially with the second horizontal portion surface. Thus, the reading device 180 in the second position may be aligned with the second tag 400 in the vertical direction when moved thereto, and thus information contained in the second tag 400 may be effectively read.
Referring to fig. 11, the present application also provides an overhead traveling crane system including an overhead traveling crane rail 200 and an overhead traveling crane 100 as described above (or an overhead traveling crane 100' as described above). The overhead traveling crane rail 200 includes a linear rail 210 and a curved rail 220, and a first tag 300 and a second tag 400 are respectively disposed on the linear rail 210 and the curved rail 220. For example, the first tag 300 may include at least one of a bar code, a two-dimensional code, and a RIFD electronic tag, and the second tag 400 may include at least one of a bar code, a two-dimensional code, and a RIFD electronic tag.
According to the overhead travelling crane system of the present application, since the overhead travelling crane 100 (overhead travelling crane 100') can be positioned effectively while being positioned on both the linear rail 210 and the curved rail 220, and the gripping or placing of the material can be performed, the machine 500 can be further disposed near the curved rail 220 in addition to the machine 500 disposed near the linear rail 210 (as shown in fig. 11), and the space utilization of the factory can be significantly improved.
Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above illustrative embodiments are merely illustrative and are not intended to limit the scope of the present application thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the application. All such changes and modifications are intended to be included within the scope of the present application as set forth in the appended claims.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, e.g., the division of the elements is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another device, or some features may be omitted or not performed.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in order to streamline the application and aid in understanding one or more of the various inventive aspects, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of the application. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be combined in any combination, except combinations where the features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims.
Claims (10)
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| CN202510106105.3A CN120003919B (en) | 2025-01-22 | 2025-01-22 | overhead cranes and overhead crane systems |
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| CN202510106105.3A CN120003919B (en) | 2025-01-22 | 2025-01-22 | overhead cranes and overhead crane systems |
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| CN120003919B (en) | 2026-01-27 |
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