CN116779511B

CN116779511B - Material handling system

Info

Publication number: CN116779511B
Application number: CN202311054655.2A
Authority: CN
Inventors: 龚昱; 余君山
Original assignee: Shanghai Xinchuangda Semiconductor Equipment Technology Co ltd
Current assignee: Shanghai Xinchuangda Semiconductor Equipment Technology Co ltd
Priority date: 2023-08-22
Filing date: 2023-08-22
Publication date: 2023-12-05
Anticipated expiration: 2043-08-22
Also published as: CN116779511A

Abstract

The embodiment of the application discloses a material handling system, which comprises a first rail, a second rail, a crown block main body, a first traveling wheel, a second traveling wheel, a first wheel changing device and a second wheel changing device. The bearing surface of the first track is provided with a first recess, and the bearing surface of the second track is provided with a second recess; the first wheel changing device is used for changing the first travelling wheel when the first travelling wheel is positioned at the first concave position; the second wheel changing device is used for changing the second travelling wheel when the second travelling wheel is positioned at the second concave position; when the first travelling wheel is positioned at the first concave position, the first travelling wheel is suspended, and the second travelling wheel is positioned in an area outside the second concave position and is borne on the second track; when the second travelling wheel is positioned at the second concave position, the second travelling wheel is suspended, and the first travelling wheel is positioned in the area outside the first concave position and is borne on the first track. According to the embodiment of the application, the first travelling wheel and the second travelling wheel can be automatically replaced, so that the labor intensity is reduced.

Description

Material handling system

Technical Field

The application relates to the technical field of material handling crown blocks, in particular to a material handling system.

Background

In the semiconductor industry, automated material handling systems (Automatic Material Handling System, AMHS) are important assurances for improving semiconductor manufacturing yield, and equipment utilization. A safe and efficient automated material handling system can substantially reduce the waiting time for the product to be processed, thereby reducing the production cycle of wafer products.

The track is an important component of an automatic material conveying system, hundreds of processing technologies are arranged in a wafer factory, and materials are required to be safely and accurately conveyed between different devices through the track by relying on a plurality of material conveying crown blocks (Overhead Hoist Transport, OHT) in the automatic material conveying system. After receiving a command for dispatching a material handling task, the material handling crown block performs reasonable path planning on two paths from the current position to the starting position of the handling task and from the starting position of the handling task to the target position of the handling task according to traffic states of road networks and key traffic intersections, and performs functions such as path re-planning in time when encountering traffic jams due to other reasons, namely a software dispatching algorithm of an automatic material handling system is responsible for task allocation, running path planning and control of all the material handling trolleys.

The material handling crown block is carried on the track by the travelling wheels and walks along the track. The travelling wheels are contacted with the rail for a long time, and can be worn. Therefore, the road wheels need to be replaced in time according to the abrasion degree of the road wheels.

At present, when the travelling wheels of the material handling crown block are replaced, the material handling crown block is lifted by a bracket at will so that the travelling wheels are separated from the track in the vertical direction, and then the travelling wheels are replaced manually. The labor intensity of manually replacing the travelling wheels is high.

In view of the foregoing, it is desirable to develop a material handling system for solving the problem of high labor intensity in replacing the traveling wheels of a material handling overhead traveling crane.

Disclosure of Invention

The embodiment of the application provides a material handling system, which reduces the labor intensity of replacing travelling wheels.

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

in one aspect, a material handling system is provided that includes a first rail, a second rail, a crown block body, a first travel wheel, a second travel wheel, a first wheel changing device, and a second wheel changing device. The first rail and the second rail are arranged in parallel and at intervals in the horizontal plane and are respectively used for being attached below a factory building ceiling, the bearing surface of the first rail is provided with a first recess, and the bearing surface of the second rail is provided with a second recess; the first travelling wheel and the second travelling wheel are respectively and rotatably arranged on the crown block main body and are respectively and detachably connected with the crown block main body, the first travelling wheel is used for rolling on a first track, and the second travelling wheel is used for rolling on a second track; the first wheel replacing device is arranged corresponding to the first recess and is used for replacing the first travelling wheel when the first travelling wheel is positioned at the first recess; the second wheel changing device is arranged corresponding to the second recess and is used for changing the second travelling wheel when the second travelling wheel is positioned at the second recess; when the first travelling wheel is positioned at the first concave position, the first travelling wheel is suspended, and the second travelling wheel is positioned in an area outside the second concave position and is borne on the second track; when the second travelling wheel is positioned at the second concave position, the second travelling wheel is suspended, and the first travelling wheel is positioned in the area outside the first concave position and is borne on the first track.

The first travelling wheel is detachably connected to the crown block body and suspended at the first concave position. When the first travelling wheel needs to be replaced, the first travelling wheel is controlled to travel to the first concave position, and the first travelling wheel replacement device is controlled to replace the first travelling wheel. Therefore, the first travelling wheel is automatically replaced, and the labor intensity is further reduced. Likewise, automated replacement of the second road wheel is achieved.

In addition, when changing first walking wheel, the second walking wheel bears on the second track, is favorable to the overhead traveling crane main part to keep balanced, and then is favorable to changing first walking wheel. Likewise, when the second travelling wheel is replaced, the first travelling wheel is borne on the first track, so that balance of the crown block main body is maintained, and replacement of the second travelling wheel is facilitated.

In addition to or in lieu of one or more of the features disclosed above, the first road wheel and the second road wheel are coaxially disposed, and the first recess and the second recess are offset in the direction of extension of the first track.

Under the premise that the first traveling wheel and the second traveling wheel are not suspended at the same time, the first traveling wheel and the second traveling wheel are coaxially arranged, and the first traveling wheel and the second traveling wheel can be synchronously driven to rotate through the same driving shaft, so that the number of drivers is reduced, and the cost is reduced.

In addition to or in lieu of one or more of the features disclosed above, the material handling system includes a dampener, a reverser wheel, a driver, and a controller. The resisting piece extends along the first track, and is positioned between the first track and the second track in the interval direction of the first track and the second track; the reversing wheel is rotatably arranged on the crown block main body, the reversing wheel can be switched between a first limit position and a second limit position relative to the crown block main body, the reversing wheel can be rolled on one side surface of the resisting piece in the spacing direction in the first limit position, and the reversing wheel can be rolled on the other side surface of the resisting piece in the spacing direction in the second limit position; the driver is arranged on the crown block main body; the controller is in control connection with the driver and is used for controlling the action of the driver so as to enable the driver to drive the reversing wheel to switch between a first limit position and a second limit position.

When the first travelling wheel is replaced, the reversing wheel can be controlled to roll on one side, opposite to the first track, of the resisting piece in the interval direction, the reversing wheel supports the crown block main body to a certain extent, balance of the crown block main body is maintained, and replacement of the first travelling wheel is facilitated. When the second travelling wheel is replaced, the reversing wheel can be controlled to roll on one side, opposite to the second track, of the resisting piece in the interval direction, the reversing wheel supports the crown block main body to a certain extent, balance of the crown block main body is maintained, and replacement of the second travelling wheel is facilitated.

In addition to or in lieu of one or more of the features disclosed above, the material handling system further includes a third rail, a fourth rail, and a diverter.

The third rail and the fourth rail are arranged in parallel and at intervals in the horizontal plane and are respectively used for being attached below a factory ceiling, the fourth rail is interrupted to form a first notch, the first rail and the second rail are respectively connected to two ends of the fourth rail at the first notch to form a bifurcation, the first travelling wheel is also used for rolling on the third rail, and the second travelling wheel is also used for rolling on the fourth rail; the reversing piece is provided with a first guide surface and a second guide surface, the first guide surface extends along the third track, and the second guide surface gradually turns to extend along the first track after extending along the third track; when the reversing wheel is at the first limit position, the reversing wheel can be rolled on the first guide surface so that the crown block body walks along the third rail and the fourth rail, and when the reversing wheel is at the second limit position, the reversing wheel can be rolled on the second guide surface so that the crown block body is switched from walking along the third rail and the fourth rail to walking along the first rail and the second rail.

The guide wheel has the function of keeping balance of the crown block body when the first travelling wheel and the second travelling wheel are replaced, and also has the function of guiding the crown block body to select a travelling path.

In addition to or in lieu of one or more of the features disclosed above, the material handling system further includes a first guide wheel and a second guide wheel. The first guide wheel is rotatably arranged on the crown block main body and is used for rolling on the surface of the first rail facing the second rail in the interval direction of the first rail and the second rail; the second guide wheel is rotatably arranged on the crown block main body and is used for rolling on the surface, facing the first track, of the second track in the interval direction.

The first guide wheel and the second guide wheel can also be favorable for keeping balance of the crown block main body, and then the first travelling wheel and the second travelling wheel can be replaced.

In addition to or in lieu of one or more of the features disclosed above, the material handling system includes a first wear detector and a second wear detector. The first wear detector is positioned on the upstream side of the first wheel changing device and is used for detecting the wear degree of the first travelling wheel; the second wear detector is located on the upstream side of the second wheel changing device and is used for detecting the wear degree of the second travelling wheel.

In addition to or in lieu of one or more of the features disclosed above, the material handling system further includes a third rail, a fourth rail. The three rails and the fourth rail are arranged in parallel and at intervals in the horizontal plane and are respectively used for being attached below a factory ceiling, the fourth rail is interrupted to form a first notch, the first rail and the second rail are respectively connected to two ends of the fourth rail at the first notch to form a bifurcation, the first travelling wheel is also used for rolling on the third rail, and the second travelling wheel is also used for rolling on the fourth rail; the first wear detector and the second wear detector are both located on the upstream side of the bifurcation.

In addition to or in lieu of one or more of the features disclosed above, the first wear detector is a first laser ranging sensor positioned above the first traveling wheel when the first traveling wheel is positioned at the first laser ranging sensor, the first laser ranging sensor being configured to detect a height of the first traveling wheel to thereby obtain a degree of wear of the first traveling wheel; the second wear detector is a second laser ranging sensor, when the second walking wheel is located at the second laser ranging sensor, the second laser ranging sensor is located above the second walking wheel, and the second laser ranging sensor is used for detecting the height of the second walking wheel, so that the wear degree of the second walking wheel is obtained.

In addition to or in lieu of one or more of the features disclosed above, the first rail break forms a second gap, thereby forming a first recess; the second track is interrupted to form a third notch, so that a second recess is formed.

In addition to or in lieu of one or more of the features disclosed above, the first wheel-changing device is disposed on a side of the first rail facing away from the second rail in a horizontal direction; the second wheel changing device is arranged on one side of the second track, which is opposite to the first track, in the horizontal direction.

In addition to or in lieu of one or more of the features disclosed above, the first running gear has a first axis of rotation in which the first running gear is removable; the second travelling wheel is provided with a second rotation axis, and the second travelling wheel is detachable in the direction of the second rotation axis.

Drawings

The technical solution and other advantageous effects of the present application will be made apparent by the following detailed description of the specific embodiments of the present application with reference to the accompanying drawings.

FIG. 1 is a top view of a material handling system according to one embodiment of the present application;

FIG. 2 is a front view of a material handling overhead traveling crane disposed on a track in a material handling system in accordance with one embodiment of the present application;

FIG. 3 is a side view of a material handling crown block positioned on a track in the material handling system of FIG. 2;

FIG. 4 is a top view of a material handling crown block positioned on a track in the material handling system of FIG. 2;

FIG. 5 is a schematic illustration of a material handling overhead traveling crane traveling straight across a fork-crossing in a material handling system in accordance with an embodiment of the present application;

FIG. 6 is a schematic illustration of a material handling crown block turning through a branch road in a material handling system in accordance with an embodiment of the present application;

FIG. 7 is a front view of a material handling crown block traveling to a wear detector in a material handling system in accordance with an embodiment of the present application;

FIG. 8 is a partial structure of a top view of a material handling system according to one embodiment of the present application;

FIG. 9 is a schematic diagram of a material handling overhead travelling crane traveling to a wheel changer in a material handling system according to one embodiment of the present application;

FIG. 10 is a front view of a material handling crown block positioned on a track in a material handling system in accordance with an embodiment of the present application;

FIG. 11 is a side view of a material handling crown block positioned on a track in the material handling system of FIG. 10;

FIG. 12 is a schematic illustration of the material handling system of FIG. 10 with a material handling crown block traveling to a wheel changer.

Reference numerals illustrate:

101 tracks; 101 a-a first track; 101 b-a second track; 1011—main way; 1012-branch; 102-a first guide; 103-a wear detector; 104-a second guide; 105-wheel changing device; 105 a-a first wheel changing device; 105 b-a second wheel changing device; 106-a first guiding surface; 107-crown block body; 108-a second guiding surface; 109-first travel; 110-a controller; 111-a second walking part; 112, a machine; 113-a vehicle body; 114-reversing element; 115-branch road; 116-a bearing surface; 116 a-a first bearing surface; 116 b-a second bearing surface; 117-a guide surface; 117 a-a first guide surface; 117 b-a second guide surface; 119-a first gap; 120-neck axis; 121-a support; 123-travelling wheels; 123 a-first travelling wheel; 123 b-a second road wheel; 124-a spindle; 125-a walk drive; 126-guiding wheels; 126 a-first guide wheel; 126 b-a second guide wheel; 127-steering switch assembly; 129-guide rail; 131-moving member; 133-reversing wheels; 135-reversing shaft; 137-reversing drive; 139-swing arms; 141-a through hole; 143-recessing; 143 a-a first recess; 143 b-a second recess; 145-a retaining member; 147-a first support surface; 149-a second support surface; 151-wheel body; 153-connecting shaft; 200-a material handling crown block; x-transverse width direction; y-front-rear direction.

Detailed Description

In order to make the objects, technical solutions and advantageous effects of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and detailed description. It should be understood that the detailed description is intended to illustrate the application, and not to limit the application.

Please refer to fig. 1. FIG. 1 is a top view of a material handling system according to one embodiment of the present application.

The material handling system includes a track 101, a material handling crown block 200, a wheel changer 105, a wear detector 103, and a controller 110.

The track 101 is attached below the ceiling of the plant (not shown). The track 101 extends along a predetermined path. The predetermined path passes through a plurality of stations 112. A plurality of stations 112 are distributed on the floor of the plant for processing the materials. The material is, for example, a silicon wafer. The predetermined path also passes through the wear detector 103 and the wheel changing device 105.

The material handling crown block 200 travels on the track 101.

The wear detector 103 is used to detect the wear of the road wheels 123 on a material handling day.

Wheel changer 105 is used to change the road wheels 123 of a material handling day.

The controller 110 communicates with the material handling crown block 200, the wheel changing apparatus 105, and the wear detector 103, respectively. The controller 110 controls the material handling vehicle to handle material between a plurality of stations 112. When the wear detector 103 detects that the travel wheels 123 of the material handling crown block 200 reach a predetermined degree of wear, a signal is sent to the controller 110. After receiving the signal, the controller 110 controls the material handling crown block 200 to move to the wheel changing device 105 and controls the wheel changing device 105 to change the travelling wheel 123.

Please refer to fig. 2 to fig. 4. Fig. 2-4 are front, side and top views, respectively, of a material handling overhead traveling crane 200 disposed on a track 101 in a material handling system according to an embodiment of the present application.

The two rails 101 are spaced apart in the lateral direction X of the material handling crown block 200 to form a travel path between the two rails 101.

The material handling crown block 200 includes a crown block body 107, and road wheels 123, guide wheels 126, and reversing wheels 133, each rotatably provided to the crown block body 107 about its own axis.

The crown block body 107 includes a vehicle body 113, a first traveling portion 109, and a second traveling portion 111.

The body 113 is used for loading material and lifting the material to interface with the machine 112. The specific structure of the vehicle body 113 is not related to the point of improvement of the present embodiment, which is not described in the present embodiment, and reference is made to the related design.

The first traveling portion 109 and the second traveling portion 111 are provided at intervals in the front-rear direction Y of the material handling overhead travelling crane 200, and are rotatably connected to the vehicle body 113 via the neck shaft 120, respectively. Specifically, the top end of the neck shaft 120 is fixedly connected to the first running portion 109, the bottom end of the neck shaft 120 is rotatably connected to the vehicle body 113, and the first running portion 109 is rotatable about the axis of the neck shaft 120 with respect to the vehicle body 113. The second walking portion 111 is connected to the vehicle body 113 in a similar manner, and will not be described here.

The first traveling portion 109 and the second traveling portion 111 are provided at intervals in the front-rear direction Y of the material handling overhead travelling crane 200. The front of the material handling crown block 200 is the direction of travel of the material handling crown block 200. The first travelling part 109 and the second travelling part 111 are respectively used for driving the vehicle body 113 to travel on the track 101. The first traveling unit 109 and the second traveling unit 111 have the same structure, and the first traveling unit 109 will be described.

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

The first runner 109 also includes a runner drive 125 and a spindle 124. The rotation shaft 124 is rotatably provided to the support 121 about its own axis. The walking driver 125 is disposed on the support 121 and is used for driving the rotating shaft 124 to rotate.

The road wheels 123 are detachably connected to the crown block body 107. The traveling wheel 123 has a rotation axis, and the traveling wheel 123 is attached to the crown block body 107 or detached from the crown block body 107 in the direction of the rotation axis. Therefore, the replacement wheel device 105 is more convenient to set, so that the replacement wheel device 105 does not occupy the space in the height direction in the factory building.

Specifically, the traveling wheel 123 is detachably connected to the rotation shaft 124. The road wheel 123 includes a wheel body 151 and a connecting shaft 153. The wheel body 151 is sleeved outside the connecting shaft 153. The connection shaft 153 is coaxially disposed with the rotation shaft 124 and detachably connected thereto. For example, the connection shaft 153 is coaxially sleeved with the rotation shaft 124 and locked by a limit structure. In the unlocked state, the connection shaft 153 and the rotation shaft 124 can be coupled or decoupled in the direction of the rotation axis. In the locked state, the connection shaft 153 is fixed relative to the rotation shaft 124.

The traveling wheels 123 are provided one at each end of the material handling crown block 200 in the lateral direction X. One travelling wheel 123 is pressed on the track 101 on one side, and the other travelling wheel 123 is pressed on the track 101 on the other side. The support 121 is supported to the bearing surface 116 of the track 101 by the road wheels 123. The traveling driver 125 drives the rotating shaft 124 to rotate, and the rotating shaft 124 drives the traveling wheel 123 to rotate, so that the traveling wheel 123 rolls on the bearing surface 116 of the track 101 to drive the support 121 to move.

The guide wheel 126 is used to move the first runner 109 under the guidance of the rail 101.

The guide wheels 126 are each provided with one at both ends in the lateral direction X of the material handling crown block 200. The inside of the track 101 has a guide surface 117. One guide wheel 126 is rolled onto the guide surface 117 of the rail 101 on one side in the transverse width direction X, and the other guide wheel 126 is rolled onto the guide surface 117 of the rail 101 on the other side. By providing the two guide wheels 126, the position of the first traveling portion 109 in the lateral direction X is defined, and the first traveling portion 109 can move only along the extending path of the rail 101.

The first runner 109 also includes a power take-off (not shown). The electricity collector is used to collect electricity from litz wire (not shown) running along the track 101 for use by the material handling crown block 200.

The first runner 109 also includes a steer switch assembly 127. The steering switching unit 127 is used to guide the first traveling unit 109 to make a straight run or a turn at the branch road 115.

The steering switching assembly 127 includes a guide rail 129, a moving member 131, a reversing shaft 135, and a swing arm 139.

The guide rail 129 is provided to the support 121. The moving member 131 is slidably engaged with the guide rail 129 in the lateral direction X of the material handling overhead traveling crane 200.

The reversing shaft 135 is rotatably provided to the support 121. The reversing shaft 135 is disposed parallel to the neck shaft 120.

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

The reversing actuator 137 is provided to the support 121. The reversing driver 137 is used to drive the reversing shaft 135 to rotate. The two reversing wheels 133 are rotatably disposed on the moving member 131 about their own axes, respectively.

The diverting pulley 133 has a first limit position (left side in fig. 4) and a second limit position (right side in fig. 4) in the lateral width direction X. The steering wheel 133 is switched between the first limit position and the second limit position by the steering driver 137, and guides the first traveling part 109 to move straight or turn.

Please refer to fig. 5 and 6. FIG. 5 is a schematic diagram of a material handling overhead traveling crane 200 traveling straight through a branch 115 in a material handling system according to one embodiment of the present application. FIG. 6 is a schematic diagram of a material handling overhead traveling crane 200 turning through a branch crossing 115 in a material handling system according to an embodiment of the present application. The arrows in the figure indicate the direction of travel of the material handling crown block 200.

As shown in fig. 5, the track 101 includes a main road 1011 and a branch road 1012 at the branching road 115. Specifically, the third rail (left main road 1011) and the fourth rail (right main road 1011) are disposed in parallel, at intervals in the horizontal plane, and are respectively for attachment below the ceiling of the building. The fourth rail break forms a first gap 119. The first track (one of the branches 1012) and the second track (the other branch 1012) are respectively connected to two ends of the fourth track at the first notch 119, so as to form the bifurcation 115.

At the fork 115, the material handling crown block 200 may select straight or cornering according to the scheduling instructions. Specifically, the steering wheel 133 is switched between the first limit position and the second limit position by the steering driver 137, and guides the first traveling part 109 to move straight or turn.

At the branching point 115, a reversing member 114 is provided. The reverser wheels 133 cooperate with the reverser members 114 to guide the crown block body 107 to travel along the main road 1011 or branch road 1012 at the bifurcation 115.

The reversing element 114 includes a first guide 102 and a second guide 104. The first guide 102 extends in a first direction and the second guide 104 extends in a second direction. The first direction and the second direction intersect. The first direction coincides with the extending direction of the main path 1011. The second direction coincides with the direction of extension of the branch 1012. One end of the second guide 104 is connected to the middle of the first guide 102, and is rounded at the connection. The combination of the first guide 102 and the second guide 104 forms a first guide surface 106 and a second guide surface 108 on opposite sides of the two rails 101 in the direction of separation. The first guide surface 106 extends in a first direction (the extending direction of the main path 1011), and the second guide surface 108 extends in the first direction and then gradually turns to extend in a second direction (the extending direction of the branch path 1012). When the diverting pulley 133 is in the first limit position, it can roll on the first guiding surface 106 and move in the first direction under the guidance of the first guiding surface 106, i.e. guide the first running part 109 to run straight (as shown in fig. 5). When the reversing wheel 133 is in the second limit position, it can roll on the second guiding surface 108, and under the guidance of the second guiding surface 108, move in the first direction, then gradually turn, and finally move in the second direction, that is, guide the first running part 109 to turn (as shown in fig. 6).

Please refer to fig. 7. Fig. 7 is a front view of a material handling crown block 200 traveling to a wear detector 103 in a material handling system in accordance with an embodiment of the present application.

The wear detector 103 is disposed above the upper surface of the rail 101. In particular, the wear detector 103 may be fixed to the factory ceiling.

When the material handling crown block 200 is walked to the position of the wear detector 103, the wear detector 103 is located directly above the road wheels 123. Specifically, the wear detector 103 may be a laser ranging sensor. The laser ranging sensor detects the height H of the road wheel 123, thereby obtaining the diameter of the road wheel 123 and further obtaining the wear degree of the road wheel 123.

Since the material handling crown block 200 is provided with the traveling wheels 123 on both sides in the lateral width direction X, for this purpose, the wear detectors 103 are provided on both sides in the lateral width direction X. The wear detectors 103 are in one-to-one correspondence with the road wheels 123, and each wear detector 103 detects the degree of wear of the corresponding road wheel 123.

Please refer to fig. 1. The wear detector 103 is provided corresponding to the main road 1011 of the bifurcation 115, while the wheel changing device 105 is provided corresponding to the branch road 1012 of the bifurcation 115, and the wear detector 103 is located on the upstream side of the wheel changing device 105. The wear detector 103 is capable of detecting the degree of wear of the road wheels 123 during movement of the material handling crown block 200.

The material handling crown block 200 passes the wear detector 103 at a normal speed. If the travel wheel 123 does not reach the predetermined wear level, the controller 110 controls the material handling overhead travelling crane 200 to travel straight along the main road 1011 at the fork 115. If the travel wheel 123 reaches a predetermined level of wear, the controller 110 controls the material handling crown block 200 to turn around the branch 1012 at the fork 115, i.e., toward the wheel changing device 105.

In the embodiment of fig. 1, the act of detecting the wear level of the road wheels 123 and the act of replacing the road wheels 123 do not affect the remaining normally functioning material handling crown block 200.

Specifically, the method for controlling the material handling system includes the steps of:

controlling the wear detector 103 to detect the degree of wear of the road wheels 123;

in response to road wheels 123 reaching a predetermined level of wear, controlling material-handling crown block 200 to switch from traveling along main road 1011 to traveling along branch road 1012 at fork 115;

the wheel changing device 105 is controlled to change the road wheels 123 of the material handling crown block 200 as the material handling crown block 200 travels along the branch 1012 to a predetermined position.

The control method described above is implemented by the controller 110.

Please refer to fig. 8. FIG. 8 is a partial structure of a top view of a material handling system in accordance with one embodiment of the present application.

In other embodiments, the wear detector 103 may be required to detect the degree of wear of the road wheels 123 while the material handling crown 200 is stopped.

To avoid changing the road wheels 123 from affecting the remaining normally functioning material handling crown block 200, the wear detector 103 is positioned in the leg 1012 of the fork 115. After the material handling crown block 200 is operated for a predetermined period of time, the controller 110 controls the material handling crown block 200 to turn around the branch line 1012 at the branch line 115 so that the material handling crown block 200 moves to the wear detector 103 to detect the wear degree of the traveling wheels 123. If the travel wheels 123 do not reach the predetermined wear level, the material handling crown block 200 passes through the wheel changing device 105 without stopping and then merges into the main road 1011. If the road wheels 123 reach a predetermined level of wear, the material handling crown block 200 replaces the road wheels 123 at the wheel changer 105 and then merges into the main road 1011. Specifically, the control method of the material handling system of this embodiment includes the steps of:

judging whether the running wheel 123 works for a preset time;

in response to the travel wheels 123 not being operated for a predetermined time, controlling the material handling overhead travelling crane 200 to travel along the main road 1011 at the fork 115;

after a predetermined time in response to the road wheels 123 operating, controlling the material handling crown block 200 to travel along the branch 1012 at the fork 115;

controlling the road wheel 123 to roll to a predetermined position on the bearing surface 116 of the branch 1012;

the wheel changing device 105 is controlled to change the traveling wheel 123.

The control method described above is implemented by the controller 110.

In the related art, when the road wheels 123 are replaced, the material handling crown block 200 needs to be lifted by a bracket so that the road wheels 123 are vertically separated from the track 101, and then the road wheels 123 are replaced. The construction of wheel changing apparatus 105 is relatively complex due to the need to perform a lifting action on material handling crown block 200.

In an embodiment of the present application, the branch 1012 has a bearing surface for bearing the road wheels 123 of the material handling crown 200, the bearing surface having a recess 143 at a predetermined location on the downstream side of the bifurcation 115. The wheel changing device 105 is disposed corresponding to a predetermined position, and is used for changing the travelling wheel 123 when the material handling crown block 200 walks to the predetermined position.

Because the bearing surface of the branch 1012 has the recess 143, the traveling wheel 123 is in a suspended state when the material handling overhead travelling crane 200 travels to a predetermined position. The wheel changing device 105 can change the travelling wheel 123 without interference from the branch 1012. The wheel changing device 105 does not need to perform lifting action on the material handling crown block 200, so that the wheel changing device 105 has a simpler structure.

Please refer to fig. 9. Fig. 9 is a schematic diagram of a material handling system in which a material handling crown block 200 is moved to a wheel changing device 105 according to an embodiment of the present application. The arrows in the figure point to the direction of travel of the material handling crown block 200.

Two tracks 101 arranged at intervals are named as a first track 101a and a second track 101b, respectively; the first track 101a has a first bearing surface 116a and a first guiding surface 117a, and the second track 101b has a second bearing surface 116b and a second guiding surface 117b; the two traveling wheels 123 of the first traveling part 109 in the lateral width direction X are respectively named a first traveling wheel 123a and a second traveling wheel 123b; the two guide wheels 126 of the first travel part 109 in the lateral width direction X are respectively named a first guide wheel 126a and a second guide wheel 126b; the two wheel changing devices 105 are named first and second wheel changing devices 105a and 105b, respectively.

The first rail 101a and the second rail 101b extend along a predetermined path, respectively, and are disposed at intervals in the lateral width direction X. The first rail 101a has a first recess 143a on a predetermined path. The first recess 143a is an interrupted notch. The first traveling wheel 123a rolls on the first bearing surface 116a of the first rail 101a, and at the first recess 143a, the first traveling wheel 123a is separated from the first bearing surface 116a (the first traveling wheel 123a is suspended). The second rail 101b has a second recess 143b on a predetermined path. The second recess 143b is an interrupted notch. The second recess 143b is located on the downstream side of the first recess 143a. The second travelling wheel 123b is pressed against the second bearing surface 116b of the second track 101b to roll, and at the second recess 143b, the second travelling wheel 123b is separated from the second bearing surface 116b (the second travelling wheel 123b is suspended). The first recess 143a and the second recess 143b are arranged in a staggered manner in the extending direction of the first track 101a, when the first travelling wheel 123a is suspended, the second travelling wheel 123b is located in an area outside the second recess 143b and is supported on the second track 101b, and when the second travelling wheel 123b is suspended, the first travelling wheel 123a is located in an area outside the first recess 143a and is supported on the first track 101a. So configured, the material handling crown block 200 is advantageously balanced when either the first travel wheel 123a or the second travel wheel 123b is replaced.

Since the first rail 101a has the first recess 143a, the first guide wheel 126a is separated from the first guide surface 117a when the first guide wheel 126a is located at the first recess 143a. The left side of the first runner 109 is unsupported. To further maintain the balance, the following modifications were made.

A stopper 145 is provided at the corresponding first recess 143a and second recess 143b, respectively. The stopper 145 extends along a predetermined path, and is located between the first rail 101a and the second rail 101b in the lateral width direction X. Specifically, the stoppers 145 are parallel to the first rail 101a and the second rail 101b, respectively. The abutment 145 can be fixedly mounted to the factory ceiling. The abutment 145 has a first support surface 147 and a second support surface 149.

The first wheel changing device 105a is disposed corresponding to the first recess 143a. When the material handling crown block 200 moves to the first recess 143a, the first wheel changing device 105a is disposed at one side (left side) of the material handling crown block 200 in the lateral width direction X. Thereby, the space occupied by the first wheel changing device 105a in the height direction can be reduced.

Before the material handling crown block 200 travels to the first recess 143a, the controller 110 controls the reversing actuator 137 to act such that the reversing wheel 133 is in the second extreme position and the reversing wheel 133 is to the right of the abutment 145. As the material handling crown block 200 moves forward, the diverting pulley 133 presses against the second support surface 149 in the cross-width direction X and rolls against the second support surface 149.

The material handling crown block 200 moves forward until the first travel wheel 123a of the first travel portion 109 moves to the first recess 143a. Since the diverting pulley 133 of the first traveling part 109 is pressed against the second supporting surface 149 leftward, the second guiding pulley 126b is pressed against the second guiding surface 117b rightward. The material handling crown block 200 can be balanced and stable even if the first travel wheels 123a of the first travel section 109 are suspended. At this time, the first wheel changing device 105a changes the first traveling wheel 123a of the first traveling section 109.

The material handling crown block 200 moves forward until the first travel wheel 123a of the second travel section 111 moves to the first recess 143a. At this time, the first wheel changing device 105a changes the first traveling wheel 123a of the second traveling section 111.

The second wheel changing device 105b is arranged corresponding to the second recess 143b. When the material handling crown block 200 moves to the second recess 143b, the second wheel changing device 105b is disposed at the other side (right side) of the material handling crown block 200 in the lateral width direction X. Thereby, the space occupied by the second wheel changing device 105b in the height direction can be reduced.

Before the material handling crown block 200 travels to the second recess 143b, the controller 110 controls the reversing actuator 137 to operate such that the reversing wheel 133 is in the first extreme position and the reversing wheel 133 is to the left of the abutment 145. As the material handling crown block 200 moves forward, the diverting pulley 133 presses against the first support surface 147 in the cross-width direction X and rolls against the first support surface 147.

The material handling crown block 200 moves forward until the second road wheel 123b of the first road section 109 moves to the second recess 143b. Since the reversing wheel 133 of the first traveling portion 109 is pressed against the first supporting surface 147, the material handling overhead traveling crane 200 can be balanced and stable even if the second traveling wheel 123b of the first traveling portion 109 is suspended. At this time, the second wheel changing device 105b changes the second traveling wheel 123b of the first traveling part 109.

The material handling crown block 200 moves forward until the second road wheel 123b of the second road section 111 moves to the second recess 143b. At this time, the second wheel changing device 105b changes the second traveling wheel 123b of the second traveling part 111.

The road wheels 123 of the material handling crown block 200 need not be replaced entirely, and some of the road wheels 123 may be selectively replaced based on the detection result of the wear detector 103. Please refer to fig. 10 to 12. FIG. 10 is a front view of a material handling crown block positioned on a track in a material handling system in accordance with an embodiment of the present application. FIG. 11 is a side view of a material handling crown block positioned on a track in the material handling system of FIG. 10. FIG. 12 is a schematic illustration of the material handling system of FIG. 10 with a material handling crown block traveling to a wheel changer.

This embodiment is different from the above embodiments in that the rail 101 is not interrupted, and thus, the influence on the guide wheel 126 can be reduced.

The material handling system includes a track 101 and a material handling crown 200 mounted to the track 101. The track 101 extends along a predetermined path. The material handling crown block 200 travels along the track 101.

The track 101 has a bearing surface 116 and a guide surface 117. The bearing surface 116 is located on the top surface of the track 101. The guide surface 117 is located at the side of the track 101.

The material handling crown block 200 includes a crown block body 107, and road wheels 123 and guide wheels 126 provided to the crown block body 107 rotatably about their own axes, respectively.

The crown block body 107 is used to carry material.

The road wheel 123 is detachably connected to the crown block body 107. The road wheels 123 roll on the bearing surface 116 to drive the crown block body 107 to walk.

The guide wheels 126 roll on the guide surface 117 to guide the crown block body 107 to walk along the extended path of the track 101.

The bearing surface 116 has a recess 143 at a predetermined position of the path along which the track 101 extends. The road wheel 123 is separated from the bearing surface 116 when rolling on the bearing surface 116 to a predetermined position. The recess 143 may or may not extend through the track 101 in the lateral direction X (as shown in the figure).

The guide surface 117 is uninterrupted at a predetermined position of the path along which the track 101 extends, i.e. the guide wheel 126 is always pressed against the guide surface 117, at which position it is able to press against at least part of the guide surface 117.

The wheel changing device 105 is disposed corresponding to a predetermined position for changing the traveling wheel 123 when the traveling wheel 123 is located at the predetermined position.

The rest of this embodiment can refer to the above embodiments, and will not be described herein.

In summary, the embodiment of the application can automatically replace the first traveling wheel or the second traveling wheel, thereby reducing labor intensity.

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

Claims

1. A material handling system, comprising:

a first rail and a second rail which are arranged in parallel and at intervals in a horizontal plane and are respectively used for being attached below a factory ceiling, wherein the bearing surface of the first rail is provided with a first recess, the first rail is continuous in the first recess, and the bearing surface of the second rail is provided with a second recess;

a crown block main body;

the first guide wheel and the second guide wheel are respectively rotatably arranged on the crown block main body and respectively rolled on a pair of opposite surfaces of the first track and the second track, and the first guide wheel can be rolled on the surface of the first track, facing to one side of the second track, at the first concave position;

the first travelling wheel and the second travelling wheel are respectively rotatably arranged on the crown block main body and are respectively detachably connected with the crown block main body, the first travelling wheel is used for rolling on the first track, and the second travelling wheel is used for rolling on the second track;

the first resisting piece and the second resisting piece are arranged corresponding to the first recess, the second resisting piece is arranged corresponding to the second recess, and are respectively positioned between the first track and the second track along the extending direction of the first track in the interval direction of the first track and the second track;

the reversing wheel is rotatably arranged on the crown block main body, the reversing wheel can be switched between a first limit position and a second limit position relative to the crown block main body, the reversing wheel is vertically positioned above the first travelling wheel, and the first guide wheel and the second guide wheel are vertically positioned below the first travelling wheel respectively;

the controller is used for controlling the reversing wheel to be in the second limit position before the first travelling wheel moves to the first recess, so that the reversing wheel is propped against one side of the first resisting piece, which is opposite to the first track, when the first travelling wheel is located in the first recess, and controlling the reversing wheel to be in the first limit position before the second travelling wheel moves to the second recess, so that the reversing wheel is propped against one side of the second resisting piece, which is opposite to the second track, when the second travelling wheel is located in the second recess;

the first wheel changing device is arranged corresponding to the first recess and is used for changing the first travelling wheel when the first travelling wheel is positioned at the first recess;

the second wheel changing device is arranged corresponding to the second recess and is used for changing the second travelling wheel when the second travelling wheel is positioned at the second recess;

when the first travelling wheel is positioned at the first concave position, the first travelling wheel is suspended, and the second travelling wheel is positioned in an area outside the second concave position and is borne on the second track; when the second travelling wheel is positioned at the second concave position, the second travelling wheel is suspended, and the first travelling wheel is positioned in the area outside the first concave position and is borne on the first track.

2. The material handling system of claim 1, wherein,

the first travelling wheel and the second travelling wheel are coaxially arranged, and the first recess and the second recess are arranged in a staggered manner in the extending direction of the first track and the second track.

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

the driver is arranged on the crown block main body;

the controller is in control connection with the driver and is used for controlling the driver to act so that the driver drives the reversing wheel to switch between a first limit position and a second limit position.

4. The materials handling system of claim 3, further comprising:

the third rail and the fourth rail are arranged in parallel and at intervals in a horizontal plane and are respectively used for being attached below a factory ceiling, the fourth rail is interrupted to form a first gap, the first rail and the second rail are respectively connected to two ends of the fourth rail at the first gap to form a bifurcation, the first travelling wheel is also used for rolling on the third rail, and the second travelling wheel is also used for rolling on the fourth rail;

a reversing member having a first guide surface extending along the third rail and a second guide surface extending along the third rail and gradually turning to extend along the first rail;

the reversing wheel can roll on the first guide surface when at the first limit position, so that the crown block body walks along the third rail and the fourth rail, and can roll on the second guide surface when at the second limit position, so that the crown block body is switched from walking along the third rail and the fourth rail to walking along the first rail and the second rail.

5. The materials handling system as set forth in claim 1, comprising:

a first wear detector located on an upstream side of the first wheel changing device for detecting a degree of wear of the first traveling wheel;

and the second wear detector is positioned on the upstream side of the second wheel changing device and is used for detecting the wear degree of the second travelling wheel.

6. The materials handling system of claim 5, further comprising:

the first wear detector and the second wear detector are both located on an upstream side of the bifurcation.

7. The material handling system of claim 5, wherein,

the first wear detector is a first laser ranging sensor, and when the first travelling wheel is positioned at the first laser ranging sensor, the first laser ranging sensor is positioned above the first travelling wheel, and the first laser ranging sensor is used for detecting the height of the first travelling wheel so as to obtain the wear degree of the first travelling wheel;

the second abrasion detector is a second laser ranging sensor, when the second travelling wheel is located at the second laser ranging sensor, the second laser ranging sensor is located above the second travelling wheel, and the second laser ranging sensor is used for detecting the height of the second travelling wheel, so that the abrasion degree of the second travelling wheel is obtained.

8. The material handling system of claim 1, wherein,

the first wheel changing device is arranged at one side of the first track, which is opposite to the second track, in the horizontal direction;

the second wheel changing device is arranged on one side of the second track, which is opposite to the first track, in the horizontal direction.

9. The material handling system of claim 1, wherein,

the first travelling wheel is provided with a first rotation axis, and the first travelling wheel is detachable in the direction of the first rotation axis;

the second travelling wheel is provided with a second rotation axis, and the second travelling wheel is detachable in the direction of the second rotation axis.