A crane

Abstract

The present invention relates to an overhead crane, comprising: a frame assembly including a front frame and a rear frame and a top platform that are relatively arranged; a travel drive mechanism is arranged on the upper side of the top platform; and is used to drive the overhead crane to travel; a transverse drive mechanism, which realizes the transverse movement of objects; and comprises: a fixed plate, a primary transverse assembly and a secondary transverse assembly stacked in sequence from top to bottom; a first transmission assembly that moves the primary transverse assembly and the secondary transverse assembly, the first transmission assembly comprising a first rack located on the lower surface of the fixed plate, a second rack located on the upper surface of the secondary transverse assembly, a first gear that penetrates the primary transverse assembly and meshes with the first rack and the second rack; and a driver connected to the first gear; a gripping mechanism is connected to the transverse drive mechanism, and is used to realize the gripping of objects. By optimizing the transverse drive mechanism, the stability of the overhead crane under high load is improved, so that the transporting overhead crane can withstand a larger load, the transport efficiency is high, and no dust is generated to contaminate the wafer.

Description

Technical Field

[0001] The invention relates to the field of transportation technology, in particular to an overhead crane. Background Art

[0002] In the semiconductor manufacturing process, wafers need to be transported and transferred between different workstations. Wafers are usually carried in wafer boxes and transferred by OHT (overhead hoist transfer); OHT generally includes an overhead rail and a transport trolley, referred to as an overhead crane. A retractable and liftable grabbing device is set on the overhead crane. The overhead crane moves along the rail, thereby driving the grabbing device to transport and transfer wafers. Since the overhead crane is a suspended structure, there are many factors that affect its own operating stability, so the structural requirements for the overhead crane are also high. The existing overhead crane still has unreasonable structures. For example, all current OHT overhead cranes have lateral movement components composed of a screw rod + synchronous pulley. Although the synchronous belt drive is lighter, the belt will wear and produce dust after working for a long time (the working environment of OHT is a dust-free clean room). After wear, the transmission accuracy is greatly reduced, which in turn affects the operating stability, and then the position accuracy of the wafer transportation is poor, which affects the subsequent processing of the wafer and has the problem of low handling efficiency. Summary of the invention

[0003] To this end, the technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a crane that optimizes the lateral drive mechanism and uses gear transmission instead of belt transmission. The crane has a longer service life and almost no need for replacement. The transmission is accurate and smooth, so that the crane can withstand a larger load. Moreover, the gear transmission will not generate dust to contaminate the wafers.

[0004] In order to solve the above technical problems, the present invention provides an overhead travelling crane, which comprises:

[0005] The frame assembly includes a front frame and a rear frame that are arranged opposite to each other and a top platform connecting the front frame and the rear frame;

[0006] A travel driving mechanism is arranged on the upper side of the top platform and is used to drive the overhead crane to travel;

[0007] A transverse driving mechanism is provided at the lower side of the frame assembly and is used to realize the transverse movement of the object; the transverse driving mechanism comprises: a fixed plate, a primary transverse moving assembly and a secondary transverse moving assembly stacked in sequence from top to bottom; a first transmission assembly that moves the primary transverse moving assembly and the secondary transverse moving assembly, wherein the first transmission assembly comprises: a first rack located on the lower surface of the fixed plate, a second rack located on the upper surface of the secondary transverse moving assembly, a first gear that penetrates the primary transverse moving assembly and meshes with the first rack and the second rack; and a driver connected to the first gear;

[0008] The grabbing mechanism is connected to the transverse driving mechanism and is used to grab the object.

[0009] In one embodiment of the present invention, a third-stage transverse shifting assembly is further included, and the third-stage transverse shifting assembly is located below the second-stage transverse shifting assembly.

[0010] In one embodiment of the present invention, it also includes a second transmission assembly for moving the three-stage transverse shift assembly, and the second transmission assembly includes: a third rack connected to the first-stage transverse shift assembly, a fourth rack connected to the third-stage transverse shift assembly, and a second gear connected to the second-stage transverse shift assembly and meshing with the third rack and the fourth rack; the third rack is located on opposite sides of the first-stage transverse shift assembly, and the fourth rack is located on opposite sides of the three-stage transverse shift assembly.

[0011] In one embodiment of the present invention, the grasping mechanism includes a lifting component, a rotating component and a grasping component. The lifting component is arranged at the bottom of the transverse driving mechanism. The rotating component is connected to the lifting component and the lifting component controls the rotating component to realize the lifting action. The grasping component is arranged on the rotating component to realize object grasping.

[0012] In one embodiment of the present invention, the lifting component includes a lifting frame, a driving mechanism, a driving wheel, a driven wheel, a first pulley, a second pulley and a belt; the driving mechanism is installed in the lifting frame, the output end of the driving mechanism is connected to the driving wheel, the driven wheel, the first pulley and the second pulley are all arranged on a rotating shaft fixed to the lifting frame, and the driven wheel and the driving wheel are driven by a synchronous belt; one end of the belt is wound around the first pulley, and the other end passes through a guide wheel arranged on the lifting frame and is connected to the rotating component through a belt mounting block.

[0013] In one embodiment of the present invention, the rotating assembly includes a rotating motor, a reducer and a mounting plate, the rotating motor is mounted on the mounting plate, the rotating motor is directly connected to the reducer to provide rotational power, and the output end of the reducer is connected to the grabbing assembly.

[0014] In one embodiment of the present invention, an anti-roll structure is provided at the bottom of the travel drive mechanism, and the anti-roll structure includes an anti-roll motor, a connecting block, a connecting rod and a support foot. The output shaft of the anti-roll motor is connected to an eccentric shaft, and a connecting block is provided on the eccentric shaft. The rotation of the anti-roll motor controls the connecting block to swing. One end of the connecting rod is hinged to the connecting block, and the other end is hinged to the middle part of the support foot. The top of the support foot is hinged to the travel drive mechanism.

[0015] In one embodiment of the present invention, an anti-falling assembly is also provided at the bottom of the frame assembly, and the anti-falling assembly includes an anti-falling bracket, a stepper motor, a synchronous pulley assembly, a lead screw and a clamping block. The anti-falling bracket is fixed at the bottom of the frame assembly, and the stepper motor and the lead screw are both installed on the anti-falling bracket through a fixed seat. The stepper motor and the lead screw are driven by a synchronous pulley assembly, and the clamping block is connected to the lead screw. Guide rods connected to the clamping block are provided on both sides of the lead screw on the anti-falling bracket, and a micro-motion sensor is provided at the end of the clamping block.

[0016] In one embodiment of the present invention, an antenna telescopic assembly is also provided on the anti-fall assembly. The antenna telescopic assembly is rotatably arranged on the anti-fall bracket and connected to the clamping block. When the clamping block moves, the antenna telescopic assembly is driven to rotate.

[0017] In one embodiment of the present invention, the antenna telescopic assembly includes an antenna connecting rod and a rocker arm, one end of the antenna connecting rod is rotatably set on the anti-fall bracket, one end of the rocker arm is rotatably set on the clamping block, and the other end is hinged to the antenna connecting rod. When the clamping block moves along the guide rod, the rocker arm drives the antenna connecting rod to rotate, and when the rocker arm rotates, it drives the antenna connecting rod to rotate and extend.

[0018] The above technical solution of the present invention has the following advantages compared with the prior art:

[0019] The overhead crane described in the present invention improves the stability of the overhead crane under high load conditions by optimizing the transverse driving mechanism, and utilizes the transverse driving mechanism to transversely move the grasping mechanism in both directions, which not only increases the lateral control range of the overhead crane, but also has a longer service life and almost no need for replacement through gear transmission. The transmission is accurate and stable, so that the transport overhead crane can withstand a larger load and has high transport efficiency. In addition, during the translation process, no dust will be generated to contaminate the wafers, and no loud noise will be generated. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein

[0021] Figure 1 is a schematic diagram of the three-dimensional structure of the overhead travelling crane in a preferred embodiment of the present invention;

[0022] Figure 2 yes Figure 1 A schematic structural diagram of a frame assembly of an overhead crane is shown;

[0023] Figure 3 yes Figure 1 The three-dimensional structural diagram of the travel drive mechanism and the anti-roll assembly of the overhead crane is shown;

[0024] Figure 4 yes Figure 1 The schematic diagram of the connection between the travel drive mechanism of the overhead crane and the anti-tilt assembly is shown;

[0025] Figure 5 yes Figure 1 The schematic diagram of the original position structure of the transverse driving mechanism of the frame assembly of the overhead travelling crane is shown;

[0026] Figure 6 yes Figure 1 The schematic diagram of the structure of the lateral driving mechanism of the overhead crane after being unfolded is shown;

[0027] Figure 7 yes Figure 6 A schematic diagram of a top view structure;

[0028] Figure 8 yes Figure 1 The schematic diagram of the structure of the driving end of the transverse driving mechanism, the gear transmission assembly and the primary transverse assembly, the secondary transverse assembly and the tertiary transverse assembly shown;

[0029] Fig. 9 yes Figure 1 The structural schematic diagram of the lifting assembly and rotating assembly of the overhead crane shown;

[0030] Fig.10 yes Fig. 9 A schematic diagram of a partial structure of a lifting assembly shown;

[0031] Fig.11 yes Figure 1 A schematic structural diagram of a rotating assembly of a crown crane is shown;

[0032] Fig.12 yes Figure 1 A three-dimensional structural diagram of an anti-fall assembly and an antenna telescopic assembly of an overhead crane is shown;

[0033] Fig.13 yes Fig.12 A schematic structural diagram of the anti-fall assembly and the antenna telescopic assembly from another angle;

[0034] Description of the reference numerals in the specification: 100, frame assembly; 1001, front frame; 1002, rear frame; 1003, top platform; 101, anti-fall assembly; 1011, anti-fall bracket; 1012, stepping motor; 1013, synchronous pulley assembly; 1014, lead screw; 1015, clamping block; 1016, antenna telescopic assembly; 10161, swing rod; 10162, antenna connecting rod; 1018, guide rod; 1019, micro-motion sensor; 102, OBS sensor; 103, CPS power supply; 104, anti-collision sensor strip; 200, travel drive mechanism; 201, travel frame; 202, travel motor; 203, drive wheel; 204, upper guide wheel; 205, lower guide wheel; 206, anti-tilt motor; 207, connecting block; 208, connecting rod; 209, support foot; 211, electromagnet; 212, swing arm; 213, linear slide ; 214, linear slide; 215, guide groove; 216, cam follower; 217, limit stopper; 300, transverse drive mechanism; 1, fixing member; 2, primary transverse assembly; 20, through hole; 21, first linear guide rail; 22, first transverse plate; 211, U-shaped groove; 3, secondary transverse assembly; 31, second transverse plate; 32, second linear guide rail; 311, ear shaft; 4, tertiary transverse assembly; 41, third transverse plate; 42, third linear guide rail; 5. Driver; 6. First gear; 7. Second rack; 8. Second gear; 9. Third rack; 10. Fourth rack; 11. First rack; 400. Lifting assembly; 401. Lifting frame; 402. Driving mechanism; 403. Driving wheel; 404. Driven wheel; 405. First pulley; 406. Second pulley; 407. First belt; 411. Second belt; First guide wheel 408; Second guide wheel 410; 500. Rotating assembly; 501. Rotating motor; 502. Reducer; 503. Rotating mounting plate; 600. Grabbing assembly; X1. First direction; X2. Move in second direction. DETAILED DESCRIPTION

[0035] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0036] Reference Figure 1 , 5 -8, an overhead travelling crane according to the present invention comprises: a frame assembly 100; comprising a front frame 1001 and a rear frame 1002 arranged opposite to each other and a top platform 1003 connecting the front frame 1001 and the rear frame 1002;

[0037] A travel drive mechanism 200, located on the upper side of the top platform, is used to drive the overhead crane to travel; a transverse drive mechanism 300, located on the lower side of the frame assembly 100, is used to realize the transverse movement of objects; the transverse drive mechanism 300 includes: a fixed plate 1, a primary transverse assembly 2 and a secondary transverse assembly 3 stacked in sequence from top to bottom; a first transmission assembly that moves the primary transverse assembly 2 and the secondary transverse assembly 3, the first transmission assembly including: a first rack 11 located on the lower surface of the fixed plate 2, a second rack 7 located on the upper surface of the secondary transverse assembly 3, a first gear 6 that penetrates the primary transverse assembly 2 and meshes with the first rack 11 and the second rack 7; and also includes a driver 5 connected to the first gear. When the first gear 6 is controlled to rotate by the driver 5, since the first gear 6 is meshed with the fixed first rack 11 and the second rack 7 at the same time, the driver 5 controls the first gear 6 to rotate forward, and the rotation of the first gear 6 acts on the first rack 11 on the fixed member 1, which will push the primary lateral movement component 2 to move out in the reverse direction, and at the same time, the rotation of the first gear 6 acts on the second rack 7 of the secondary lateral movement component 3, so that the secondary lateral movement component 3 moves out in the reverse direction, and the two lateral movement processes occur simultaneously. The grasping mechanism is connected to the lateral movement driving mechanism 300, and is used to realize the grasping of objects.

[0038] As a further improvement of the present invention, a three-stage transverse shifting assembly 4 is also included, and the three-stage transverse shifting assembly 4 is located below the two-stage transverse shifting assembly 3. A second transmission assembly is also included to move the three-stage transverse shifting assembly 4, and the second transmission assembly includes: a third rack 9 connected to the one-stage transverse shifting assembly 2, a fourth rack 10 connected to the three-stage transverse shifting assembly 4, and a second gear 8 connected to the two-stage transverse shifting assembly 3 and meshed with the third rack 9 and the fourth rack 10. The three-stage transverse shifting assembly 4 can move along the first direction X1 and the second direction X2 under the control of the second transmission assembly. Specifically, when the one-stage transverse shifting assembly 2 is translated, the third rack 9 is driven to be translated, and the meshing of the third rack 9 with the first gear 6 drives the rotation of the second gear 8. The rotation of the second gear 8 drives the fourth rack 10 and the third rack 9 to move synchronously in horizontal position, thereby realizing the synchronous transverse shifting of the three-stage transverse shifting assembly 4. When resetting, the driving end 5 controls the first gear 6 to reverse, and the one-stage transverse shifting assembly 2, the two-stage transverse shifting assembly 3 and the three-stage transverse shifting assembly 4 are synchronously retracted to achieve resetting. Through the above-mentioned transverse drive mechanism 300, one power source can be used to achieve simultaneous transverse movement of three transverse components, which helps to reduce production costs and reduce the volume of the transverse drive mechanism 300. It can effectively avoid the situation in the prior art where the transverse force arm is too long and breaks. In addition, the coordination between adjacent components is continuous and stable during the translation process, and the speed of extension and reset is fast, which greatly improves work efficiency. The example in the figure is to expand in the direction of X2. In other embodiments, the transverse drive mechanism can also expand in the direction of X1. The expansion method is symmetrical to the figure, and no further elaboration is given here.

[0039] Preferably, the third rack 9 is located on opposite sides of the primary transverse assembly 2, and the fourth rack 10 is located on opposite sides of the tertiary transverse assembly 4. The secondary transverse assembly 3 is provided with an ear shaft 311, and the second gear 8 is passed through the ear shaft 311 and is rotatably connected thereto.

[0040] In this embodiment, the primary transverse shift assembly 2 is provided with a groove 20 for accommodating the first gear 6, and the groove 20 is located at the center of the primary transverse shift assembly 3. The depth of the groove 20 is smaller than the outer diameter of the first gear 6, so that the upper and lower parts of the first gear 6 can pass through the through hole 20, and the first gear 6 can mesh with the first rack 7 above the secondary transverse shift assembly 3 below the fixing member 1, so as to realize the transmission control of the secondary transverse shift assembly 3.

[0041] In this embodiment, the first-stage transverse movement assembly 2 includes a first linear guide 21 and a first transverse movement plate 22, wherein the first linear guide 21 is located on the first transverse movement plate 22 and is connected to the fixed plate 1, so that the first transverse movement plate 22 can move relative to the fixed plate 1. The second-stage transverse movement assembly 3 includes a second transverse movement plate 31 and a second linear guide 32, wherein the second linear guide 32 is embedded in the second transverse movement plate 31 and partially protrudes from the upper surface of the second transverse movement plate 31 and is connected to the first-stage transverse movement assembly 2. The third-stage transverse movement assembly 4 includes a third transverse movement plate 41 and a third linear guide 42, wherein the third linear guide 42 is embedded in the third transverse movement plate 41 and partially protrudes from the upper surface of the third transverse movement plate 41 and is connected to the second-stage transverse movement assembly 3. Through the design of the above three groups of linear guides, the three groups of transverse movement assemblies can remain stable and smooth during the transverse movement without deviation.

[0042] In this embodiment, the driver 5 is located on the upper surface of the first transverse moving assembly 2. Preferably, a U-shaped groove 21 for installing the driver 5 is provided on one side of the first transverse moving assembly 2. In addition, the carrier plate of the third transverse moving assembly 4 is an H-shaped structure, and the design of the H-shaped structure can play a role in weight reduction. The fourth rack 10 is fixed to both sides of the H-shaped structure by fasteners.

[0043] The grabbing mechanism described in this embodiment includes a lifting component 400, a rotating component 500 and a grabbing component 600. The lifting component 400 is arranged at the bottom of the transverse driving mechanism 300. The rotating component 500 is connected to the lifting component 400 and is controlled by the lifting component 400 to realize the lifting action. The grabbing component 600 is arranged on the rotating component 500 to realize object grabbing.

[0044] like Fig. 9 and 10 As shown, the lifting component 400 includes a lifting frame 401, a driving mechanism 402, a driving wheel 403, a driven wheel 404, a first pulley 405, a second pulley 406, a first belt 407 and a second belt 411; the driving mechanism 402 is installed in the lifting frame 401, the output end of the driving mechanism 402 is connected to the driving wheel 403, the driven wheel 404, the first pulley 405 and the second pulley 406 are all arranged on a rotating shaft 408 fixed on the lifting frame 401, and the driven wheel 404 and the driving wheel 403 are driven by a synchronous belt 407; the first belt 407 and the second belt 411 are both wound around the first pulley 405 and the second pulley 406, and the free ends of the first belt 407 and the second belt 411 pass through the first guide wheel 408 and the second guide wheel 410 arranged on the lifting frame 401, respectively, and then are connected to the rotating component 500 through the belt mounting block 409.

[0045] like Fig.11 As shown, the rotating assembly 500 includes a rotating motor 501, a reducer 502 and a rotating mounting plate 503. The rotating motor 501 is mounted on the rotating mounting plate 503. The rotating motor 501 is directly connected to the reducer 502 to provide rotating power. The output end of the reducer 502 is connected to the gripping assembly. The rotating assembly realizes the rotation of the gripper and the wafer box, and the rotation angle is -90 °-180 °; at the same time, the rotating assembly 50 as a whole controls the extension and shortening of the first lifting belt 407 and the second lifting belt 411 through the lifting assembly 400 to realize the lifting action, thereby realizing the lifting and rotation of the gripper and the wafer box.

[0046] like Figure 2 As shown, the bottom of the frame assembly 100 is also provided with an anti-fall assembly 101. Fig.12 and 13 As shown, the anti-falling assembly 101 includes an anti-falling bracket 1011, a stepper motor 1012, a synchronous pulley assembly 1013, a lead screw 1014, and a clamping block 1015. The anti-falling bracket 1011 is fixed at the bottom of the frame assembly 1, and the stepper motor 1012 and the lead screw 1014 are both installed on the anti-falling bracket 1011 through a fixed seat. The stepper motor 1012 and the lead screw 1014 are driven by the synchronous pulley assembly 1013. The clamping block 1015 is connected to the lead screw 1014. When the lead screw 1014 rotates, the clamping block 1015 is driven to move linearly. A micro-motion sensor 1018 is provided at the end of the clamping block 1015. Guide rods 1018 connected to the clamping block 1015 are provided on both sides of the lead screw 1014 on the anti-falling bracket 1011. After the clamping block 1015 of the anti-falling assembly 101 is extended under the drive of the lead screw 1014, it can clamp the bottom of the wafer box to prevent it from falling.

[0047] Furthermore, the anti-falling assembly 101 is also provided with an antenna telescopic assembly 1016, which is rotatably arranged on the anti-falling bracket 1011 and connected to the clamping block 1015. When the clamping block 1015 moves, the antenna telescopic assembly 1016 is driven to rotate, and an RFID sensor 1017 is also provided on the end of the antenna telescopic assembly 106. When the clamping block 1015 is extended, the antenna telescopic assembly 1016 is driven to extend, and the label of the captured object is identified by the RFID sensor 1017. The antenna telescopic assembly 1016 is usually retracted at the bottom of the frame assembly 1. After the wafer box is captured in place, the antenna telescopic assembly 1016 is extended together with the clamping block 1015 to avoid interference with the object during transportation, causing damage to equipment and raw materials, and reducing costs and safety risks.

[0048] Preferably, the antenna telescopic assembly 1016 includes an antenna connecting rod 10162 and a rocker arm 10161, one end of the antenna connecting rod 10162 is rotatably set on the anti-fall bracket 1011, one end of the rocker arm 10161 is rotatably set on the clamping block 1015, and the other end is hinged to the antenna connecting rod 10162. When the clamping block 1015 moves along the guide rod 1017, the rocker arm 10161 drives the antenna connecting rod 10162 to rotate, and when the rocker arm 10161 rotates, it drives the antenna connecting rod 10162 to rotate and extend out.

[0049] The electronic control system of the overhead crane is evenly placed inside the front frame 1001 and the rear frame 1002 of the frame assembly 100 described in this embodiment. The weight of the front frame 1001 and the rear frame 1002 is basically consistent, and the overall center of gravity is close to the upper part, which is conducive to maintaining overall balance; a CPS power supply 103 is provided on the top of the frame assembly 100 to provide power for the overhead crane during operation; the top and bottom of the frame assembly 100 are designed with an anti-collision sensor bar 104 and an OBS sensor 102, and the anti-collision sensor bar 104 can play an anti-collision buffer role; after being hit, the anti-collision sensor bar 104 can feedback a signal to control the system to stop moving forward; when the OBS sensor 102 senses that there is an overhead crane or an obstacle in front, it feedbacks a signal to the electronic control system, so that the electronic control system can control the overhead crane and the anti-fall assembly 101 to stop moving.

[0050] like Figure 3 As shown, the travel drive mechanism 200 includes a travel frame 201, a travel motor 202, a driving wheel 203, a lower guide wheel 205, a crown block steering mechanism, and an upper guide wheel 204 arranged on the crown block steering mechanism. The driving wheel 203 is arranged on the left and right sides of the travel frame 201. The travel motor 201 drives the driving wheel 203 to rotate through a reducer, and the driving wheel 203 drives the travel frame 201 to travel along the track. When the travel motor 202 is started, the driving wheel 203 drives the crown block to travel on the track. The lower guide wheel 205 is arranged on the lower side of the travel frame 201, which can play a travel guiding role and ensure the travel path of the crown block on the straight track; the upper guide wheel 204 realizes the steering of the crown block on the turning track by setting the crown block steering mechanism.

[0051] The overhead travelling crane steering assembly comprises an electromagnet 211, a swing arm 212, a linear slide 213 and a linear slide 214. The electromagnet 211 is arranged in the travelling frame 201. The swing arm 212 is fixed on the output shaft of the electromagnet 211. The swing arm 212 is provided with a guide groove 215 and a limit block 217 for limiting the position of the swing arm 212 installed on the output shaft. The linear slide 213 is arranged on the top of the travelling frame 201. The linear slide 214 is arranged on the upper side of the linear slide 213 and connected thereto. The linear slide 214 is connected to the swing arm 212 via a cam follower 216, and the cam follower 216 can roll back and forth in the guide groove 215. After the electromagnet 211 is energized, the swing arm 212 is controlled to rotate. When the swing arm 212 rotates, the cam follower 216 rolls in the guide groove 215, driving the linear slide 214 to change position on the linear slide rail 213, thereby changing the position of the upper guide wheel 204 to realize the steering of the overhead travelling crane on the track.

[0052] like Figure 4 As shown, an anti-roll structure is provided at the bottom of the travel drive mechanism 200, and the anti-roll structure includes an anti-roll motor 206, a connecting block 207, a connecting rod 208 and a support leg 209. The output shaft of the anti-roll motor 206 is connected to an eccentric shaft to form an eccentric structure. A connecting block 207 is provided on the eccentric shaft. The rotation of the anti-roll motor 206 controls the connecting block 207 to swing. One end of the connecting rod 208 is hinged to the connecting block 207, and the other end is hinged to the middle of the support leg 209. The top of the support leg 209 is hinged to the travel drive mechanism 200. The supporting legs 209 described in this embodiment include two, each supporting leg 209 is connected to the connecting block via a connecting rod 208, the two are symmetrically arranged, and can achieve synchronous action. When the anti-roll motor 206 is started, it can drive the connecting block 207 to swing, and then drive the supporting legs 209 to rotate and swing through the connecting rod 208. When the supporting legs 209 are extended outwardly driven by the connecting rod 208, the supporting legs 209 are engaged on the track, thereby achieving the anti-roll function.

[0053] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. An overhead crane, characterized in that: include: A frame assembly, comprising a front frame and a rear frame arranged opposite to each other and a top platform connecting the front frame and the rear frame; A travel driving mechanism, arranged on the upper side of the top platform, for driving the overhead crane to travel; The traverse driving mechanism is arranged on the lower side of the top platform and between the front frame and the rear frame; the traverse driving mechanism comprises: a fixed plate, a primary traverse assembly and a secondary traverse assembly stacked in sequence from top to bottom, and a first transmission assembly for moving the primary traverse assembly and the secondary traverse assembly, the fixed plate is connected to the top platform, the first transmission assembly comprises: a first rack located on the lower surface of the fixed plate, a second rack located on the upper surface of the secondary traverse assembly, a first gear penetrating the primary traverse assembly and meshing with the first rack and the second rack, and a driver connected to the first gear; it also comprises a three-stage traverse assembly, the three-stage traverse assembly is located below the two-stage traverse assembly; it also comprises a second transmission assembly for moving the three-stage traverse assembly, the second transmission assembly comprises: a third rack connected to the primary traverse assembly, a fourth rack connected to the three-stage traverse assembly, a second gear connected to the two-stage traverse assembly and meshing with the third rack and the fourth rack; the third rack is located on opposite sides of the primary traverse assembly, and the fourth rack is located on opposite sides of the three-stage traverse assembly; The gripping mechanism is connected to the transverse driving mechanism and is used for picking up and placing objects.

2. An overhead travelling crane according to claim 1, characterized in that: The grabbing mechanism includes a lifting component, a rotating component and a grabbing component. The lifting component is arranged at the bottom of the transverse driving mechanism. The rotating component is connected to the lifting component and the lifting component controls the rotating component to realize the lifting action. The grabbing component is connected to the rotating component and the rotating component controls the rotation.

3. The overhead travelling crane according to claim 2, characterized in that: The lifting component includes a lifting frame, a driving mechanism, a driving wheel, a driven wheel, a first pulley, a second pulley, a first belt and a second belt; the driving mechanism is installed in the lifting frame, the output end of the driving mechanism is connected to the driving wheel, the driven wheel, the first pulley and the second pulley are all arranged on a rotating shaft fixed to the lifting frame, and the driven wheel and the driving wheel are driven by a synchronous belt; the first belt and the second belt are both wound around the first pulley and the second pulley, and the free ends of the first belt and the second belt pass through the first guide wheel and the second guide wheel arranged on the lifting frame respectively, and are connected to the rotating component through a belt mounting block.

4. An overhead travelling crane according to claim 3, characterized in that: The rotating assembly comprises a rotating motor, a speed reducer and a rotating mounting plate. The rotating motor is mounted on the rotating mounting plate. The rotating motor is directly connected to the speed reducer to provide rotating power. The output end of the speed reducer is connected to the grabbing assembly.

5. The overhead travelling crane according to claim 1, characterized in that: An anti-roll structure is provided at the bottom of the travel drive mechanism, and the anti-roll structure includes an anti-roll motor, a connecting block, a connecting rod and a support foot. The output shaft of the anti-roll motor is connected to an eccentric shaft, and a connecting block is provided on the eccentric shaft. The rotation of the anti-roll motor controls the connecting block to swing. One end of the connecting rod is hinged to the connecting block, and the other end is hinged to the middle part of the support foot. The top of the support foot is hinged to the travel drive mechanism.

6. The overhead travelling crane according to claim 1, characterized in that: An anti-falling assembly is also provided at the bottom of the frame assembly, and the anti-falling assembly includes an anti-falling bracket, a stepper motor, a synchronous pulley assembly, a lead screw and a clamping block. The anti-falling bracket is fixed at the bottom of the frame assembly, and the stepper motor and the lead screw are both installed on the anti-falling bracket through a fixed seat. The stepper motor and the lead screw are driven by a synchronous pulley assembly, and the clamping block is connected to the lead screw. Guide rods connected to the clamping block are provided on both sides of the lead screw on the anti-falling bracket, and a micro-motion sensor is provided at the end of the clamping block.

7. An overhead travelling crane according to claim 6, characterized in that: The anti-falling assembly is also provided with an antenna telescopic assembly, which is rotatably arranged on the anti-falling bracket and connected to the clamping block. When the clamping block moves, the antenna telescopic assembly is driven to rotate.

8. An overhead travelling crane according to claim 7, characterized in that: The antenna telescopic assembly includes an antenna connecting rod and a swing rod. One end of the antenna connecting rod is rotatably set on the anti-fall bracket, one end of the swing rod is rotatably set on the clamping block, and the other end is hinged to the antenna connecting rod. When the clamping block moves along the guide rod, the swing rod drives the antenna connecting rod to rotate, and when the swing rod rotates, it drives the antenna connecting rod to rotate and extend.

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