Overhead Crane Handling Method and Material Handling System

Abstract

The present invention discloses a method for overhead crane handling and a material handling system. The method for overhead crane handling includes the following steps: The MCS sends a work instruction between factories to the handling control system of the source factory. The handling control system of the source factory sends an execution instruction to the overhead crane according to the work instruction between factories to move to the docking area between the source factory and the target factory. After the overhead crane moves to the docking area according to the execution instruction, it rotates circularly on the transition track in the docking area and updates the data required during its operation to the data of the target factory. After the overhead crane completes the data update, the overhead crane moves to the waiting position on the transition track and waits for the movement instruction from the handling control system of the target factory that communicates with it, and the waiting position is not on the predetermined path. The present invention can enable multiple overhead cranes to move circularly on the circular track and update data simultaneously, and the circular movement of other overhead cranes is not affected when one overhead crane is waiting at the waiting position, greatly improving the execution efficiency of the work instruction between factories.

Description

Technical Field

[0001] The present invention relates to the field of automatic handling, in particular to a crane handling method and a material handling system. Background Art

[0002] In a wafer processing factory, there are multiple workshops, and a crane handling system is provided in each workshop, and it involves transferring the crane between different workshops.

[0003] The maps, teaching data, sensor information, etc. of different workshops are different. Therefore, when the crane needs to be transferred from one workshop to another, the crane needs to update the data required during its operation to the corresponding data of the other workshop to be entered at the transition track connecting the two workshops before entering the other workshop. In the existing structure, there is only one path for the transition track, which causes other cranes to be unable to transfer at the transition track when one crane updates data at the transition track, which greatly affects the operation efficiency. Summary of the Invention

[0004] The purpose of the present invention is to solve the above problems existing in the prior art, and provide a crane handling method and a material handling system.

[0005] The purpose of the present invention is achieved by the following technical solutions:

[0006] A crane handling method includes the following steps:

[0007] The MCS issues a work instruction between workshops to the handling control system of the source workshop, and the work instruction between workshops is an instruction to move a crane in the source workshop to a target workshop adjacent to the source workshop;

[0008] The handling control system of the source workshop sends an execution instruction to move to the docking area between the source workshop and the target workshop to the crane according to the work instruction between workshops;

[0009] After the crane moves to the docking area according to the execution instruction, it rotates in a cycle on the transition track in the docking area and updates the data required during its operation to the data of the target workshop;

[0010] After the crane completes the data update, the crane moves to the waiting position of the transition track and waits for the movement instruction of the handling control system of the target workshop communicating with it. When the crane stops at the waiting position, it does not affect the cyclic movement of other cranes.

[0011] Preferably, the transition track includes a first connecting track and a second connecting track connected between the tracks of the source workshop and the target workshop. The first connecting track and the second connecting track are connected by a first turning track and a second turning track, and they cooperate to form a circular track.

[0012] Preferably, a first temporary parking track located between the first turning track and the second turning track is arranged on the side of the first connecting track;

[0013] and / or a second temporary parking track located between the first turning track and the second turning track is arranged on the side of the second connecting track;

[0014] The waiting position is arranged at the first temporary parking track and / or the second temporary parking track;

[0015] Or the waiting position is arranged on the first connecting track and between the two ends of the first temporary parking track and / or the waiting position is arranged on the second connecting track and between the two ends of the second temporary parking track.

[0016] Preferably, the first connecting track, the second connecting track, the first turning track, the second turning track and the temporary parking track are in a dust-free environment.

[0017] Preferably, the overhead crane moves unidirectionally on the first connecting track, the second connecting track, the first turning track and the second turning track. The overhead crane moves along a first direction on the first connecting track, and the overhead crane moves along a second direction opposite to the first direction on the second connecting track.

[0018] Preferably, the overhead crane moves unidirectionally at the first temporary parking track, and the moving direction of the overhead crane on the first temporary parking track is the same as the moving direction of the overhead crane on the first connecting track; the overhead crane moves unidirectionally at the second temporary parking track, and the moving direction of the overhead crane on the second temporary parking track is the same as the moving direction of the overhead crane on the second connecting track.

[0019] Preferably, if it is determined that an overhead crane needs to move from the source workshop to the target workshop along the first direction, when it is determined that the overhead crane can move to the waiting position at the first temporary parking track and it is determined that the overhead crane moves to the vicinity of the access point between the first temporary parking track and the first connecting track, determine whether there is another overhead crane parked at the waiting position. If so, make the overhead crane continue to move along the first path; if not, make the overhead crane move to the waiting position at the first temporary parking track and then stop;

[0020] If it is determined that a overhead crane needs to be moved from the source plant to the target plant in the second direction, when it is determined that the overhead crane can move to the waiting position at the second temporary stop track and it is determined that the overhead crane is near the access point of the second temporary stop track and the second connection track, determine whether there is another overhead crane parked at the waiting position. If so, make the overhead crane continue to move along the third path; if not, make the overhead crane move to the waiting position at the second temporary stop track and then stop.

[0021] Preferably, the handling control system and the overhead crane use UDP unicast communication.

[0022] Preferably, at least one plant has multiple floors, an overhead crane handling system is provided on each floor, and a transfer device for transferring the overhead crane on one floor to another floor is also provided in each plant.

[0023] A material handling system includes tracks provided in at least two plants and overhead cranes moving on the tracks. A transition track for the overhead crane to transfer between the two plants is provided between the tracks of the at least two plants. The overhead crane can move in a cycle at the transition track and stop at a waiting position. When the overhead crane stops at the waiting position, it does not affect the cyclic movement of other overhead cranes.

[0024] The advantages of the technical solution of the present invention are mainly reflected in:

[0025] In the present invention, by making the transition track connecting the tracks between two plants have a circular track and a waiting position outside the circular track, multiple overhead cranes can simultaneously move in a cycle on the circular track and update data. After an overhead crane completes data update, it moves to the waiting position outside the circular track and waits to be called by the handling control system of the target plant to be removed. When waiting, it does not affect the cyclic movement of other overhead cranes, thus effectively avoiding the problem that when there is only one path, the execution of work instructions between other plants is affected when an overhead crane updates data at the transition track, greatly improving the execution efficiency of work instructions between plants and being beneficial to ensuring the balance of overhead cranes in each plant.

[0026] The transition track of the present invention adopts the principle of one-way movement, which can effectively reduce the control difficulty and is easier to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram of the material handling system of the present invention;

[0028] Figure 2 is a process schematic diagram of the overhead crane handling method of the present invention;

[0029] Figure 3 is a schematic diagram of an embodiment in which the plant has multiple floors and a transfer device of the present invention;

[0030] Figure 4 It is a schematic diagram of another embodiment in which the factory building of the present invention has multiple floors and a transfer device;

[0031] Figure 5 It is a top view of the docking of the track on one floor of the present invention with the first lifting track in the transfer device;

[0032] Figure 6 It is a top view of the docking of the track on one floor of the present invention with the second lifting track in the transfer device;

[0033] Figure 7 It is a schematic diagram of the execution overhead crane moving to the waiting track on the source floor in the present invention;

[0034] Figure 8 It is a schematic diagram of the process of the execution overhead crane communicating with the transfer device, the handling control system on the source floor, and the MCS in the present invention;

[0035] Figure 9 It is a schematic diagram of the execution overhead crane moving to the transfer device in the present invention;

[0036] Figure 10 It is a schematic diagram of the lifting track of the transfer device in the present invention moving to dock with the waiting track on the destination floor;

[0037] Figure 11 It is a schematic diagram of the execution overhead crane communicating with the handling control system on the destination floor and the MCS in the present invention;

[0038] Figure 12 It is a schematic diagram of the execution overhead crane moving to the waiting track on the destination floor in the present invention. Detailed implementation manners

[0039] The objectives, advantages, and features of the present invention will be illustrated and explained through the non-restrictive description of the following preferred embodiments. These embodiments are only typical examples of applying the technical solutions of the present invention, and all technical solutions formed by equivalent replacement or equivalent transformation fall within the scope of protection required by the present invention.

[0040] In the description of the solution, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of description and simplification of the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0041] The overhead crane handling method disclosed by the present invention will be described below with reference to the accompanying drawings. The overhead crane handling method is based on a material handling system, and the material handling system includes an overhead crane handling system arranged in multiple factories. The overhead crane handling system includes a track and an overhead crane moving along the track. A docking area is arranged between two adjacent factories, and a transition track connecting the tracks of the two factories is arranged at the docking area so that the overhead crane can move between the two factories. The material handling system also includes a known control system, such as including an MCS (Material Control System) and a handling control system (TCS, Transportation Control System). Each factory has an independent handling control system. The handling control system of each factory communicates with the overhead crane in the factory. The handling control systems of multiple factories can be connected to the same MCS. Of course, it is also possible to connect an independent MCS to the handling control system of each factory, and the MCSs communicate with each other.

[0042] For the convenience of description, as shown in the attached Figure 1 figures, in this embodiment, two factories are taken as an example for description, and the two factories are defined as the first factory 100 and the second factory 200; the track in the first factory 100 is defined as the first track 101, the overhead crane in the first factory is positioned as the first overhead crane 102, the track in the second factory 200 is defined as the second track 201, the overhead crane in the second factory is defined as the second overhead crane 202, the direction from the first factory 100 to the second factory 200 is defined as the first direction A, the direction from the second factory 200 to the first factory 100 is defined as the second direction B, the handling control system corresponding to the first factory 100 is defined as the first handling control system 103, and the handling control system corresponding to the second factory 200 is defined as the second handling control system 203 for communication. The first handling control system 103 communicates with the overhead crane in the first factory 100, and the second handling control system 203 communicates with the overhead crane in the second factory 200.

[0043] A transition track 301 for the overhead crane to transfer between the first factory 100 and the second factory 200 is arranged between the first track 101 and the second track 201. The transition track 301 is arranged in the docking area 300 connecting the first factory 100 and the second factory 200. The docking area 300 is, for example, an enclosed corridor 302. Moreover, the environment in the docking area 300 and the environments in the first factory 100 and the second factory 200 both maintain a dust-free environment to meet the cleanliness requirements for semiconductor device processing.

[0044] The transition orbit 301 includes a first connecting orbit 303 and a second connecting orbit 304 connected between the first orbit 101 and the second orbit 201. The first orbit 101 includes two first connection points connected to one ends of the first connecting orbit 303 and the second connecting orbit 304. The second orbit 201 includes two second connection points connected to the other ends of the first connecting orbit 303 and the second connecting orbit 304. The first connecting orbit 303 and the second connecting orbit 304 can be straight - extending orbits or curved orbits. They can be parallel, and of course, they can also not be parallel, which is specifically designed according to actual needs. Preferably, the first connecting orbit 303 and the second connecting orbit 304 are straight - extending and parallel to each other.

[0045] The first connecting orbit 303 and the second connecting orbit 304 are connected by a first turning orbit 305 and a second turning orbit 306, and they cooperate to form a circular orbit. The two ends of the first turning orbit 305 are respectively connected to the first connecting orbit 303 and the second connecting orbit 304 and are close to the first connection point. The two ends of the second turning orbit 306 are respectively connected to the first connecting orbit 303 and the second connecting orbit 304 and are close to the second connection point. The shapes of the first turning orbit 305 and the second turning orbit 306 can be designed according to needs. Preferably, both the first turning orbit 305 and the second turning orbit 306 are arc - shaped, and the first turning orbit 305, the second turning orbit 306 and the orbital segments of the first connecting orbit 303 and the second connecting orbit 304 between them form a waist - shaped circular orbit.

[0046] A first temporary stop orbit 307 is arranged on the side of the first connecting orbit 303 and is located between the first turning orbit 305 and the second turning orbit 306. Both ends of the first temporary stop orbit 307 are connected to the first connecting orbit 303. The connection point of the first temporary stop orbit 307 near the first factory building 100 and the first connecting orbit 303 is the access point of the first temporary stop orbit 307 and the first connecting orbit 303, and the connection point of the other end of the first temporary stop orbit 307 and the first connecting orbit 303 is their exit point. The shape of the first temporary stop orbit 307 can be designed according to needs, such as designed as a C - shape, an arc - shape, etc., which is not limited here.

[0047] On the side of the second connecting track 304, a second temporary parking track 308 is provided between the first turning track 305 and the second turning track 306. Both ends of the second temporary parking track 308 are connected to the second connecting track 304. The connection point of the second temporary parking track 308 near the second factory building 200 and the second connecting track 304 is the access point of the second temporary parking track 308 and the second connecting track 304, and the connection point of the other end of the second temporary parking track 308 and the second connecting track 304 is their exit point. The shape of the second temporary parking track 308 can be designed as needed, for example, designed as a C shape, an arc shape, etc.

[0048] Preferably, the material handling system includes the first temporary parking track 307 and the second temporary parking track 308. Waiting positions 309 are respectively provided at the first temporary parking track 307 and the second temporary parking track 308, and the waiting position 309 can be a fixed point or a section of area on the first temporary parking track 307 and the second temporary parking track 308. The waiting position 309 on the first temporary parking track 307 is for the crane that needs to be transferred from the first factory building 100 to the second factory building 200 to park; the waiting position 309 on the second temporary parking track 308 is for the crane that needs to be transferred from the second factory building 200 to the first factory building 100 to park. Of course, if there is only one temporary parking track, whether transferring the crane in the first factory building 100 to the second factory building 200 or transferring the crane in the second factory building 200 to the first factory building 100, it is necessary to wait for scheduling at the waiting position 309 of the temporary parking track.

[0049] Of course, in another embodiment, the waiting position 309 can also be provided on the first connecting track 303 and between the two ends of the first temporary parking track 307 and / or the waiting position 309 is provided on the second connecting track 304 and between the two ends of the second temporary parking track 308.

[0050] When the overhead crane is used for handling, the MCS sends handling instructions to the first handling control system 103 and the second handling control system 203. The first handling control system 103 and the second handling control system 203 control the corresponding overhead crane to perform handling operations in the workshop where it is located according to the handling instructions of the MCS. Further, the MCS can determine whether it is necessary to dispatch the overhead crane in one workshop to another workshop according to the number and usage frequency of the overhead cranes in each workshop. Of course, the MCS can determine whether to transport the materials in one workshop to another workshop by the overhead crane according to the processing procedures. When it is necessary to move the overhead crane between the first workshop 100 and the second workshop 200, corresponding inter-workshop working instructions can be sent to the first handling control system 103 and the second handling control system 203. The inter-workshop working instructions can only dispatch the overhead crane between the first workshop 100 and the second workshop 200, or can make the overhead crane transport a material between the first workshop 100 and the second workshop 200.

[0051] The following takes the example of moving the overhead crane in the first workshop 100 to the second workshop 200 to illustrate the overhead crane handling method, as shown in the appendix Figure 2 as follows:

[0052] The MCS sends an inter-workshop working instruction to the first handling control system 103 in the first workshop 100 (source workshop). The inter-workshop working instruction is an instruction to move an overhead crane in the first workshop 100 to the second workshop 200 (target workshop) or an instruction to transport the materials in the first workshop to the second workshop.

[0053] The first handling control system 103 determines the overhead crane that executes the inter-workshop working instruction, its moving path, and the second workshop 200 to which it is to move according to the inter-workshop work. The first handling control system 103 sends an execution instruction to the overhead crane that executes the inter-workshop working instruction to move to the docking area 300 between the first workshop 100 and the second workshop 200 according to the inter-workshop working instruction;

[0054] After the overhead crane moves to the docking area 300 according to the execution instruction of the first handling control system 103, it rotates circularly on the transition track 301 in the docking area 300 and updates the data required during its operation to the data corresponding to the second workshop 200.

[0055] For the convenience of control, the overhead crane is made to move unidirectionally on the first connecting track 303, the second connecting track 304, the first turning track 305, and the second turning track 306. The moving directions of the overhead crane on the first connecting track 303 and the second connecting track 304 are opposite, and the moving directions of the overhead crane on the first turning track 305 and the second turning track 306 are opposite. That is, the first connecting track 303 is used for the overhead crane to move from the first workshop 100 to the second workshop 200, that is, to move along the first direction A, and the second connecting track 304 is used for the overhead crane to move from the second workshop 200 to the first workshop 100, that is, to move along the second direction B. The first turning track 305 is used for the overhead crane to move from the first connecting track 303 to the second connecting track 304, and the second turning track 306 is used for the overhead crane to move from the second connecting track 304 to the first connecting track 303. At the same time, the overhead crane moves unidirectionally at the first temporary stop track 307 and the second temporary stop track 308, and the overhead crane moves along the first direction A on the first temporary stop track 307, and the overhead crane moves along the second direction B on the second temporary stop track 308.

[0056] When the overhead crane that needs to be transferred from the first workshop 100 to the second workshop 200 moves in a cycle on the transition track 301, there can be two paths. The first path is to return to the first connecting track 303 for cycling after sequentially passing through the first connecting track 303, the second turning track 306, the second connecting track 304, and the first turning track 305. The second path is to return to the first connecting track 303 for cycling after sequentially passing through the first connecting track 303, the first temporary stop track 307, the second turning track 306, the second connecting track 304, and the first turning track 305.

[0057] The specific moving path of the overhead crane when rotating in a cycle on the transition track 301 can be determined according to the track where the waiting position 309 is located. In a preferred embodiment, the waiting position 309 is set on the first temporary stop track 307, and when the overhead crane does not need to move to the waiting position 309, the overhead crane is made to move along the first path.

[0058] Each overhead crane stores a corresponding compressed file for each workshop. The compressed file includes a map, teaching data, sensor data, etc. When receiving the execution instruction of the first handling control system 103, the overhead crane obtains that the workshop it needs to move to is the second workshop. Therefore, the overhead crane finds the compressed file corresponding to the second workshop from the compressed files it stores, and performs decompression of the compressed file and update of the corresponding data. Decompression of the compressed file and update of the corresponding data are known technologies and will not be elaborated here.

[0059] During the movement of each overhead crane, it determines in real time whether the data update is completed. At the same time, the first handling control system 103 also asks in real time whether the overhead crane that needs to be transferred from the first workshop 100 to the second workshop 200 on the transfer track 301 has completed the data update. If not, the overhead crane is made to continue moving along the first path. If so, it is determined that the overhead crane needs to move to the waiting position 309 on the first temporary stop track 307.

[0060] However, when an overhead crane moves in a loop on the loop track, the MCS also causes other overhead cranes to execute the work instructions between workshops. Therefore, there will be a situation where multiple overhead cranes move in a loop on the loop track at the same time. And when an overhead crane that needs to be transferred from the first workshop 100 to the second workshop 200 needs to move to the waiting position 309 on the first temporary stop track 307, there may be another overhead crane waiting for the scheduling of the second handling control system 203 at the waiting position 309. Therefore, the overhead crane that needs to move to the waiting position 309 can only move to the waiting position 309 when the other overhead crane at the waiting position 309 moves out of the waiting position 309. In the overhead crane handling system, during the movement of each overhead crane, it feeds back position information to the handling control system that communicates with it, and the handling control system feeds back the trolley position information to the MCS, so that the MCS system can accurately know the position of each overhead crane and control their movements.

[0061] Therefore, when it is determined that an overhead crane needs to move onto the first temporary stop track 307, the overhead crane feeds back the information that it can move to the waiting position 309 on the first temporary stop track 307 to the first handling control system 103, and the first handling control system 103 feeds back the information to the MCS. When the MCS determines that the overhead crane that needs to move to the first temporary stop track 307 moves near the access point between the first temporary stop track 307 and the first connecting track 303, it determines whether there is another overhead crane at the waiting position 309 on the first temporary stop track 307. If so, the overhead crane that needs to move to the first temporary stop track 307 is controlled by the first handling control system 103 to continue moving along the first path; if not, the overhead crane is made to move from the access point to the waiting position 309 on the first temporary stop track 307 and stop through the handling control system.

[0062] When at the waiting position 309, the overhead crane switches its IP to the network segment of the second handling control system 203 in the second workshop 200, and communicates with the second handling control system 203 by means of UDP unicast. The overhead crane sends a control request to the second handling control system 203. The second handling control system 203 includes the overhead crane within its control scope according to the control request of the overhead crane. The technology by which the second handling control system 203 includes the overhead crane within its control scope is a known technology. For example, the second handling control system 203 has a control overhead crane table. When a new overhead crane requests its control, the second handling control system 203 adds the information of the overhead crane requesting its control to the control overhead crane table, that is, includes the overhead crane within its control scope, and then the overhead crane can be controlled according to the information in the control overhead crane table. The second handling control system 203 feeds back the information that the overhead crane has been included within its control scope to the MCS. The MCS sends a movement instruction to the second handling control system 203 to move the overhead crane at the waiting position 309 of the first temporary stop track 307 to a predetermined position in the second workshop 200. The second handling control system 203 controls the overhead crane to move to the predetermined position in the second workshop 200 according to the movement instruction.

[0063] The process of the overhead crane transferring from the second workshop 200 to the first workshop 100 is similar to the process of transferring from the first workshop 100 to the second workshop 200 as described above. The difference is that the overhead crane to be transferred to the first workshop 100 waits at the waiting position of the second temporary stop track 308. And at this time, the third path of the movement of the overhead crane is to circulate back to the second connecting track 304 after passing through the second connecting track 304, the first turning track 305, the first connecting track 303, and the second turning track 306 in sequence.

[0064] In the material handling system, each workshop can have only one floor 400. Of course, at least one workshop can also have multiple floors 400. Assume that one workshop has only one floor 400 and one workshop has multiple floors 400. A docking area 300 can be set between two floors 400 at the same height to realize the transfer of the overhead crane between floors 400. Of course, if each workshop has multiple floors 400, docking areas 300 can be set between each pair of floors 400 at the same height to realize the transfer of the overhead crane between the same floors 400 of the two workshops. Correspondingly, when the overhead crane transfers from one workshop to another workshop, the overhead crane updates the data required during its operation to the data of the corresponding floor 400.

[0065] As shown in the Figure 3 appendix Figure 4As shown, when a factory building has multiple floors 400, an overhead crane handling system 410 is provided on each floor 400. Each floor's overhead crane handling system 410 has an independent handling control system (TCS). The handling control system of each floor can be connected to the MCS dedicated to this factory building, or multiple factory buildings can share one MCS. A transfer device 500 for transferring the overhead crane from one floor 400 to another floor 400 is also provided in each of the factory buildings. The number of the transfer devices 500 can be designed according to actual application needs, which can be only one or multiple, and is not limited here. The transfer device 500 communicates with the MCS, and each transfer device 500 feeds back its operating condition to the MCS, so that the MCS can select a suitable transfer device 500 according to the operating condition of the transfer device 500 to execute the corresponding cross-floor operation instruction.

[0066] As shown in the attached Figure 3 , attached Figure 4 As shown, the transfer device 500 includes a lifting device 510 and a lifting track 520 that is driven by the lifting device 510 to move up and down. The lifting device 510 can be a known scissor lift, a direct-acting oil cylinder lifting device, a guide rail chain lift (vertical elevator, goods lift), etc. The lifting track 520 is suspended above the lifting platform of the lifting device 510 or inside the lifting car. The lifting car can be the car of a known elevator. And, if the car has a car door, the top of the car door can be lower than the lifting track 520, so that the lifting track 520 inside the car can extend to the outer side of the car. Of course, the lifting car can also be a feasible car of other shapes, such as a rectangular frame.

[0067] The lifting track 520 is driven by the lifting device 510 to move up and down so as to be docked with the tracks on different floors 400 to realize the transfer of the overhead crane.

[0068] To prevent the overhead crane from moving randomly on the lifting track 520 during lifting, the top surface of the lifting track 520 can have two symmetric and connected inclined surfaces. The slope of the inclined surface is, for example, between 1° and 5°, and the connected end of the two inclined surfaces is lower than their opposite ends. The part of the top surface of the lifting track 520 connected to the opposite ends of the two inclined surfaces is a plane.

[0069] As shown in the attached Figure 3 - attached Figure 6As shown, in order to avoid interference between the normal operation of the overhead crane system and the inter-floor handling operation, the track of the overhead crane system on each floor 400 is connected to a waiting track 600 that extends outside the track and is used to dock with the lifting track 520. The waiting track 600 can have only one path. At this time, the overhead cranes entering and leaving the first floor 400 need to move between the lifting track 520 and the waiting track 600 through the waiting track 600.

[0070] Of course, in other embodiments, there can be two waiting tracks 600 on each floor 400. Correspondingly, the waiting track 600 on each floor 400 includes an independent entering track 610 and a leaving track 620. Correspondingly, the lifting track 520 includes an entering end and a leaving end corresponding to the entering track 610 and the leaving track 620. And the lifting track 520 can be set into different shapes according to the positions of the entering track 610 and the leaving track 620. For example, when the entering track 610 and the leaving track 620 are on the same side of the transfer device 500, the lifting track 520 needs to be set into a C-shaped or U-shaped structure that can achieve turning. When the entering track 610 and the leaving track 620 are on both sides of the transfer device 500, the lifting track 520 can be L-shaped or straight-shaped.

[0071] The transfer device 500 can have only one layer of lifting track 520, or can have multiple layers of lifting track 520, which can improve the transfer ability to a certain extent.

[0072] In order to ensure the accurate docking of the lifting track 520 and the waiting track 600 at each floor 400, mutually matching alignment detection devices are provided at the opposite ends of the waiting track 600 and the lifting track 520. The alignment detection devices are, for example, known opposed sensors or a reflector and a reflective photoelectric sensor. Preferably, a reflector can be provided at one end of the lifting track 520 facing the waiting track. The reflector can be recessed in the installation groove at the end of the lifting track 520. At the same time, a self-reflective photoelectric sensor is provided at one end of the waiting track 600 facing the lifting track 520. The self-reflective sensor is also recessed at the end of the waiting track 600. When the lifting track of the transfer device 500 moves into place, if there is a trigger signal from the self-reflective photoelectric sensor, it is confirmed that the waiting track 600 and the lifting track 520 are aligned. Otherwise, it is confirmed that there is an error between the waiting track 600 and the lifting track 520. At this time, the machine can be stopped for alarm, or the position of the lifting track of the transfer device 500 can be adjusted up and down.

[0073] When it is necessary to transfer an overhead crane in a source floor 420 to another destination floor 440, it can be achieved according to the following steps:

[0074] The MCS sends a cross - floor operation instruction to the handling control system of a source floor 420, where the source floor 420 is the floor 400 where the execution crane 430 that is to execute the cross - floor operation instruction is initially located. The cross - floor operation instruction is a cross - floor handling instruction or a cross - floor scheduling instruction. The cross - floor handling instruction refers to an instruction that requires the materials on the source floor 420 to be transported to a destination floor 440 different from the source floor 420 by a crane on the source floor; the cross - floor scheduling instruction refers to an instruction that schedules the execution crane 430 on the source floor 420 to a destination floor 440 different from the source floor 420, and the scheduled execution crane 430 does not need to carry out material handling during the scheduling process.

[0075] After receiving the cross - floor operation instruction, the handling control system of the source floor 420 sends a response indicating receipt of the instruction to the MSC. At the same time, the handling control system of the source floor 420 receiving the cross - floor operation instruction includes information such as the execution crane 430 for executing the cross - floor operation instruction, the information of the transfer device 500, and the destination floor 440 to which it is to be transferred. The information of the execution crane 430 includes, for example, the number, position, and movement route of the execution crane 430, and the information of the transfer device 500 includes, for example, the number, position, and other information of the transfer device 500.

[0076] Subsequently, the handling control system of the source floor 420 sends a cross - floor operation execution instruction to the execution crane 430 that executes the cross - floor operation instruction.

[0077] The execution crane 430 moves to the waiting track 600 of the corresponding transfer device 500 on the source floor 420 according to the cross - floor operation execution instruction;

[0078] After the execution crane 430 interacts with the transfer device 500, it is transferred to the destination floor 440 corresponding to the cross - floor operation instruction through the transfer device 500.

[0079] The handling control system of the source floor 420 sends a cross - floor operation execution instruction to the execution crane 430 that executes the cross - floor operation instruction. After receiving the cross - floor operation execution instruction, the execution crane 430 sends a response indicating receipt of the instruction to the handling control system of the source floor 420 and operates according to the cross - floor operation execution instruction. When the cross - floor operation instruction is a cross - floor handling instruction, the execution crane 430 first moves to the material to be handled, grabs the material, and then moves to the waiting track 600 of the corresponding transfer device 500. If the cross - floor operation instruction is a cross - floor scheduling instruction, the execution crane 430 directly moves to the waiting track 600 of the corresponding transfer device 500, as shown in the attachment Figure 7 shown.

[0080] as shown in the attachmentFigure 8 As shown, after the execution overhead crane 430 moves to the waiting track 600, it feeds back the information of reaching the waiting track 600 to the handling control system of the source floor 420, and sends a request to the transfer device 500 asking whether transfer can be performed;

[0081] If the transfer device 500 can perform the transfer, the transfer device 500 feeds back the information that transfer can be performed to the execution overhead crane 430;

[0082] The execution overhead crane 430 feeds back the information that the overhead crane transfer can be performed to the handling control system of the source floor 420;

[0083] The handling control system of the source floor 420 sends an instruction to the execution overhead crane 430 to allow it to enter the transfer device 500. As shown in the appendix Figure 9 As shown, the execution overhead crane 430 moves onto the lifting track of the transfer device 500 and feeds back the information of entering the transfer device 500 to the handling control system of the source floor 420, and applies to be released from the control of the handling control system of the source floor 420;

[0084] After the handling control system of the source floor 420 sends an execution instruction to the execution overhead crane 430, it releases the control of the execution overhead crane 430, and feeds back to the MCS the information that the execution overhead crane 430 has left for the destination floor 440.

[0085] The execution overhead crane 430 sends an execution instruction to the transfer device 500, that is, an instruction for the transfer device 500 to start the transfer.

[0086] The transfer device 500 sends a feedback message of receiving the execution instruction to the execution overhead crane 430 and moves to the destination floor 440 according to the information of the destination floor 440 to which it is to be transferred. As shown in the appendix Figure 10 As shown.

[0087] After the transfer device 500 moves to the destination floor 440, it feeds back to the execution overhead crane 430 the information that it has reached the destination floor 440 and can move to the waiting track of the destination floor 440. After receiving the information that it can move to the waiting track of the destination floor 440, the execution overhead crane 430 moves out of the transfer device 500 to the waiting track 600 of the destination floor 440. As shown in the appendix Figure 11 As shown.

[0088] At any moment between the transfer device 500 reaching the destination floor 440 and the execution overhead crane 430 moving to the waiting track 600 of the destination floor 440, preferably when it is determined that the execution overhead crane 430 can move out of the transfer device 500. As shown in the appendix Figure 12As shown, the execution crane 430 is connected and communicated with the handling control system of the destination floor 440, and sends a control request to the handling control system of the destination floor 440 to control it. The execution crane 430 can switch its IP to the same network segment as the handling control system of a floor, and then communicate with the handling control systems of each floor through UDP unicast. Of course, the connection and communication between each execution crane 430 and the handling control system can be achieved through known wireless communication technology. The corresponding wireless communication technology is a known technology and is not an innovation of the present invention, so it will not be described here.

[0089] After receiving the control request, the transport control system of the destination floor 440 includes the execution crane 430 in its control range and sends the control information to the execution crane 430. The specific method of the transport control system to release the control of the vehicle and include the crane in its control range is a known technology, which is not an innovation of the present invention and will not be described here. Then, the transport control system of the destination floor 440 reports to the MCS that the execution crane 430 has arrived, so that the MCS can timely and accurately understand which cranes each transport control system communicates with.

[0090] After the execution crane 430 moves to the waiting track (leaves the track) of the destination floor 440, it sends the information of arriving at the waiting track of the destination floor 440 to the transportation control system of the destination floor 440. Then, the transportation control system of the destination floor 440 sends an instruction to the execution crane 430 to leave the waiting track of the destination floor 440 to the predetermined avoidance point of the layer track of the destination floor 440. This can avoid the impact on the next execution crane 430 transported by the transfer device 500 as much as possible. The avoidance point can be designed as needed, for example, it is the point where the layer track intersects with the waiting track, which is not limited here.

[0091] The execution crane 430 moves to the avoidance point and sends information that the execution crane 430 has arrived at the avoidance point to the transport control system of the destination floor 440 .

[0092] Furthermore, each of the overhead cranes stores compressed files corresponding to each floor, and the compressed files include maps of each floor, teaching data, sensor data, etc. When the executing overhead crane 430 enters the transferring device 500, the executing overhead crane 430 can find the compressed file of the target floor from its pre-stored compressed files according to the information of the destination floor 440 to be moved to, such as the number of the destination floor 440 to be moved to, and decompress and perform corresponding data update switching, so that the time of the executing overhead crane 430 moving up and down can be effectively utilized to update the data, thereby effectively improving the working efficiency.

[0093] If the cross - layer operation instruction is a cross - layer handling instruction, the MCS system sends a handling instruction to the handling control system on the destination floor 440. The handling control system on the destination floor 440 controls the execution overhead crane 430 to move the material it grabs from the avoidance point to the target position according to the handling instruction. After the execution overhead crane 430 completes the material handling, the handling control system on the destination floor 440 controls the execution overhead crane 430 to move to a designated position to wait for a call according to the control instruction of the MCS.

[0094] If the cross - layer operation instruction is a cross - layer scheduling instruction, the handling control system on the destination floor 440 controls the execution overhead crane 430 to execute a handling task or move to a designated position to wait for a call according to the control instruction of the MCS.

[0095] When the handling control system on the source floor 420 receives multiple cross - layer operation instructions sent by the MCS, it determines whether there are at least two transfer devices 500 corresponding to the cross - layer operation instructions that are the same transfer device 500. If so, it determines the order for the execution overhead cranes 430 corresponding to the at least two cross - layer operation instructions to move to the same transfer device 500 according to a priority algorithm. The priority algorithm is, for example, to determine the specific execution order according to conditions such as the type of the cross - layer operation instruction and / or the sequence of the cross - layer operation instructions and / or the difference in the number of floors between the destination floor 440 and the source floor 420 of the cross - layer operation instruction. For example, among multiple cross - layer operation instructions that need to use the same transfer device 500, if there is one cross - layer operation instruction, it is preferentially executed, and then the other cross - layer operation instructions are processed according to their sequence. Moreover, when the MCS determines that the execution overhead crane 430 corresponding to a cross - layer operation instruction reaches the destination floor 440, it controls the execution trolley corresponding to the next cross - layer operation instruction to start executing the cross - layer operation instruction. Of course, it is also possible to make the execution overhead crane 430 corresponding to the next cross - layer operation instruction to be executed move to the waiting track on the source floor 420 when the execution overhead crane 430 corresponding to a cross - layer operation instruction leaves the waiting track on the source floor 420.

[0096] After the MCS sends a cross - layer operation instruction to the handling control system on a source floor 420, it confirms whether the number of execution overhead cranes 430 on the source floor 420 is lower than the lower threshold. If so, the MCS determines the number of execution overhead cranes 430 on each floor 400 and sends a cross - layer operation instruction to the handling control system on the floor 400 whose number of execution overhead cranes 430 exceeds the upper threshold and is closest to the source floor 420, so that the overhead cranes on this floor can be dispatched to the source floor 420. This can effectively improve the allocation efficiency of the overhead cranes, thereby ensuring the balance of the number of overhead cranes on each floor so that each overhead crane can have the maximum utilization rate.

[0097] The present invention has various embodiments, and all technical solutions formed by using equivalent transformations or equivalent substitutions fall within the protection scope of the present invention.

Claims

1. A method for transporting by overhead crane, characterized in that, It includes the following steps: The MCS issues a work instruction between factories to the handling control system of the source factory building. The work instruction between factories is an instruction to move a crane in the source factory building to a target factory building adjacent to the source factory building; The handling control system of the source factory building sends an execution instruction to move to the docking area between the source factory building and the target factory building to the crane according to the work instruction between factories; After the crane moves to the docking area according to the execution instruction, it rotates circularly on the transition track in the docking area and updates the data required during its operation to the data corresponding to the target factory building; After the crane completes the data update, the crane moves to the waiting position on the transition track and waits for the movement instruction from the handling control system of the target factory building communicating with it. When the crane stops at the waiting position, it does not affect the circular movement of other cranes; The transition track includes a first connecting track and a second connecting track connected between the tracks of the source factory building and the target factory building. The first connecting track and the second connecting track are connected by a first turning track and a second turning track, and they cooperate to form a circular track; A first temporary stop track located between the first turning track and the second turning track is arranged on the side of the first connecting track; and / or a second temporary stop track located between the first turning track and the second turning track is arranged on the side of the second connecting track; The waiting position is arranged at the first temporary stop track and / or the second temporary stop track; or the waiting position is arranged on the first connecting track and between the two ends of the first temporary stop track and / or the waiting position is arranged on the second connecting track and between the two ends of the second temporary stop track; If it is determined that a crane needs to move from the source factory building to the target factory building in the first direction, when it is determined that the crane can move to the waiting position at the first temporary stop track and it is determined that the crane moves to near the access point of the first temporary stop track and the first connecting track, determine whether there is another crane parked at the waiting position. If so, make the crane continue to move along the first path; if not, make the crane move to the waiting position at the first temporary stop track and then stop; If it is determined that a crane needs to move from the source factory building to the target factory building in the second direction, when it is determined that the crane can move to the waiting position at the second temporary stop track and it is determined that the crane moves to near the access point of the second temporary stop track and the second connecting track, determine whether there is another crane parked at the waiting position. If so, make the crane continue to move along the third path; if not, make the crane move to the waiting position at the second temporary stop track and then stop.

2. The overhead crane handling method according to claim 1, wherein: The first connecting track, the second connecting track, the first turning track, the second turning track and the temporary stop track are in a dust-free environment.

3. The overhead crane handling method according to claim 1, wherein: The crane moves unidirectionally on the first connecting track, the second connecting track, the first turning track and the second turning track. The crane moves in the first direction on the first connecting track, and the crane moves in the second direction opposite to the first direction on the second connecting track.

4. The overhead crane handling method according to claim 3, wherein: The overhead crane moves unidirectionally at the first temporary stop track, and the moving direction of the overhead crane on the first temporary stop track is the same as the moving direction of the overhead crane on the first connecting track; The overhead crane moves unidirectionally at the second temporary stop track, and the moving direction of the overhead crane on the second temporary stop track is the same as the moving direction of the overhead crane on the second connecting track.

5. The overhead crane handling method according to claim 1, characterized in that: The handling control system communicates with the overhead crane using UDP unicast.

6. The overhead crane handling method according to any one of claims 1-5, characterized in that: At least one workshop has multiple floors, an overhead crane handling system is arranged on each floor, and a transfer device for transferring an overhead crane from one floor to another is also arranged in each workshop.

7. A material handling system, comprising rails provided in at least two factory buildings and an overhead crane moving on the rails, characterized in that: An intermediate track for the overhead crane to transfer between at least two workshops is arranged between the tracks of the workshops. The overhead crane can move in a loop at the intermediate track and stop at a waiting position. When the overhead crane stops at the waiting position, it does not affect the loop movement of other overhead cranes; the intermediate track includes a first connecting track and a second connecting track connected between the tracks of the source workshop and the target workshop. The first connecting track and the second connecting track are connected by a first turning track and a second turning track, and they cooperate to form a loop track; A first temporary stop track located between the first turning track and the second turning track is arranged on the side of the first connecting track; And / or a second temporary stop track located between the first turning track and the second turning track is arranged on the side of the second connecting track; The waiting position is arranged at the first temporary stop track and / or the second temporary stop track; Or the waiting position is arranged on the first connecting track and between the two ends of the first temporary stop track and / or the waiting position is arranged on the second connecting track and between the two ends of the second temporary stop track; If it is determined that an overhead crane needs to move from the source workshop to the target workshop in the first direction, when it is determined that the overhead crane can move to the waiting position at the first temporary stop track and it is determined that the overhead crane moves near the access point of the first temporary stop track and the first connecting track, determine whether there is another overhead crane parked at the waiting position. If so, make the overhead crane continue to move along the first path; if not, make the overhead crane move to the waiting position at the first temporary stop track and then stop; If it is determined that an overhead crane needs to move from the source workshop to the target workshop in the second direction, when it is determined that the overhead crane can move to the waiting position at the second temporary stop track and it is determined that the overhead crane moves near the access point of the second temporary stop track and the second connecting track, determine whether there is another overhead crane parked at the waiting position. If so, make the overhead crane continue to move along the third path; if not, make the overhead crane move to the waiting position at the second temporary stop track and then stop.

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