Crown block control method and system and crown block

Abstract

According to the crown block control method and system and the crown block, a tilt angle sensor is arranged on a grabbing assembly, and a plurality of rollers of a lifting assembly are driven by independent driving motors respectively, so that when a transverse moving mechanism enables the lifting assembly to stretch out, the tilt angle of the grabbing assembly can be detected through the tilt angle sensor; therefore, the position error of the grabbing assembly can be determined according to the inclination angle, extension position compensation is carried out through the transverse moving mechanism, the horizontal position of the grabbing assembly can be more accurate, meanwhile, the grabbing assembly can be adjusted to be in the horizontal state through the multiple winding drums, and the working efficiency is improved. Therefore, the grabbing assembly can be in butt joint with the front-open type wafer conveying box on the machine table more accurately, or it can be guaranteed that the front-open type wafer conveying box grabbed by the grabbing assembly is kept in a horizontal state, the front-open type wafer conveying box can be in butt joint with the machine table better, and the material taking and placing accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic handling equipment, in particular to an overhead crane control method, system and overhead crane. Background Art

[0002] In semiconductor wafer processing plants, the front opening unified pod (FOUP) containing materials is transported by an overhead crane system.

[0003] The overhead crane of the overhead crane handling system generally includes a traveling mechanism, a transverse movement mechanism disposed on the traveling mechanism, a lifting assembly driven to translate by the transverse movement mechanism, and a grabbing assembly driven to lift by the lifting assembly. Its specific structure may be as disclosed in the application publication number CN117727671A.

[0004] In this structure, when taking materials, the traverse mechanism needs to extend the lifting assembly and the grabbing assembly to one side by a certain distance. However, due to the assembly gap between the components of the traverse mechanism and the problem of structural rigidity, the grabbing assembly will tilt after the lifting assembly and the grabbing assembly are extended, resulting in the front-opening wafer pod grasped by the grabbing assembly not being able to accurately dock with the machine or the grabbing assembly not being able to accurately align with the front-opening wafer pod at the machine. Summary of the invention

[0005] The purpose of the present invention is to solve the above problems existing in the prior art and to provide an overhead crane control method, system and overhead crane.

[0006] The purpose of the present invention is achieved through the following technical solutions: A method for controlling an overhead crane, the overhead crane comprising a transverse movement mechanism, a lifting assembly arranged below the transverse movement mechanism and driven to translate by the lifting assembly, and a grabbing assembly driven to lift by the lifting assembly, the method for controlling an overhead crane comprising the following steps: After determining that the crane moves to the pick-up and place position, controlling the transverse movement mechanism to drive the lifting assembly to extend to a predetermined side by a predetermined distance; Acquiring the inclination angle of the grab assembly and determining the extension compensation amount of the transverse movement mechanism according to the inclination angle of the grab assembly, and controlling the transverse movement mechanism to drive the lifting assembly to continue to extend the extension compensation amount; After the transverse movement mechanism extends the lifting assembly into position, the lifting assembly is controlled to drive the grabbing assembly to move downward to the target position. When the grabbing assembly is moved downward, the grabbing assembly is adjusted to a horizontal state through the multiple independently rotating reels of the lifting assembly, and then the multiple reels are controlled to unwind at the same speed until the grabbing assembly descends to the target position.

[0007] Preferably, an inclination sensor is provided on the grabbing assembly.

[0008] Preferably, the extension compensation amount is determined according to the following formula: L4=L1(secθ-1); Wherein, L4 is the extension compensation amount, L1 is the predetermined distance; and θ is the inclination angle of the grabbing assembly.

[0009] The overhead crane control method according to claim 1 is characterized in that the lifting assembly includes three drums with parallel axes, and each drum is connected to a driving motor that drives the drum to rotate.

[0010] Preferably, when the grabbing assembly is adjusted to a horizontal state by the multiple reels of the lifting assembly, Control the reel where the belt connected to the lower side of the grabbing assembly is located to unwind at a first speed, and control the reel where the belt connected to the higher side of the grabbing assembly is located to unwind at a speed greater than the first speed. During the unwinding process, determine whether the grabbing assembly is adjusted to a horizontal state according to the inclination sensor on the grabbing assembly; Alternatively, the reel on which the belt connected to the lower side of the grabbing assembly is located is kept stopped, and the reel on which the belt connected to the higher side of the grabbing assembly is located is unwound at a predetermined speed. During the unwinding process, it is determined whether the grabbing assembly is adjusted to a horizontal state based on the inclination sensor on the grabbing assembly.

[0011] Preferably, when the grabbing assembly is adjusted to a horizontal state by the multiple reels of the lifting assembly, the height difference between the ends of the two belts with higher ends and the end of the belt with the lowest end is first determined according to the following formula, and then the reels where the two belts with higher ends are located are unwound respectively according to the height difference by the length corresponding to the height difference; H = L5 sinθ; Wherein, H is the height difference between the end of a belt with a higher end and the end of a belt with a lowest end, L5 is the distance between the axes of the two reels where the two belts are located, and θ is the inclination angle of the grabbing assembly.

[0012] Preferably, when controlling the grabbing assembly to descend to the target position, the downward movement amount of the grabbing assembly is determined according to the following formula: L3=L2-tanθL1; Among them, L3 is the downward movement amount of the grabbing component, L2 is the theoretical downward movement amount of the grabbing component, θ is the inclination angle of the grabbing component, and L1 is the predetermined distance.

[0013] A crane control system is used to control a crane including a traverse mechanism, a lifting assembly arranged below the traverse mechanism and driven to move in translation by the lifting assembly, and a grabbing assembly driven to move up and down by the lifting assembly, and includes: An extension control module is used to control the transverse movement mechanism to drive the lifting assembly to extend to a predetermined side by a predetermined distance after determining that the crane has moved to the pick-up and placement position; A compensation module, used for acquiring the inclination angle of the grab assembly and determining the extension compensation amount of the transverse movement mechanism according to the inclination angle of the grab assembly and controlling the transverse movement mechanism to drive the lifting assembly to continue to extend the extension compensation amount; The unwinding control module is used to control the lifting assembly to drive the grabbing assembly to move downward to a target position after the transverse movement mechanism extends the lifting assembly into position; when the grabbing assembly is moved downward, the grabbing assembly is adjusted to a horizontal state through multiple independently rotating reels of the lifting assembly, and then the multiple reels are controlled to unwind at the same speed until the grabbing assembly descends to the target position.

[0014] An overhead crane comprises a memory and a processor, wherein the memory stores a program executable by the processor, and when the program is executed, any of the above-mentioned overhead crane control methods is implemented.

[0015] The overhead crane comprises a transverse movement mechanism, a lifting assembly arranged below the transverse movement mechanism and driven to move in translation by the lifting assembly, and a grabbing assembly driven to rise and fall by the lifting assembly, wherein the grabbing assembly is provided with an inclination sensor, and the lifting assembly comprises a plurality of drums, each of which is fixed with and wound with a belt, and each drum is connected to a driving motor that drives the drum to rotate.

[0016] The advantages of the technical solution of the present invention are mainly reflected in: The present invention arranges an inclination sensor on the grabbing assembly, and makes the multiple rollers of the lifting assembly driven by independent driving motors respectively. Therefore, when the transverse movement mechanism extends the lifting assembly, the inclination sensor can be used to detect the inclination of the grabbing assembly, and then the position error of the grabbing assembly can be determined according to the inclination angle and the extension position can be compensated by the transverse movement mechanism, so that the horizontal position of the grabbing assembly can be more accurate. At the same time, the grabbing assembly can be adjusted to a horizontal state through multiple rollers, so that the grabbing assembly can more accurately dock with the front-opening wafer transfer box on the machine, or the front-opening wafer transfer box grasped by the grabbing assembly can be kept in a horizontal state, so that the front-opening wafer transfer box can be better docked with the machine, thereby improving the accuracy of taking and placing materials.

[0017] The present invention can control the three reels in a variety of ways to adjust the grabbing assembly to a horizontal state, and the control is more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a perspective view of an overhead travelling crane of the present invention; Figure 2 is a top view of the grab assembly of the present invention; Figure 3 It is a three-dimensional diagram of the lifting assembly of the present invention driving the grabbing assembly to move downward; Figure 4 is a partial bottom view of the grab assembly of the present invention; Figure 5 is a flow chart of the overhead crane control method of the present invention; Figure 6 It is a principle diagram for determining the extension compensation amount and the downward movement amount of the grab assembly in the method of the present invention; Figure 7 1 is a schematic diagram of determining the height difference of the ends of the belt on the inclined lifting assembly in the method of the present invention. DETAILED DESCRIPTION

[0019] The purpose, advantages and features of the present invention will be illustrated and explained by the non-limiting description of the following preferred embodiments. These embodiments are only typical examples of the application of the technical solution of the present invention, and any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of protection claimed by the present invention.

[0020] In the description of the scheme, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience and simplification of description, and do not indicate or imply 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 limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0021] Example 1 The following is an explanation of the overhead crane control method disclosed by the present invention in conjunction with the accompanying drawings. The overhead crane control method is based on an overhead crane with a specific structure, as shown in the accompanying drawings. Figure 1 As shown, the overhead crane includes a traveling mechanism 100, a transverse mechanism 200 arranged below the traveling mechanism 100, a lifting assembly 300 arranged below the transverse mechanism 200 and driven by the transverse mechanism 200 to be leveled to the side of the traveling mechanism, and a grabbing assembly 400 driven to rise and fall by the lifting assembly 300.

[0022] The specific structures of the walking mechanism 100, the transverse movement mechanism 200 and the grabbing assembly 400 may refer to the structures disclosed in the patent documents cited in the background technology, and will not be described in detail here.

[0023] Different from the prior art: As attached Figure 2 As shown, in the present invention, a tilt sensor 410 is provided on the grab assembly 400 to detect whether the grab assembly 400 is in a horizontal state or a tilted state.

[0024] And, as attached Figure 3 As shown, the lifting assembly 300 of the present invention includes a base plate 390, and three reels 310 are rotatably arranged at the bottom of the base plate. The axes of the three reels 310 are coaxial, and the three reels 310 are respectively connected to a driving motor 320 that drives the self-rotation thereof. The driving motor 320 is a right-angle reduction motor. A belt 330 is fixed and wound around each reel 310. The free ends of the three belts 330 are connected to the top of the grabbing assembly 400 in a triangular distribution, and the connection point of one belt 330 with the grabbing assembly 400 is close to one long side of the grabbing assembly 400, and the connection points of the other two belts 330 with the grabbing assembly 400 are close to the other long sides of the grabbing assembly 400. Of course, the number of the reels can also be more, for example, 4, and 4 driving motors are correspondingly arranged to drive the 4 reels, but such a structure obviously increases the complexity and equipment cost and operation cost.

[0025] For the convenience of description, as shown in the attached Figure 4 As shown, the three reels 310 are defined from left to right as a first reel 311, a second reel 312 and a third reel 313, the free end of the belt 330 wound on the first reel 311 is passed over a first idler wheel 340 away from the first reel 311, then extends downward and is connected to the top of the top plate of the gripping assembly 400; the free end of the belt 330 wound on the second reel 312 is passed over a second idler wheel 350 close to the second reel 312, then extends downward and is connected to the top of the top plate of the gripping assembly 400; the free end of the belt 330 wound on the third reel 313 is passed over a third idler wheel 360 away from the third reel 313, then extends downward and is connected to the top of the top plate of the gripping assembly 400. The distance between the axis of the second idler wheel 350 and the second reel 312 is smaller than the distance between the axis of the first idler wheel 340 and the first reel 311. The first idler wheel 340 and the third idler wheel 360 can be coaxially arranged, or slightly staggered. The specific design is based on the needs and is not limited here. At the same time, each belt 330 is pressed against the first idler wheel 340, the second idler wheel 350 and the third idler wheel 360 through a clamping wheel 370. In addition, a tensioning idler wheel 380 is respectively arranged between the first idler wheel 340 and the first reel 311 and between the third idler wheel 360 and the third reel 313. In addition, preferably, the connection point 420 between the belt 330 wound on the first reel 311 and the third reel 313 and the grab assembly 400 is close to the opening side of the front-opening wafer transport box 500 grabbed by the grab assembly 400.

[0026] As attached Figure 3As shown, at least one latch 430 is provided at the top of the frame of the grabbing assembly 400. Preferably, there are three latches 430, and they are close to the connection position between the three belts 330 and the grabbing assembly 400. The lifting assembly 300 is provided with a guide structure adapted to the latch 430. The guide structure is, for example, a limit sleeve provided at the bottom of the base plate of the lifting assembly 300. Each latch 430 matches the position of a limit sleeve, and the insertion hole on the limit sleeve can be a frustum-shaped hole. When the belt 330 on the reel 310 of the lifting assembly 300 is rolled into place, the latch 430 at the top of the grabbing assembly 400 can be respectively inserted into a guide sleeve, so that the grabbing assembly 400 and the lifting assembly 300 maintain a fixed relative position. Of course, the latch 430 is not necessary and can be omitted.

[0027] The walking mechanism 100 , the transverse movement mechanism 200 , the lifting assembly 300 and the grabbing assembly 400 are all connected to the controller of the overhead travelling vehicle and are controlled by the controller.

[0028] Correspondingly, as attached Figure 5 As shown, the overhead crane control method comprises the following steps: After determining that the overhead crane moves to the pick-up and placement position, the transverse movement mechanism 200 is controlled to drive the lifting assembly 300 to extend to a predetermined side by a predetermined distance. The predetermined side and the predetermined distance can be determined according to the pick-up and placement position of the overhead crane next to different process equipment and the relative position of the corresponding process equipment, which is not limited here.

[0029] Acquire the inclination angle measured by the inclination sensor 410 on the grab assembly 400, determine the extension compensation amount of the transverse movement mechanism according to the inclination angle of the grab assembly 400, and control the transverse movement mechanism 200 to continue to extend the extension compensation amount; Specifically, as attached Figure 6 As shown, we define the horizontal distance between the actual outermost position of the transverse mechanism after it is extended and the theoretical position (the outermost position when the transverse mechanism does not tilt) as L4, and L4 satisfies the formula cosθ=L1 / (L1+L4). Since secθ=1 / cosθ, secθ=(L1+L4) / L1, L1+L4=L1secθ, and the following formula can be obtained: L4=L1(secθ-1); Wherein, L4 is the extension compensation amount, L1 is the predetermined distance, and L1 can be determined and stored in a memory and called during calculation; θ is the inclination angle of the grabbing component 400 .

[0030] Therefore, the extension compensation amount can be determined according to the formula L4=L1(secθ-1) and the inclination angle measured by the inclination sensor 410. During compensation, the extension is continued in the original extension direction by the extension compensation amount.

[0031] After the transverse movement mechanism extends the lifting assembly into position, the lifting assembly 300 is controlled to drive the grabbing assembly 400 to move downward to the target position. When the grabbing assembly is moved downward, the grabbing assembly is adjusted to a horizontal state through the multiple independently rotating reels of the lifting assembly, and then the multiple reels are controlled to unwind at the same speed until the grabbing assembly descends to the target position.

[0032] Specifically, when the lifting group starts to drive the grabbing assembly to descend, the three reels 310 of the lifting assembly 300 can be unwound at the same speed first, and the latch 430 of the grabbing assembly 400 is separated from the lifting assembly 300. Since there are differences in the heights of the reels 310 on which the three belts 330 are located, when the three belts 330 remain naturally drooping under the action of gravity, there will also be a height difference at their ends. At this time, the end of the belt 330 on the reel 310 (the second reel 312) facing downward will be lower, so the grabbing assembly 400 will still remain in a tilted state. At this time, the grabbing assembly 400 needs to be adjusted to a horizontal state by changing the unwinding speed of the three reels.

[0033] When the grabbing assembly 400 is adjusted to a horizontal state by using the multiple reels 310 of the lifting assembly 300 , there may be a variety of control methods.

[0034] In the first control mode, the reel 310 (second reel 312) on which a belt 330 connected to the lower side of the grabbing assembly 400 is located can be controlled to unwind at a first speed, and the reels 310 (first reel 311 and third reel 313) on which two belts 330 connected to the higher side of the grabbing assembly 400 are located can be controlled to unwind at a speed greater than the first speed. When the first idler wheel and the third idler wheel are not coaxial, the unwinding speeds of the first reel 311 and the third reel 313 can be different; when the first idler wheel and the third idler wheel are coaxial, the unwinding speeds of the first reel and the third reel are the same. The first speed and the specific speeds of the first reel and the third reel can be determined as needed and are not limited here. During the unwinding process of the three reels 310, the detection result of the inclination sensor 410 is obtained in real time. When the detection result of the inclination sensor 410 is within a predetermined threshold range, it is determined that the grabbing assembly 400 is adjusted to a horizontal state, so that the multiple reels 310 are unwound at the same speed. The same speed can be designed as needed and is not limited here.

[0035] In the second control mode, the reel 310 (second reel) on which the belt 330 connected to the lower side of the gripping assembly 400 is located is kept stopped, and the reels 310 (first reel and third reel) on which the belt 330 connected to the higher side of the gripping assembly 400 is located are unwound at a predetermined speed. When the first reel and the second reel are unwound, the detection result of the inclination sensor 410 is obtained in real time; when the detection result of the inclination sensor 410 is within a predetermined threshold range, it is determined that the gripping assembly 400 is adjusted to a horizontal state, and the multiple reels 310 are unwound at the same speed.

[0036] More preferably, in the third control mode, when the grabbing assembly 400 is adjusted to a horizontal state by means of the multiple reels 310 of the lifting assembly 300, the height difference between the ends of the two belts 330 with higher ends and the end of the belt 330 with the lowest end is first determined according to the following formula, and then according to the height difference, the reels 310 where the two belts 330 with higher ends are located are respectively unwound by the length corresponding to the height difference, and then the multiple reels 310 are unwound at the same speed.

[0037] As attached Figure 7 As shown, the height difference between the end of a belt with a higher end and the end of a belt with the lowest end satisfies the following formula: H = L5 sinθ; Among them, H is the height difference between the end of a belt 330 with a higher end and the end of the belt 330 with the lowest end, L5 is the distance between the axes of the two reels 310 where the two belts 330 are located, and the L5 can be determined and stored in the memory and called during calculation; θ is the inclination angle of the grabbing component 400.

[0038] That is, when the grabbing assembly is tilted, the ends of the belts wound on the first reel and the third reel are higher than the end of the belt wound on the second reel. Therefore, the height differences between the ends of the belts wound on the first reel and the third reel and the end of the belt wound on the second reel are first determined, and then the first reel and the third reel are respectively unwound by the length corresponding to the height difference. At this time, the heights of the ends of the three belts are the same or equivalent, and correspondingly, the result measured by the inclination sensor is within the set threshold range, so that it can be determined that the grabbing assembly is adjusted to a horizontal state. At this time, the first reel, the second reel and the third reel can continue to unwind at the same speed to move the grabbing assembly down to the target position.

[0039] Since the height of the grab assembly 400 has been reduced relative to the theoretical height when it is not tilted when the lateral movement mechanism 200 extends the lifting assembly, when the grab assembly 400 is controlled to descend to the target position, the height of the grab assembly 400 that moves downward relative to the theoretical downward movement amount (the theoretical downward movement amount is the theoretical downward movement distance that the grab assembly needs to move downward from the current position to the target position when the lifting assembly is extended and the grab assembly remains horizontal without tilting) should be appropriately reduced. Specifically, as shown in the attached figure, Figure 6 As shown, the downward movement amount of the grabbing component 400 can be determined according to the following formula: L3=L2-tanθL1; Among them, L3 is the downward movement amount of the grabbing assembly 400; L3 refers to the distance that the grabbing assembly 400 needs to move downward from the current height to the target position after the transverse movement mechanism extends the lifting assembly into place; L2 is the theoretical downward movement amount of the grabbing assembly 400 after the lifting assembly is extended, and L2 can be determined and stored in the memory and called during calculation, θ is the inclination angle of the grabbing assembly 400, and L1 is the predetermined distance.

[0040] Therefore, when the third control method is used, after the grabbing assembly is leveled, the distance the grabbing assembly needs to continue to move downward is equal to L3 minus the length of the belt unwinding when the latch 430 of the grabbing assembly is separated from the lifting assembly.

[0041] When the grabbing assembly moves down into position, if the overhead crane needs to place the front-opening wafer transfer box it has grabbed on the machine table, the grabbing assembly releases the front-opening wafer transfer box it has grabbed, and the lifting assembly drives the grabbing assembly to rise to a predetermined height, and then the transverse mechanism contracts to move the lifting assembly back to under the walking mechanism.

[0042] If the overhead crane needs to grab a front-opening wafer cassette from the machine platform, after the grabbing assembly moves down to its position, the grabbing assembly grabs the front-opening wafer cassette on the machine platform, and after the lifting assembly drives the grabbing assembly to rise to a predetermined height, the traverse mechanism contracts to move the lifting assembly back to the bottom of the walking mechanism. When the grabbing assembly is rising, the rotation speeds of the three reels can be adjusted in real time according to the signal of the inclination sensor, so that the grabbing assembly remains in a horizontal state.

[0043] Example 2 This embodiment discloses an overhead crane control system for controlling an overhead crane including a transverse movement mechanism 200, a lifting assembly 300 disposed below the transverse movement mechanism 200 and driven to translate by the lifting assembly 300, and a grabbing assembly 400 driven to elevate by the lifting assembly 300, including: An extension control module, used to control the transverse movement mechanism 200 to drive the lifting assembly 300 to extend to a predetermined distance to a predetermined side after determining that the crane moves to the pick-up and place position; A compensation module, used to obtain the inclination angle of the grab assembly 400, determine the extension compensation amount of the transverse movement mechanism according to the inclination angle of the grab assembly 400, and control the transverse movement mechanism 200 to continue to extend the extension compensation amount; The unwinding control module is used to control the lifting assembly 300 to drive the grabbing assembly 400 to move downward after the transverse movement mechanism extends the lifting assembly into position, and after the grabbing assembly 400 is adjusted to a horizontal state through the multiple reels 310 of the lifting assembly 300, control the multiple reels 310 to unwind at the same speed to make the grabbing assembly 400 descend to the target position.

[0044] Example 3 This embodiment discloses an overhead crane, comprising a memory and a processor, wherein the memory stores a program executable by the processor, and when the program is executed, any of the above-mentioned overhead crane control methods is implemented.

[0045] There are many implementation methods of the present invention, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A method for controlling an overhead crane, wherein the overhead crane comprises a transverse movement mechanism, a lifting assembly arranged below the transverse movement mechanism and driven to move in translation by the lifting assembly, and a grabbing assembly driven to move up and down by the lifting assembly, wherein: The overhead crane control method comprises the following steps: After determining that the crane moves to the pick-up and place position, controlling the transverse movement mechanism to drive the lifting assembly to extend to a predetermined side by a predetermined distance; Acquiring the inclination angle of the grab assembly and determining the extension compensation amount of the transverse movement mechanism according to the inclination angle of the grab assembly, and controlling the transverse movement mechanism to drive the lifting assembly to continue to extend the extension compensation amount; After the transverse movement mechanism extends the lifting assembly into position, the lifting assembly is controlled to drive the grabbing assembly to move downward to the target position. When the grabbing assembly is moved downward, the grabbing assembly is adjusted to a horizontal state through the multiple independently rotating reels of the lifting assembly, and then the multiple reels are controlled to unwind at the same speed until the grabbing assembly descends to the target position.

2. The method for controlling an overhead crane according to claim 1, characterized in that: The grabbing assembly is provided with an inclination sensor.

3. The method for controlling an overhead crane according to claim 1, characterized in that: The extension compensation amount is determined according to the following formula: L4=L1(secθ-1); Wherein, L4 is the extension compensation amount, L1 is the predetermined distance; and θ is the inclination angle of the grabbing assembly.

4. The method for controlling an overhead crane according to claim 1, characterized in that: The lifting assembly comprises three drums with parallel axes, and each drum is connected to a driving motor for driving the drum to rotate.

5. The method for controlling an overhead crane according to claim 4, characterized in that: When the grabbing assembly is adjusted to a horizontal state by the multiple reels of the lifting assembly, Control the reel where the belt connected to the lower side of the grabbing assembly is located to unwind at a first speed, and control the reel where the belt connected to the higher side of the grabbing assembly is located to unwind at a speed greater than the first speed. During the unwinding process, determine whether the grabbing assembly is adjusted to a horizontal state according to the inclination sensor on the grabbing assembly; Alternatively, the reel on which the belt connected to the lower side of the grabbing assembly is located is kept stopped, and the reel on which the belt connected to the higher side of the grabbing assembly is located is unwound at a predetermined speed. During the unwinding process, it is determined whether the grabbing assembly is adjusted to a horizontal state based on the inclination sensor on the grabbing assembly.

6. The method for controlling an overhead crane according to claim 4, characterized in that: When the grabbing assembly is adjusted to a horizontal state by the multiple reels of the lifting assembly, the height difference between the ends of the two belts with higher ends and the end of the belt with the lowest end is first determined according to the following formula, and then the reels where the two belts with higher ends are located are unwound respectively according to the height difference by the length corresponding to the height difference; H = L5 sinθ; Wherein, H is the height difference between the end of a belt with a higher end and the end of a belt with a lowest end, L5 is the distance between the axes of the two reels where the two belts are located, and θ is the inclination angle of the grabbing assembly.

7. The method for controlling an overhead crane according to any one of claims 1 to 6, characterized in that: When controlling the grabbing assembly to descend to the target position, the downward movement amount of the grabbing assembly is determined according to the following formula: L3=L2-tanθL1; (1) Among them, L3 is the downward movement amount of the grabbing component, L2 is the theoretical downward movement amount of the grabbing component, θ is the inclination angle of the grabbing component, and L1 is the predetermined distance.

8. A crane control system for controlling a crane including a traverse mechanism, a lifting assembly arranged below the traverse mechanism and driven to move in translation by the lifting assembly, and a grabbing assembly driven to move up and down by the lifting assembly, characterized in that: include: An extension control module is used to control the transverse movement mechanism to drive the lifting assembly to extend to a predetermined side by a predetermined distance after determining that the crane has moved to the pick-up and placement position; A compensation module, used for acquiring the inclination angle of the grab assembly and determining the extension compensation amount of the transverse movement mechanism according to the inclination angle of the grab assembly and controlling the transverse movement mechanism to drive the lifting assembly to continue to extend the extension compensation amount; The unwinding control module is used to control the lifting assembly to drive the grabbing assembly to move downward to a target position after the transverse movement mechanism extends the lifting assembly into position; when the grabbing assembly is moved downward, the grabbing assembly is adjusted to a horizontal state through multiple independently rotating reels of the lifting assembly, and then the multiple reels are controlled to unwind at the same speed until the grabbing assembly descends to the target position.

9. An overhead crane, comprising a memory and a processor, wherein the memory stores a program executable by the processor, wherein: When the program is executed, the overhead crane control method according to any one of claims 1 to 8 is implemented.

10. An overhead crane, comprising a transverse movement mechanism, a lifting assembly arranged below the transverse movement mechanism and driven to move in translation by the lifting assembly, and a grabbing assembly driven to move up and down by the lifting assembly, characterized in that: The grabbing assembly is provided with an inclination sensor, and the lifting assembly comprises a plurality of drums, each of which is fixed with and wound with a belt, and each drum is connected with a driving motor for driving the drum to rotate.

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