Automatic carrying system

Abstract

The invention discloses an automatic carrying system which comprises a rail below a ceiling and a crown block walking on the rail, the rail comprises a first passing face extending in the first horizontal direction and a second passing face extending in the second horizontal direction, the crown block comprises a driving part and a transferring part, and when the crown block moves on the rail, the transferring part is located above the rail, and the transferring part is located above the rail. The traveling part is provided with a power taking device of a non-contact dynamic power supply system, a power supply cable is arranged below the ceiling and / or on the track, the power supply cable comprises a first cable extending in the first horizontal direction and a second cable extending in the second horizontal direction, and when the crown block moves in the first horizontal direction, the power taking device is connected with the power taking device. And when the crown block moves in the first horizontal direction, the power taking device on the crown block is matched with the first cable to supply power, and when the crown block moves in the second horizontal direction, the power taking device on the crown block is matched with the second cable to supply power. A storage battery does not need to be arranged on the crown block, meanwhile, the crown block does not need to be charged frequently, and the problem that normal carrying is guaranteed by increasing the number of crown blocks due to charging does not exist.

Description

Technical Field

[0001] The present invention relates to the field of material handling equipment, especially an automatic handling system. Background Art

[0002] An overhead crane handling system (OHT) is a commonly used automatic handling system in automated factories such as wafer processing plants.

[0003] A patent document with the authorization announcement number CN112533813B discloses a gantry crane system.

[0004] In this system, due to the limitations of the gantry crane and the grid-like track structure, it is impossible to use a known non-contact dynamic power supply system to supply power to the gantry crane. Instead, a storage battery must be configured on the gantry crane, and a fixed-position charging device is set to charge the battery.

[0005] This not only makes the structure of the gantry crane more complex, but also because the gantry crane needs to be charged frequently, multiple charging devices need to be set up so that multiple gantry cranes can be charged simultaneously. When the gantry crane is charging, in order to ensure the normal operation of the gantry crane system, more gantry cranes need to be configured for the entire system, which undoubtedly greatly increases the equipment cost. Summary of the Invention

[0006] The purpose of the present invention is to solve the above problems existing in the prior art and provide an automatic handling system.

[0007] The purpose of the present invention is achieved through the following technical solutions: An automatic handling system, including a grid-like track suspended under the ceiling and an overhead crane moving above the track. The track includes a first passage surface extending along a first horizontal direction and a second passage surface extending along a second horizontal direction. The overhead crane includes a traveling part and a transfer part. When the overhead crane moves on the track, the transfer part is located above the track. A current collector of a non-contact dynamic power supply system is provided on the traveling part. The power supply cable of the non-contact dynamic power supply system is provided under the ceiling and / or on the track. The power supply cable includes a first cable extending along the first horizontal direction and a second cable extending along the second horizontal direction. When the overhead crane moves in the first horizontal direction, the current collector on the overhead crane cooperates with the first cable for power transmission. When the overhead crane moves in the second horizontal direction, the current collector on the overhead crane cooperates with the second cable for power transmission.

[0008] Preferably, one of the first cable and the second cable extends horizontally in a straight line, and the other includes a plurality of straight segments and bypass segments located between adjacent straight segments. The straight segments of the other are at the same height as the one, and the bypass segments are located at the intersection position of the one and the other and bypass the one from above the one.

[0009] Preferably, a support member is provided below the ceiling, and the first cable and the second cable are installed on the support member. A first installation groove for installing the one and a second installation groove for installing the straight segments are provided at the bottom of the support member, and through holes for the bypass segments to pass through are provided at both ends of the second installation groove.

[0010] Preferably, a plurality of current collectors distributed in a first horizontal direction and a plurality of current collectors distributed in a second horizontal direction are provided on the traveling part. When one of the current collectors is at a bypass segment, at least one straight segment of the other current collectors distributed in the same direction as the current collector.

[0011] Preferably, the first cable is arranged on the first outer limiting strip on the first traveling rail, and both ends of the first cable are located inside both ends of the first outer limiting strip and maintain a certain distance. Both ends of the first outer limiting strip do not extend into the intersection area of the first traveling rail and the second traveling rail; the second cable is arranged on the second outer limiting strip on the second traveling rail, and both ends of the second cable are located inside both ends of the second outer limiting strip and maintain a certain distance. Both ends of the first outer limiting strip do not extend into the intersection area of the first traveling rail and the second traveling rail.

[0012] Preferably, the traveling part includes a first traveling mechanism for driving the overhead crane to move in a first horizontal direction and a second traveling mechanism for driving the overhead crane to move in a second horizontal direction. Current collectors are provided on the first lifting plate where the first traveling wheels of the first traveling mechanism are located, and current collectors are provided on the second lifting plate where the second traveling wheels of the second traveling mechanism are located, at the first traveling mechanism and the second traveling mechanism.

[0013] Preferably, the plurality of current collectors provided on the first lifting plate satisfy that when one of the plurality of current collectors is located at the gap between the opposite ends of the adjacent first cables, at least one of the plurality of current collectors is located at the first cable; The plurality of current collectors provided on the second lifting plate satisfy that when one of the plurality of current collectors is located at the gap between the opposite ends of the adjacent second cables, at least one of the plurality of current collectors is located at the second cable.

[0014] Preferably, the non-contact dynamic power supply system includes a super capacitor located on the overhead crane to supply power to the load by the super capacitor when the current collector and the power supply cable cannot stably transmit electric energy.

[0015] Preferably, an anti-overturning device is provided on the top of the traveling part.

[0016] Preferably, a predetermined gap is maintained between the anti-overturning device and the ceiling or the supporting member below the ceiling.

[0017] The advantages of the technical solution of the present invention are mainly reflected in: By changing the structures of the track and the overhead crane, the overhead crane moves above the track, so that the first cable and the second cable extending in two vertical directions can be arranged to realize the dynamic power supply of the overhead crane through a non-contact power supply method, and it is not necessary to configure a storage battery on the overhead crane, which is beneficial to the simplification of the overhead crane structure and cost reduction; at the same time, the overhead crane does not need to be charged frequently, and there is no problem of increasing the number of overhead cranes to ensure normal handling due to charging; further, there is no need to set up a charging device, and the structure of the system is simpler and the cost is lower.

[0018] In the first cable and the second cable of the present invention, one of them is provided with a bypass section to bypass the crossing position of the first cable and the second cable, which can effectively avoid the interference between the cables in two directions at the crossing position and effectively ensure the stability of power supply. At the same time, by setting the supporting member, the installation and limitation of the first cable and the second cable can be greatly facilitated, the interference caused by the position change between the two can be avoided, and the first cable and the second cable can be effectively protected. At the same time, the supporting member can also protect the ceiling to avoid direct collision between the overhead crane and the ceiling and damage to the ceiling.

[0019] By arranging a plurality of current collectors to cooperate with a plurality of first cables and second cables, the present invention can ensure the stability of power supply, and through the position design of the current collectors, when one current collector is located in the bypass section, other current collectors are not in the bypass section, so as to ensure the reliability of power supply.

[0020] The present invention further sets a super capacitor, which can store electric energy when the non-contact dynamic power supply system is normal. When the current collector of the overhead crane is in the bypass section and cannot normally transmit electric energy or there is an abnormality in the power transmission between the current collector and the cable, the super capacitor is used for temporary power supply, effectively increasing the redundancy performance of power supply and improving the stability of power supply.

[0021] The present invention sets an anti-overturning mechanism on the top of the overhead crane, which can effectively improve the problem that the overhead crane is prone to tipping during start and stop due to its excessive height when walking above the track, improve the running stability of the overhead crane, and at the same time, can effectively avoid the current collector from colliding and being damaged by the ceiling or the supporting member. Description of the Drawings

[0022] Figure 1 is a partial schematic view of the automatic handling system of the present invention; Figure 2 is a three-dimensional schematic view of the track of the present invention; Figure 3 is a partial top view of the track of the present invention; Figure 4 is a partial end view of the track of the present invention; Figure 5 is a schematic view of the track of the present invention installed on the ceiling through a connecting member; Figure 6 is a front view of the overhead crane of the present invention; Figure 7 is a top view of the overhead crane of the present invention; Figure 8 is a schematic view of the limit component in the overhead crane of the present invention; Figure 9 is a top view of the limit component in the overhead crane of the present invention; Figure 10 is a schematic view of the overhead crane picking up and placing an item of the present invention; Figure 11 is a schematic view of the overhead crane grasping an item into it of the present invention; Figure 12 is a first positional relationship view of the track, the first cable, the second cable and the current collector of the present invention. A first cable is arranged above each row of squares, and a second cable is arranged above each column of squares in the figure; Figure 13 is a schematic view of the overhead crane of the present invention provided with multiple current collectors; Figure 14 is a top view of the current collectors on the overhead crane of the present invention arranged at the four corner positions; Figure 15 is a second positional relationship view of the track, the first cable, the second cable and the current collector of the present invention. Two first cables are arranged above each row of squares, and two second cables are arranged above each column of squares in the figure; Figure 16 is a cross-sectional view of the first cable and the second cable installed on the support member of the present invention; Figure 17 is a top view of some current collectors on the overhead crane of the present invention not arranged at the corner positions; Figure 18 is a schematic view of the first cable and the second cable arranged on the track, and the current collector arranged on the first lifting plate and the second lifting plate in the present invention; Figure 19 is a partial top view of the first cable and the second cable arranged on the track in the present invention; Figure 20 It is a top view of the anti-overturning device installed at the top of the overhead crane of the present invention. Specific Embodiments

[0023] 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 any technical solutions formed by equivalent substitution or equivalent transformation fall within the scope of protection required by the present invention.

[0024] 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, and 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 construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0025] Embodiment 1 The automatic handling system disclosed by the present invention will be described below with reference to the accompanying drawings. As shown in the attached Figure 1 and the attached Figure 2 figures, it includes a grid-shaped track 200 suspended below the ceiling 100 and an overhead crane 300 moving on the track 200. The track 100 includes a first passing surface extending along the first horizontal direction F1 and a second passing surface extending along the second horizontal direction F2, and the first horizontal direction and the second horizontal direction are perpendicular. The overhead crane 300 includes a traveling part 30A and a transfer part 30B. When the overhead crane 300 moves on the track, the transfer part 30B is located above the track 200. A current collector 30C of a non-contact dynamic power supply system is provided on the traveling part 30A. The power supply cable 400 of the non-contact dynamic power supply system is provided below the ceiling 100 and / or on the track 200. The power supply cable 400 includes a first cable 410 extending along the first horizontal direction and a second cable 420 extending along the second horizontal direction. When the overhead crane 300 moves in the first horizontal direction, the current collector 30C on the overhead crane 300 cooperates with the first cable 410 for power transmission. When the overhead crane 300 moves in the second horizontal direction, the current collector 30C on the overhead crane 300 cooperates with the second cable 420 for power transmission.

[0026] Specifically, as shown in the attached Figure 2As shown, the track 200 includes multiple first running rails 201 horizontally extending along a first horizontal direction F1 and multiple second running rails 202 horizontally extending along a second horizontal direction F2. The multiple first running rails 201 are arranged at the same height and at equal intervals. A set of the second running rails 202 is arranged between two adjacent first running rails 201. The set of the second running rails 202 is arranged at the same height and at equal intervals between the first running rails 201, and the top surface of the second running rails 202 is flush with the top surface of the first running rails 201. Moreover, the positions of multiple sets of the second running rails 202 correspond to each other one by one. Thus, two adjacent second running rails 202 and the two first running rails 201 connected to them enclose a square 203. The squares continuously distributed in the first horizontal direction are defined as a row of squares, and a set of squares continuously distributed in the second horizontal direction is defined as a column of squares.

[0027] Of course, the track 200 can also be processed in other ways. For example, the track 200 is a structure with a grid-like top view formed by stamping multiple rectangular holes distributed in a grid pattern on an integral plate, or the track 200 is assembled from multiple plates with grid-like rectangular holes, and one rectangular hole is one square.

[0028] As shown in the appendix Figure 2 As shown, the top surfaces of the first running rails 201 and the second running rails 202 cooperate to form multiple first bearing surfaces 204 extending in the first horizontal direction F1 and multiple second bearing surfaces 205 extending in the second horizontal direction F2. Each first bearing surface 204 includes two first passing surfaces 206 extending along the first horizontal direction F1 and maintaining a first gap 207. Each second bearing surface 205 includes two second passing surfaces 209 extending along the second horizontal direction F2 and maintaining a second gap 208. The overhead crane moves on the adjacent first passing surfaces of two adjacent first bearing surfaces or on the adjacent second passing surfaces of two adjacent second bearing surfaces.

[0029] As shown in the appendix Figure 2 - Appendix Figure 4As shown in the figure, in order to better guide the running wheels of the overhead crane 300, intermediate limiting bars 210 are provided at each of the first gap 207 and the second gap 208. The intermediate limiting bars 210 at each first gap 207 are spaced in the first horizontal direction F1, and the intermediate limiting bars 210 at each second gap 208 are spaced in the second horizontal direction F2. Moreover, both ends of each intermediate limiting bar 210 do not extend to the square area 211 where the first bearing surface 204 and the second bearing surface 205 intersect, that is, the intersection area of the first running rail and the second running rail. Meanwhile, outer limiting bars 212 are provided near the outer sides of each first passing surface 206 and the second passing surface 209. The outer limiting bar on the first passing surface is defined as the first outer limiting bar, and the outer limiting bar on the second passing surface is defined as the second outer limiting bar. Both ends of the outer limiting bar 212 also do not extend to the square area 211. Thus, the intermediate limiting bars and the outer limiting bars do not affect the passing of the overhead crane in the square area, and the intermediate limiting bar 210 and the outer limiting bar 212 on one side of it form a wheel groove 213, and the wheel groove 213 is an inverted trapezoidal groove. Of course, the intermediate limiting bars and the outer limiting bars are not necessary.

[0030] As shown in the Figure 2 , Figure 3 , Figure 5 figure, the rail 200 is connected to the bottom of the ceiling 100 of the workshop through a set of connectors 500. The connectors 500 can be connected at the first gap 207 and the second gap 208 to avoid interfering with the passing of the overhead crane 300. More preferably, the connectors 500 are connected to the intersection part 214 of the first gap 207 and the second gap 208. The structure of the connectors 500 can be designed according to needs. In order to better support the rail 200, the connectors 500 include a connecting rod 501. The connecting rod 501 passes through the through hole 215 at the intersection part 214. Meanwhile, the connecting rod 501 is connected to a reinforcing plate 502 located at the bottom of the rail 200. The reinforcing plate 502 is fixed to the rail 200, and the reinforcing plate 502 does not extend into the grid 203.

[0031] As shown in the Figure 6 , Figure 7As shown, the traveling part 30A of the overhead crane 300 includes a frame 301. The frame 301 includes a hollow square frame 302. The size of the square frame 302 is adapted to the size of one grid 203 of the track 200. Generally, the size of the square frame is slightly larger than the size of one grid. The square frame 302 includes four horizontal load plates, each load plate having sufficient thickness and width. At the top of the square frame 302, support rods 303 extending in the vertical direction are provided near its four vertex positions. The height of the support rods 303 can be designed as required to ensure that the following storage space 325 can effectively store an article 600. A top plate 304 is provided on a group of the support rods 303. Moreover, side enclosing plates can be provided between the top plate 304 and the square frame 302 to enclose the four sides of the frame 301.

[0032] As shown in the appended Figure 6 and appended Figure 7 figures, a first traveling mechanism 305 for driving it to translate in the first horizontal direction F1 and a second traveling mechanism 306 for driving it to translate in the second horizontal direction F2 are provided at the lower part of the frame 301. The first traveling wheels 307 of the first traveling mechanism 305 are provided on two opposite load plates of the square frame 302. The second traveling wheels 308 of the second traveling mechanism 306 are provided on the other two load plates of the square frame 302. The number of the first traveling wheels 307 is preferably four and their axes extend along the second horizontal direction F2. The two first traveling wheels 307 on one load plate are distributed in the first horizontal direction F1 and correspond to the two first traveling wheels 307 on the other load plate one by one. The distance between the first traveling wheels 307 on one side (the first traveling wheels 307 on one load plate) and the first traveling wheels 307 on the other side is equivalent to the extension distance of one grid 203 in the second horizontal direction F2, so that the first traveling wheels 307 on both sides can effectively move on the two first passing surfaces 206 on both sides of one grid 203.

[0033] The number of the second traveling wheels 308 is also four and their axes extend along the first horizontal direction F1. The two second traveling wheels 308 on one load plate are distributed in the second horizontal direction F2 and correspond to the two second traveling wheels 308 on the other load plate one by one. The distance between the second traveling wheels 308 on one side (the second traveling wheels 308 on one load plate) and the second traveling wheels 308 on the other side is equivalent to the extension distance of one grid 203 in the first horizontal direction F1, so that the second traveling wheels 308 on both sides can effectively move on the two second passing surfaces 209 on both sides of one grid 203.

[0034] To drive the first traveling wheels 307 and the second traveling wheels 308, two first traveling wheels 307 located on the same carrier plate can be driven by a single motor located outside the first traveling wheels 307, or each first traveling wheel 307 can be driven by a single motor located outside the first traveling wheel 307. At this time, the motor can be a relatively thin motor. For example, among known motors, the thickness of the motor can be controlled within 2 - 5 cm. Moreover, the motor can drive the first traveling wheels 307 to rotate through a transmission mechanism composed of a chain and a sprocket or a timing belt and a timing pulley. The second traveling wheels 308 can be driven using the same structure, which will not be elaborated here.

[0035] Certainly, in a more optimal embodiment, at least one pair of the two pairs of coaxially arranged first traveling wheels 307 can be driven by in-wheel motors, and at least one pair of the two pairs of coaxially arranged second traveling wheels 308 can be driven by in-wheel motors. This is conducive to further reducing the space required for the drive structure.

[0036] Moreover, to ensure that when the first traveling wheels 307 move on the track 200, the second traveling wheels 308 are spaced above the track 200, and when the second traveling wheels 308 move on the track 200, the first traveling wheels 307 are spaced above the track 200, the first traveling wheels 307 and the second traveling wheels 308 can be respectively capable of moving up and down relative to the vehicle frame 301.

[0037] The specific structures for the first traveling wheels 307 and the second traveling wheels 308 to move up and down relative to the vehicle frame 301 are the same or similar. Hereinafter, the structure for the first traveling wheels 307 to move up and down relative to the vehicle frame 301 will be used as an example for illustration.

[0038] As shown in the attached Figure 6 、attached Figure 7 figures, two first traveling wheels 307 on the same side are arranged on a first lifting plate 309, and the first traveling wheels 307 are generally located outside the first lifting plate 309. The first lifting plate 309 is movably arranged in the vertical direction on the square frame 302 and is connected to a lifting drive mechanism 310 that drives it to move up and down relative to the square frame 302.

[0039] To meet the structural layout requirements within a limited space, the first lifting plate 309 is in a convex shape. A guiding hole matching the protrusion 311 of the first lifting plate 309 is provided on the carrier plate, and the protrusion 311 is movably inserted up and down through the guiding hole for guiding it. At this time, the lifting drive mechanism 310 for driving the first lifting plate 309 to move up and down includes a lead screw and a lifting drive motor for driving the rotation of the nut 312 of the lead screw. One end of the screw rod 313 of the lead screw is connected to the first lifting plate 309, and the connection position between it and the first lifting plate 309 is located on one side of the protrusion 311. The screw rod 313 passes through an avoidance hole (not shown in the figure) provided on the square frame 302 with its axis extending in the vertical direction. The nut 312 of the lead screw can be rotatably arranged in place on the square frame 302 through components such as bearings and is connected to the lifting drive motor 315 for driving its rotation through a transmission mechanism 314. The transmission mechanism is, for example, a gear transmission mechanism, a transmission mechanism composed of a synchronous belt and synchronous wheels, etc. When the lifting drive motor drives the nut 312 to rotate, the screw rod 313 of the lead screw moves in the vertical direction, thereby driving the first lifting plate 309 to move up and down. Of course, the lead screw can also be directly replaced by a screw rod and a nut.

[0040] To maintain the dynamic balance on both sides of the first lifting plate 309, the first lifting plate 309 can be connected to two lifting drive mechanisms 310 symmetrically distributed on both sides of the protrusion 311, and the two lifting drive mechanisms 310 can respectively have lifting drive motors. Of course, in a more preferred embodiment, the two lifting drive mechanisms 310 can share a lifting drive motor. At this time, the lifting drive motor can drive the two nuts or nuts 312 to rotate synchronously through a synchronous mechanism 316 composed of a synchronous belt and synchronous wheels. At this time, the protrusion 311 of the first lifting plate 309 can be located within the area enclosed by the synchronous belt of the synchronous mechanism 316 connecting the two nuts or nuts 312.

[0041] Of course, in other embodiments, the first lifting plate 309 can also be of other shapes, and they can be respectively arranged on the side of the square frame 302 through slide rails. At this time, the lifting drive mechanism 310 can be, for example, an electric rod arranged in the vertical direction, or other devices or mechanisms capable of generating vertical movement, such as a structure in which a lead screw cooperates with a motor. At this time, the screw rod 313 of the lead screw rotates in place, while the nut 312 moves up and down along the screw rod 313 and is connected to the first lifting plate 309.

[0042] As shown in the appendix Figure 6 、appendix Figure 7As shown in the figure, in order to ensure that when the first walking wheel 307 is running, the square box 302 will not move downward relative to the first lifting plate 309, and at the same time, reduce the force on the lead screw or screw and nut, when the first walking wheel 307 moves on the track 200, a limiting component 317 for cooperating with the first lifting plate 309 to limit the downward movement of the square box 302 relative to the first lifting plate 309 is provided on the square box 302.

[0043] The limiting component 317 is, for example, a device such as an electromagnetic lock or an electric rod. The limiting component 317 includes a telescopic stopper 318 that can translate in a direction perpendicular to the first lifting plate 309. The telescopic stopper 318 can extend above the top of the first lifting plate 309. At this time, the telescopic stopper 318 abuts against the top of the first lifting plate 309, so that the first lifting plate 309 can limit the telescopic stopper 318 and prevent the carrier plate where the telescopic stopper 318 is located from moving downward relative to the first lifting plate 309.

[0044] When it is necessary to enable the first lifting plate 309 to move upward relative to the square box 302, the telescopic stopper 318 retracts to the side of the first lifting plate 309, thereby releasing the restriction on the first lifting plate 309. At this time, the first lifting plate 309 can be driven to move upward by the lifting drive mechanism 310.

[0045] As shown in the appendix Figure 6 and the appendix Figure 7 As shown in the figure, in order to facilitate the installation of the limiting component 317, a notch 319 matching the telescopic stopper 318 is provided at the top of the first lifting plate 309. The telescopic stopper 318 can extend into the notch 319 from the outside of the notch 319, and the bottom of the telescopic stopper 318 is kept with a small gap or in contact with the bottom of the notch 319 to limit the downward movement of the square box 302 and limit the upward movement of the first lifting plate 309.

[0046] In the above structure, the force-bearing capacity of the telescopic stopper when it extends is relatively poor. In order to better limit the first lifting plate and at the same time fully reduce the space required for the limiting component 317, as shown in the appendix Figure 8 and the appendix Figure 9As shown, the telescopic stop 318 of the limit assembly 317 is a rack, which extends along the width direction of the guiding hole, that is, the rack is perpendicular to the first lifting plate. The length of the rack is greater than the width of the guiding hole. The cross-sectional shape of the rack is convex. The rack is movably arranged at the guiding seat 320 on one side of the guiding hole along its extending direction. The guiding seat 320 includes L-shaped or Z-shaped guiding blocks that are symmetrically arranged with a gap. The two guiding blocks form a C-shaped guiding groove that is adapted to the cross-sectional shape of the rack and has an open top. The upper convex strip of the rack corresponds to the open top of the guiding groove and can extend out of the guiding groove. Teeth are formed on the top of the upper convex strip along its extending direction. The teeth are engaged with a gear 321. The gear 321 is connected to an adjustment drive motor 322 that drives its rotation. When the adjustment drive motor 322 drives the gear 321 to rotate, the rack moves along its extending direction. Further, a limit block 323 is also arranged on the other side of the guiding hole on the square frame 302. If the rack is attached to the top of the square frame, the limit block 323 is in a U-shape and the limit block 323 and the square frame 302 form a jack that is opposite to the rack. If the rack is not attached to the square frame, the limit block 323 itself forms a jack. When it is necessary to limit the first lifting plate, after the rack moves from one side of the guiding hole to the other side, it is inserted into the jack formed by the limit block and the square frame 302, so that the rack can be effectively supported by the limit block 323 and the guiding seat 320, and then the square frame 302 can be limited more stably.

[0047] When it is necessary to travel through the first traveling wheel 307, the second traveling wheel 308 can be lifted above the track 200 through the lifting drive mechanism 310 connected to the second lifting plate 324 where the second traveling wheel 308 is located; when it is necessary to switch to the second traveling wheel 308 for traveling, first lower the second traveling wheel 308 onto the track 200, and then lift the first traveling wheel 307 above the track 200 through the lifting drive mechanism 310 connected to the first lifting plate 309 where the first traveling wheel 307 is located.

[0048] As attached Figure 6 As shown, the frame 301 has a storage space 325 with an open bottom end. The storage space 325 extends in the vertical direction within the range of the inner hole of the square frame 302. Its range of extension in the vertical direction is, for example, between the bottom of the top plate 304 and the bottom of the lower one of the first lifting plate 309 and the second lifting plate.

[0049] As attached Figure 6As shown, a transfer unit 30B is disposed below the top plate 304 of the vehicle frame 301. The transfer unit 30B includes a rotary drive assembly 326 disposed at the bottom of the top plate 304, a lifting assembly 327 driven by the rotary drive assembly 326 to rotate about an axis extending in the vertical direction, and a gripping assembly 328 driven by the lifting assembly 327 to move up and down. The specific structures of the rotary drive assembly 326, the lifting assembly 327, and the gripping assembly 328 are known technologies and will not be elaborated here. And the rotary drive assembly 326 is not necessary and can be omitted.

[0050] As shown in the Figure 10 accompanying drawings, the overhead crane moves above the track. When the overhead crane 300 needs to pick up and place an item 600, the overhead crane 300 moves to directly above the grid 203 directly above the item, and then drives the gripping assembly 328 to move up and down through the lifting assembly 327, so that the gripping assembly 328 picks up and places the item 600 through the grid 203. And, as shown in the Figure 11 accompanying drawings, after the overhead crane 300 picks up an item 600 directly below a grid 203, the item 600 is extracted through the grid 203 into its storage space 325 for transportation, which can effectively avoid occupying adjacent grids and reduce interference with the operation of other overhead cranes.

[0051] The specific structure and working principle of the non-contact dynamic power supply system are known technologies and are not the innovation of the present invention, so they will not be elaborated here.

[0052] In one embodiment, as shown in the Figure 1 accompanying drawings, the current collector in the non-contact dynamic power supply system is disposed on the top of the traveling unit, and its quantity and specific position can be designed according to needs.

[0053] For example, in one embodiment, as shown in the Figure 6 , the Figure 7 , the Figure 12 accompanying drawings, only one current collector can be disposed and is disposed at the central position on the top of the traveling unit. At this time, the current collector is a flat plate type current collector, and it can cooperate with the first cable 410 and the second cable 420 respectively for power transmission. Its specific structure is a known technology and is not the innovation of the present invention, so it will not be elaborated here. At this time, a group of the first cables 410 are equally spaced and each first cable is directly above a row of grids; a group of the second cables 420 are equally spaced, and each second cable is directly above a column of grids.

[0054] In a more optimal embodiment, the current collectors on one overhead crane can be set to be multiple, as shown in the Figure 12As shown in the figure, four current collectors are provided on a crane located at the grid in the middle position. Two current collectors are distributed along the first horizontal direction F1, and two current collectors are distributed along the second horizontal direction. Still, a first cable is provided above each row of grids, and a second cable is provided above each column of grids. At this time, the first cable cooperates with the two current collectors distributed along the first horizontal direction on the crane for power transmission, and the second cable cooperates with the two current collectors distributed along the second horizontal direction on the crane for power transmission.

[0055] Of course, in other embodiments, as shown in the appended Figure 13 and Figure 14 figures, the four current collectors on a crane can also be distributed at the four vertex positions of the top plate 304. For the convenience of description, they are sequentially defined as the first current collector 30C1, the second current collector 30C2, the third current collector 30C3, and the fourth current collector 30C4. The first current collector is located at the upper left corner of the crane top, the second current collector is located at the upper right corner of the crane top, the third current collector is located at the lower right corner of the crane top, and the fourth current collector is located at the lower left corner of the crane top.

[0056] At this time, as shown in the appended Figure 15 figure, two first cables 410 are provided above each row of grids 203. One first cable is located directly above the first current collector and the second current collector, and the other first cable is located directly above the third current collector and the fourth current collector. At the same time, two second cables 420 are provided above each column of grids. One second cable is located directly above the first current collector and the fourth current collector, and the other second cable is located directly above the second current collector and the third current collector.

[0057] Since the extending directions of the first cable 410 and the second cable 420 are perpendicular and their installation heights are quite the same, this will cause interference between the first cable and the second cable at the intersection position. Therefore, in a more optimal embodiment, as shown in the appended Figure 16 figure, the first cable 410 extends horizontally in a straight line, and the second cable 420 includes a plurality of straight line segments 421 and bypass segments 422 located between adjacent straight line segments 421. The straight line segments 421 are at the same height as the first cable, and the bypass segments 422 are located at the intersection position of the first cable and the second cable and bypass the first cable from above the first cable. Of course, it is also possible to make the first cable include a plurality of straight line segments 421 and bypass segments 422, and make the second cable extend horizontally in a straight line.

[0058] As shown in the appended Figure 1 and Figure 16As shown, in order to facilitate the installation of the first cable 410 and the second cable 420, a support member 700 is provided below the ceiling 100. The support member 700 can be a plate member fixed to the bottom of the ceiling 100. The first cable 410 and the second cable 420 are installed on the support member 700. A first installation groove 710 for installing the first cable and a second installation groove 720 for installing the straight section 421 of the second cable are provided at the bottom of the support member. The second installation groove is located between the first installation grooves, and through holes 730 for the bypass section 422 to pass through are provided at both ends of the second installation groove. At the same time, a groove can be provided at the top of the support plate member 700 for the part of the second cable between the through holes to be snapped in.

[0059] Furthermore, since each second cable includes multiple bypass sections, when a power take-off is located at one of the bypass sections, the power take-off and the bypass section cannot stably cooperate for power transmission. At this time, in the above embodiments with only one power take-off or four power take-offs, there will be an unstable power supply situation.

[0060] Therefore, in order to ensure stable power supply during the movement in the second horizontal direction, it is required that among the multiple power take-offs 30C distributed in the second horizontal direction, when one power take-off 30C is at a bypass section 422, at least one of the other power take-offs 30C distributed in the same direction as the power take-off 30C is on the straight section, that is, not at another bypass section 422. For example, among the four power take-offs in the above example, the distance between the first power take-off and the fourth power take-off in the second horizontal direction can be adjusted to meet the above requirements, as shown in the attached Figure 17 figure, so as to ensure that when the first power take-off is at a bypass section, the fourth power take-off is at a straight section, and when the fourth power take-off is at a bypass section, the first power take-off is at a straight section. For example, in the Figure 15 figure, among the four power take-offs on the crane at the grid in the middle position on the upper side, the first power take-off is not directly opposite to the first cable. At this time, the first power take-off only cooperates with the second cable for power supply, while the second, third, and fourth power take-offs can respectively cooperate with the first cable and the second cable for power supply. At this time, when the fourth power take-off is at a bypass section, the first power take-off is at the straight section of the second cable. Of course, the distance between the second power take-off and the third power take-off can also be adjusted simultaneously to meet the above requirements. For example, in the Figure 15 figure, the first power take-off and the second power take-off at the grid in the middle position on the right side of the crane are not directly above a first cable. They are only used to cooperate with the second cable for power supply. Thus, when the third power take-off and the fourth power take-off are at bypass sections, the first power take-off and the second power take-off are respectively at straight sections.

[0061] In another embodiment, as shown in the attachedFigure 18 and Figure 19 As shown, the first cable 410 and the second cable 420 can also be arranged on the track 200. To avoid interfering with the movement of the overhead crane, the first cable 410 is arranged on the top of the first outer limit strip on the first running rail, and both ends of the first cable 410 are located inside both ends of the first outer limit strip and maintain a certain distance. The second cable 420 is arranged on the second outer limit strip on the second running rail, and both ends of the second cable 420 are located inside both ends of the second outer limit strip and maintain a certain distance.

[0062] As shown in the appendix Figure 18 At least one current collector 30C is arranged at the first lifting plate 309 of the first traveling mechanism. When the overhead crane moves through the first traveling mechanism, the current collector 30C on the first lifting plate cooperates with the first cable 410 to supply power to the overhead crane. And at least one current collector can be arranged at only one first lifting plate, or at least one current collector can be arranged at both first lifting plates.

[0063] The current collector 30C (not shown in the figure) is arranged on the second lifting plate. When the overhead crane moves through the second traveling mechanism, the current collector 30C on the second lifting plate cooperates with the second cable to supply power to the overhead crane. And the current collector can be arranged at only one second lifting plate, or the current collector can be arranged at both second lifting plates.

[0064] Since both the first cable 410 and the second cable 420 are discontinuously distributed, when the overhead crane moves to the position where the current collector on the first lifting plate is located at the interval between the first cables, at this time, the current collector located between the first cables cannot induce a current; similarly, when the overhead crane moves to the position where the current collector on the second lifting plate is located at the interval between the second cables, the current collector located between the second cables cannot induce a current. Therefore, as shown in the appendix Figure 18 If at least one current collector is arranged on only one first lifting plate, at least two current collectors can be arranged on the first lifting plate, and the multiple current collectors are distributed along the first horizontal direction. If current collectors are arranged on both first lifting plates, the current collectors on the two first lifting plates are distributed in the first horizontal direction, that is, the current collectors on the two first lifting plates are spaced far enough apart in the first horizontal direction. The multiple current collectors arranged on the first lifting plate satisfy that when one of the multiple current collectors is located at the gap between the opposite ends of the adjacent first cables, at least one of the multiple current collectors is located at the first cable.

[0065] Similarly, if a current collector is provided only on one second lifting plate, at least two current collectors may be provided on the second lifting plate, and the multiple current collectors are distributed in the second horizontal direction. If current collectors are provided on both second lifting plates, the current collectors on the two second lifting plates are distributed in the second horizontal direction. The multiple current collectors provided on the second lifting plate between the current collectors 30C distributed in the second horizontal direction satisfy that when one of the multiple current collectors is located at the gap between the opposite ends of the adjacent second cable, at least one of the multiple current collectors is located at the second cable.

[0066] Further, although the problem of unstable power transmission of the current collector when bypassing has been avoided as much as possible in the above design, in order to ensure the stability of power transmission in other emergencies, the non-contact dynamic power supply system includes a super capacitor located on the overhead crane to supply power to the load by the super capacitor when the current collector 30C and the power supply cable 400 cannot stably transmit power; when the current collector 30C and the power supply cable 400 cooperate to transmit power, the super capacitor is charged. The non-contact dynamic power supply system including the super capacitor is a known technology and will not be elaborated here.

[0067] As shown in the appended Figure 1 and appended Figure 20 figures, an anti-overturning device 30D is further provided on the top of the traveling part 30A. The anti-overturning device 30D is, for example, a universal wheel, and more preferably a shock-absorbing universal wheel with a known shock-absorbing function. The roller 810 of the universal wheel faces upward. At the same time, the top of the roller 810 is higher than the top of the current collector. The specific number and installation position of the anti-overturning device 30D can be determined according to needs. For example, the anti-overturning device 30D is 4 and is arranged in a square shape on the top of the top plate, and the two opposite edges of the square formed by them extend in the first horizontal direction, and the other two opposite edges extend in the second horizontal direction.

[0068] More preferably, a predetermined gap is maintained between the anti-overturning device 30D and the ceiling 100 or the supporting member 700 below the ceiling 100. For example, a gap of 3 mm is maintained between the roller 810 of the universal wheel and the supporting member 700. Of course, the predetermined gap can be larger or smaller, and is not limited here. Thus, when the overhead crane is operating normally, the anti-overturning device will not interfere with the movement of the overhead crane. When the overhead crane tilts forward or backward, the roller 810 on the anti-overturning device can abut against the bottom surface of the supporting member 700, thereby restricting the overturning of the overhead crane and improving the running safety.

[0069] In the above embodiments, each overhead crane can move in the first horizontal direction and the second horizontal direction. Of course, in some embodiments, some or all of the overhead cranes can be made to move only in the first horizontal direction or the second horizontal direction. Correspondingly, the overhead crane only needs to be equipped with the first traveling mechanism or the second traveling mechanism and can be appropriately equipped with a current collector as needed.

[0070] There are still various implementation manners of the present invention. All technical solutions formed by adopting equivalent transformations or equivalent changes fall within the protection scope of the present invention.

Claims

1. An automatic handling system, comprising a grid-shaped track suspended below a ceiling and an overhead crane traveling on the track, the track including a first passage surface extending in a first horizontal direction and a second passage surface extending in a second horizontal direction, the overhead crane including a traveling part and a transfer part, characterized in that: When the overhead crane moves on the track, the transfer unit is located above the track. A current collector of the non-contact dynamic power supply system is provided on the traveling unit. The power supply cable of the non-contact dynamic power supply system is provided below the ceiling and / or on the track. The power supply cable includes a first cable extending along a first horizontal direction and a second cable extending along a second horizontal direction. When the overhead crane moves in the first horizontal direction, the current collector on the overhead crane cooperates with the first cable for power transmission. When the overhead crane moves in the second horizontal direction, the current collector on the overhead crane cooperates with the second cable for power transmission.

2. The automatic handling system according to claim 1, wherein: The first of the first cable and the second cable extends horizontally in a straight line, and the second includes a plurality of straight line segments and bypass segments located between adjacent straight line segments. The straight line segments of the second are at the same height as the first, and the bypass segments are located at the intersection position of the first and the second and bypass the first from above the first.

3. The automatic handling system according to claim 2, characterized in that: Support members are provided below the ceiling. The first cable and the second cable are installed on the support members. A first installation groove for installing the first and a second installation groove for installing the straight line segments are provided at the bottom of the support members. Through holes for the bypass segments to pass through are provided at both ends of the second installation groove.

4. The automatic handling system according to claim 2, characterized in that: A plurality of current collectors distributed along the first horizontal direction and a plurality of current collectors distributed along the second horizontal direction are provided on the traveling unit. When one of the current collectors is at a bypass segment, at least one straight line segment of the other current collectors distributed in the same direction as the current collector.

5. The automatic handling system according to claim 1, characterized in that: The first cable is provided on the first outer limiting strip on the first traveling rail, and both ends of the first cable are located inside both ends of the first outer limiting strip and maintain a certain distance. Both ends of the first outer limiting strip do not extend to the intersection area of the first traveling rail and the second traveling rail; the second cable is provided on the second outer limiting strip on the second traveling rail, and both ends of the second cable are located inside both ends of the second outer limiting strip and maintain a certain distance. Both ends of the first outer limiting strip do not extend to the intersection area of the first traveling rail and the second traveling rail.

6. The automatic handling system according to claim 5, characterized in that: The traveling unit includes a first traveling mechanism for driving the overhead crane to move in the first horizontal direction and a second traveling mechanism for driving the overhead crane to move in the second horizontal direction. The current collector is provided on the first lifting plate where the first traveling wheels of the first traveling mechanism are located. The current collector is provided on the second lifting plate where the second traveling wheels of the second traveling mechanism are located.

7. The automatic handling system according to claim 6, wherein: The plurality of current collectors provided on the first lifting plate satisfy that when one of the plurality of current collectors is located at the gap between the opposite ends of the adjacent first cables, at least one of the plurality of current collectors is located at the first cable. The plurality of current collectors provided on the second lifting plate satisfy that when one of the plurality of current collectors is located at the gap between the opposite ends of the adjacent second cables, at least one of the plurality of current collectors is located at the second cable.

8. The automatic handling system according to claim 1, wherein: The non-contact dynamic power supply system includes a super capacitor located on the overhead crane to supply power to the load by the super capacitor when the current collector and the power supply cable cannot stably transmit power.

9. The automatic handling system according to any one of claims 1-8, characterized in that: An anti-overturning device is provided at the top of the traveling part.

10. The automatic handling system according to claim 9, characterized in that: A predetermined gap is maintained between the anti-overturning device and the ceiling or the supporting member below the ceiling.

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