Overhead crane, overhead crane transportation system and control method thereof

Abstract

The present application belongs to the field of wafer cassette transport equipment, and specifically relates to an overhead crane, an overhead crane transport system, and a control method thereof. The overhead crane includes a main body, a detection device, and a posture adjustment device. The main body is used to travel along a main track, pick up and place, and transport goods, including wafer cassettes. The detection device is provided on the main body and is used to detect environmental information. The posture adjustment device connects the main body and the detection device. The posture adjustment device can adjust the angle of the detection surface of the detection device relative to the main body by adjusting the posture of the detection device. During the operation, maintenance, and troubleshooting of the overhead crane, if the detection device on the overhead crane produces an angular or positional offset, the posture adjustment device can correct the posture of the detection device to ensure the normal operation of the overhead crane transport system.

Description

Technical Field

[0001] The present application belongs to the field of wafer box transportation equipment, and specifically relates to an overhead crane, an overhead crane transportation system and a control method thereof. Background Art

[0002] The overhead hoist transport system consists of an overhead hoist (OHT) and the tracks on which the OHT travels. The OHT is suspended from the tracks. The OHT includes multiple sensors, such as obstacle avoidance sensors that detect obstacles and prevent collisions, collision avoidance sensors that detect adjacent OHTs and prevent collisions between them, and cameras.

[0003] During operation, maintenance, and troubleshooting of overhead cranes, sensors on the cranes are prone to angular or positional misalignment, impacting the normal operation of the crane's transport system. Furthermore, addressing sensor misalignment not only increases the workload for on-duty personnel but also increases safety risks during factory production due to the need for high-altitude operations. Summary of the Invention

[0004] The purpose of the present application is to provide an overhead crane, an overhead crane transportation system and a control method thereof, so as to reduce or eliminate the downtime of the overhead crane transportation system caused by sensor angle or position offset failure.

[0005] In order to achieve the above-mentioned objectives, the present application provides an overhead travelling crane, comprising:

[0006] The main body is used for walking along the main track, picking up and placing and transporting goods, including wafer boxes;

[0007] A detection device, provided on the main body, for detecting environmental information;

[0008] The posture adjustment device is connected to the main body and the detection device, and the posture adjustment device can adjust the angle of the detection surface of the detection device relative to the main body by adjusting the posture of the detection device.

[0009] Optionally, the posture adjustment device includes an adjustment platform, a support unit and an adjustment mechanism, the adjustment platform is used to carry the detection device, the support unit includes a support column and a first universal joint, the first end of the support column is connected to the main body, the second end of the support column is connected to the adjustment platform through the first universal joint, and the adjustment mechanism is connected to the adjustment platform for adjusting the posture of the adjustment platform.

[0010] Optionally, the adjustment mechanism includes a position adjustment unit, an angle adjustment unit and a posture controller, the connection points between the support unit, the position adjustment unit and the angle adjustment unit and the adjustment platform are respectively a first connection point, a second connection point and a third connection point, the first connection point, the second connection point and the third connection point are spaced apart from each other, the position adjustment unit is used to drive the second connection point to rotate around the projection point of the first connection point on the first plane along the first plane, so that the adjustment platform rotates around the support column, the angle adjustment unit is used to drive the third connection point to rotate around the projection point of the first connection point on the second plane along the second plane, so that the adjustment platform rotates around the line connecting the first connection point and the second connection point, the second plane is perpendicular to the line connecting the first connection point and the second connection point, the first plane intersects with the second plane, and the posture controller can receive a posture control signal to control the operation of the position adjustment unit and the angle adjustment unit.

[0011] Optionally, the position adjustment unit includes a guide rail, a running mechanism, a first hydraulic rod, a connecting rod and a second universal joint. The first end of the first hydraulic rod is connected to the guide rail through the running mechanism, and the second end of the first hydraulic rod is connected to the adjustment platform through the connecting rod and the second universal joint in turn. The posture controller can control the running mechanism to move along the guide rail, driving the adjustment platform to rotate around the first connection point.

[0012] Optionally, the connecting end of the connecting rod and the second universal joint can be extended and retracted in a direction perpendicular to the first plane, and can maintain a positional relationship with the main body after extension and retraction.

[0013] Optionally, the running mechanism includes a first motor, a rack, a gear and a slide, the rack is arranged on the guide rail, the slide is slidably arranged on the guide rail, the first end of the first hydraulic rod is connected to the slide, the first motor and the gear are both arranged on the slide, the first motor is connected to the gear, the gear and the rack are meshed, and the first motor is connected to the posture controller.

[0014] Optionally, the position adjustment unit also includes a locking mechanism, which includes a positioning pin, a telescopic bracket and a driver, the telescopic bracket is arranged on the slide, the positioning pin is arranged in the telescopic bracket, the driver is connected to the positioning pin, and is used to drive the positioning pin to extend and retract along the radial direction of the gear to release or lock the gear, and the driver is connected to the posture controller.

[0015] Optionally, the angle adjustment unit includes a second motor, a rocker arm, a second hydraulic rod, a third universal joint and a fourth universal joint, the second motor is arranged on the main body, the rocker arm is connected to the second motor, the first end of the second hydraulic rod is connected to the rocker arm through the third universal joint, the rocker arm is used to drive the first end of the second hydraulic rod to rotate along a third plane, the third plane intersects with the first plane, the third universal joint is configured to make the second hydraulic rod rotate along the first plane, the second end of the second hydraulic rod is connected to the adjustment platform through the fourth universal joint, and the second motor is connected to the attitude controller.

[0016] Optionally, the posture adjustment device further includes a shell, at least the main body is arranged in the shell, and at least the detection device is exposed from the shell.

[0017] Optionally, the detection device includes a combination of one or more of an obstacle avoidance sensor, an anti-collision sensor and a camera.

[0018] The present application also provides an overhead crane transportation system, comprising:

[0019] Main track;

[0020] The overhead crane is suspended and installed on the main track;

[0021] a posture detection device, used to detect the posture of the detection device;

[0022] The main controller is capable of at least sending a posture control signal according to the detection result of the posture detection device to control the posture adjustment device to adjust the posture of the detection device.

[0023] Optionally, the detection device is capable of emitting detection light, the detection surface includes a light emitting surface of the detection light, the posture detection device includes a measuring board, the measuring board includes a driving substrate and a plurality of photodetectors connected to the driving substrate, the photodetector array is arranged on one side of the driving substrate, the measuring board is used to measure the irradiation area of ​​the detection light, and the main controller controls the operation of the posture adjustment device according to the measurement results of the measuring board.

[0024] Optionally, the posture detection device also includes an abnormality detection unit, the measuring plate includes a reference point, and the abnormality detection unit is used to calculate the offset of the irradiation area of ​​the detection light emitted by the detection device from the reference point. The main controller controls the posture adjustment device to adjust the posture of the detection device according to the offset, so that the offset of the irradiation area of ​​the detection light emitted by the detection device from the reference point is less than a first preset value.

[0025] Optionally, the overhead crane includes a plurality of the detection devices, and the irradiation areas of at least some of the detection devices are located at different positions in the horizontal direction or height direction of the measurement plate;

[0026] The posture detection device also includes a mounting seat, a translation mechanism and a third motor. The translation mechanism is arranged on the mounting seat, and the measuring plate is arranged on the translation mechanism. The third motor is connected to the translation mechanism and is used to drive the translation mechanism to move so that the measuring plate moves along the horizontal direction or the height direction of the measuring plate. The third motor is connected to the main controller.

[0027] Optionally, the posture detection device further includes a position control unit, the third motor is connected to the main controller via the position control unit, the main controller is capable of issuing a detection device detection instruction, the detection device detection instruction corresponds to the detection device to be detected, and the position control unit is used to control the third motor to operate according to the detection device detection instruction, so as to move the measuring plate to a position corresponding to the detection device to be detected;

[0028] The posture detection device further includes a position sensor connected to the position control unit, and the position sensor is used to detect the position of the measurement plate.

[0029] Optionally, the posture detection device is movably installed below the main track; or

[0030] The overhead crane transportation system further includes a first branch track, both ends of which are respectively connected to different positions of the main track, and the posture detection device is movably installed below the first branch track or fixedly installed on the first branch track.

[0031] Optionally, the detection device can emit detection light, the detection bread is the light emitting surface of the detection light, the posture detection device is fixedly mounted on the first branch rail, the posture detection device includes a measuring plate, a mounting seat and a translation mechanism, the measuring plate is used to measure the irradiation area of ​​the detection light, the mounting seat is set on the first branch rail, the translation mechanism connects the measuring plate and the mounting seat, and the translation mechanism can drive the measuring plate to move so that the overhead crane can pass between the measuring plate and the mounting seat.

[0032] Optionally, the overhead crane transportation system also includes a second branch track, the two ends of which are respectively connected to the first point and the second point on the first branch track, the posture detection device is installed between the first point and the second point, and the first branch track includes a track section located on the side of the first point away from the second point.

[0033] The present application also provides a method for controlling an overhead crane transportation system, the method for controlling an overhead crane transportation system being used to control the above-mentioned overhead crane transportation system, and the method for controlling an overhead crane transportation system comprising:

[0034] Acquire automatic detection time, the automatic detection time including the operation time of the overhead crane, the timing starting point of the operation time of the overhead crane is the last time the detection device of the overhead crane was detected by the posture detection device or the last time the posture adjustment device was adjusted;

[0035] When it is confirmed that the automatic detection time is greater than a second preset value, the overhead travelling crane is controlled to move to a detection position, wherein the detection position is a position where the detection surface of the detection device faces the posture detection device and the distance between the overhead travelling crane and the posture detection device is within a preset range;

[0036] According to the detection result of the posture detection device, the overhead crane is controlled to continue running or the posture adjustment device is controlled to perform posture adjustment.

[0037] Optionally, the automatic detection time is a parameter related to at least one of the operating time of the overhead crane, the number of overhead crane alarms, the number of overhead crane failures, and the number of overhead crane offline times.

[0038] The overhead crane, overhead crane transportation system, and control method thereof disclosed in this application have the following beneficial effects:

[0039] In this application, the overhead crane includes a main body, a detection device, and a posture adjustment device. The main body is used to travel along the main track, pick up and place, and transport cargo, including wafer boxes. The detection device is mounted on the main body and is used to detect environmental information. The posture adjustment device connects the main body and the detection device. The posture adjustment device can adjust the angle of the detection surface of the detection device relative to the main body by adjusting the posture of the detection device. During the operation, maintenance, and troubleshooting of the overhead crane, if the detection device on the overhead crane experiences angular or positional deviation, the posture adjustment device can be used to correct the posture of the detection device to ensure the normal operation of the overhead crane transportation system.

[0040] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by practice of the present application.

[0041] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0043] Figure 1 It is a structural diagram of the overhead crane in the embodiment of the present application.

[0044] Figure 2 It is a structural diagram of the posture adjustment device in an embodiment of the present application.

[0045] Figure 3 It is a structural diagram of the universal joint in an embodiment of the present application.

[0046] Figure 4 It is a structural diagram of the overhead crane transportation system in an embodiment of the present application.

[0047] Figure 5 It is a structural diagram of the posture detection device in an embodiment of the present application.

[0048] Figure 6 This is a schematic diagram of an embodiment of the present application in which a posture detection device is arranged below the first track.

[0049] Figure 7 This is a schematic diagram of the connection between the two branch tracks of the overhead travelling crane transportation system in an embodiment of the present application.

[0050] Figure 8 It is a flow chart of the control method of the overhead crane transportation system in the embodiment of the present application.

[0051] Figure 9 This is a schematic diagram of the connection between the overhead crane transportation system and the overhead crane control center in an embodiment of the present application.

[0052] Figure 10 This is a schematic diagram of the connection between the overhead crane transportation system and the material control center in an embodiment of the present application.

[0053] Description of reference numerals:

[0054] 100. Overhead crane; 110. Main body; 120. Detection device; 121. Obstacle avoidance sensor; 122. Anti-collision sensor;

[0055] 130. Attitude adjustment device; 131. Adjustment platform; 132. Support unit; 1321. Support column; 1322. First universal joint; 13221. First hinge seat; 13222. Second hinge seat; 13223. Articulation shaft; 13224. Connecting seat; 133. Position adjustment unit; 1331. Guide rail; 1332. First hydraulic rod; 1333. Connecting rod; 1334. Second universal joint; 1335. First motor; 1336. Sliding seat; 134. Angle adjustment unit; 1341. Second motor; 1342. Rocker arm; 1343. Second hydraulic rod; 1344. Third universal joint; 1345. Fourth universal joint; 135. Base; 136. First plane; 137. Second plane; 138. Third plane; 140. Housing;

[0056] 200, posture detection device; 210, measurement board; 211, drive substrate; 212, photodetector; 213, reference point; 220, abnormality detection unit; 230, mounting base; 231, crossbeam; 232, column; 240, translation mechanism; 250, third motor; 260, position control unit; 270, position sensor;

[0057] 310, main track; 320, first branch track; 330, second branch track;

[0058] 400, main controller; 500, communication module; 600, time calculation module; 700, overhead crane management module;

[0059] 10. Overhead crane transportation system. DETAILED DESCRIPTION

[0060] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art.

[0061] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps etc. can be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0062] The present application is further described below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be understood as limiting the present application.

[0063] See also Figure 1 and Figure 2 As shown, in this embodiment, the overhead crane 100 includes a main body 110, a detection device 120, and a posture adjustment device 130. The main body 110 is used to travel along the main track 310, pick up and place, and transport goods, including wafer boxes. The detection device 120 is arranged on the main body 110 and is used to detect environmental information. For example, the detection device 120 includes an obstacle avoidance sensor 121 for detecting obstacles and preventing the overhead crane 100 from colliding with obstacles. It may also include an anti-collision sensor 122 for detecting adjacent overhead cranes 100 to avoid collisions between overhead cranes 100, and may also include a camera, etc. The detection device 120 may include one of the obstacle avoidance sensor 121, the anti-collision sensor 122, and a camera, or a combination of multiple thereof. The detected environmental information is not limited to the obstacles and adjacent overhead cranes 100 listed above.

[0064] The detection device 120 includes a detection surface. In some embodiments, the detection surface includes a detection signal receiving surface, such as the receiving surface of an acoustic wave sensor, a photoelectric sensor, or a camera; in some embodiments, the detection surface includes a detection signal emitting surface, such as the emitting surface of an acoustic wave transmitter, a light transmitter, or the like; in some embodiments, the detection surface includes both a detection signal emitting surface and a detection signal receiving surface, and the detection device 120 is configured such that the detection signal emitting surface and the detection signal receiving surface have a predetermined positional relationship.

[0065] For example, the obstacle avoidance sensor 121 and the collision avoidance sensor 122 may each be formed as a detection device 120 structure including a laser emitter and a laser detector, wherein the laser emitter emits a detection laser, and the laser detector senses the portion of the detection laser reflected by the surrounding environment. In some embodiments, the detection device 120 for detecting obstacles and approaching the overhead crane 100 may further include a camera, etc., and, for example, may analyze images captured by the camera to obtain detection results.

[0066] The posture adjustment device 130 connects the main body 110 and the detection device 120. The posture adjustment device 130 can adjust the angle of the detection surface of the detection device 120 relative to the main body 110 by adjusting the posture of the detection device 120. When the detection device 120 includes a detection signal receiving surface, the posture adjustment device 130 can adjust the angle of the detection signal receiving surface relative to the main body 110. When the detection device 120 is a detection device 120 including a laser emitter and a laser detector, the posture adjustment device 130 can adjust the angle of the light-emitting surface of the laser emitter of the detection device 120 relative to the main body 110, thereby synchronously adjusting the angle of the light-sensitive surface of the laser detector relative to the main body 110. When the detection device 120 is a camera, the posture adjustment device 130 adjusts the angle of the light-sensitive surface of the detection device 120 relative to the main body 110.

[0067] During the operation, maintenance and troubleshooting of the overhead crane 100 , the detection device 120 on the overhead crane 100 may easily experience an angle or position deviation, thereby affecting the normal operation of the overhead crane transportation system.

[0068] In this embodiment, the overhead crane 100 includes a main body 110, a detection device 120, and a posture adjustment device 130. The main body 110 is used to travel along the main track 310, pick up and place, and transport goods, including wafer boxes. The detection device 120 is disposed on the main body 110 and is used to detect environmental information. The posture adjustment device 130 connects the main body 110 and the detection device 120. The posture adjustment device 130 can adjust the angle of the detection surface of the detection device 120 relative to the main body 110 by adjusting the posture of the detection device 120. During the operation, maintenance, and troubleshooting of the overhead crane 100, if the detection device 120 on the overhead crane 100 experiences an angular or positional deviation, the posture adjustment device 130 can correct the posture of the detection device 120 to ensure the normal operation of the overhead crane transportation system.

[0069] Furthermore, when the detection device 120 is mounted directly on the main body 110, handling angular or positional misalignment failures of the detection device 120 not only increases the workload of the on-duty personnel, but also increases safety risks during factory production due to the need for overhead work. In this embodiment, the detection device 120 is mounted on the main body 110 with a posture adjustment device 130, which automatically adjusts the posture of the detection device 120. This reduces the workload of the on-duty personnel and eliminates safety risks during handling angular or positional misalignment failures of the detection device 120.

[0070] In some embodiments, the posture adjustment device 130 includes an adjustment platform 131, a support unit 132 and an adjustment mechanism. The adjustment platform 131 is used to support the detection device 120. The support unit 132 includes a support column 1321 and a first universal joint 1322. The support column 1321 is, for example, a cylinder. The first end of the support column 1321 is connected to the main body 110, and the second end of the support column 1321 is connected to the adjustment platform 131 through the first universal joint 1322. The adjustment mechanism is connected to the adjustment platform 131 for adjusting the posture of the adjustment platform 131.

[0071] The first universal joint 1322 includes a first hinge seat 13221, a second hinge seat 13222, a hinge shaft 13223 and a connecting seat 13224. The first hinge seat 13221 and the second hinge seat 13222 are hingedly connected by the hinge shaft 13223. The connecting seat 13224 is rotatably connected to the side of the second hinge seat 13222 away from the first hinge seat 13221. The axis of rotation of the connecting seat 13224 around the second hinge seat 13222 is perpendicular to the axis of the hinge shaft 13223. Figure 3 It should be understood that the universal joint disclosed in this embodiment is only for illustrative purposes, and other universal joints that can enable the adjustment platform 131 to rotate arbitrarily on the support column 1321 may also be used.

[0072] The adjustment platform 131 is connected to the support column 1321 via a universal joint. By driving the adjustment platform 131 to rotate, the posture of the adjustment platform 131 can be adjusted, thereby adjusting the posture of the detection device 120.

[0073] In some embodiments, the adjustment mechanism includes a position adjustment unit 133, an angle adjustment unit 134, and a posture controller. The connection points between the support unit 132, the position adjustment unit 133, and the angle adjustment unit 134 and the adjustment platform 131 are a first connection point A, a second connection point B, and a third connection point C, respectively. The first connection point A, the second connection point B, and the third connection point C are spaced apart from each other and are not on the same straight line. The position adjustment unit 133 is configured to drive the second connection point B to rotate along the first plane 136 about the projection of the first connection point A on the first plane 136, thereby rotating the adjustment platform 131 about the support column 1321. The angle adjustment unit 134 is configured to drive the third connection point C to rotate along the second plane 137 about the projection of the first connection point A on the second plane 137, thereby rotating the adjustment platform 131 about the line connecting the first connection point A and the second connection point B. The second plane 137 is perpendicular to the line connecting the first connection point A and the second connection point B. The first plane 136 intersects the second plane 137. The posture controller can receive the posture control signal to control the position adjustment unit 133 and the angle adjustment unit 134 to operate.

[0074] Specifically, the support column 1321 is a cylinder. The position adjustment unit 133 is used to drive the adjustment platform 131 to rotate around the axis of the support column 1321, and the angle adjustment unit 134 is used to drive the third connection point C away from or closer to the main body 110, so that the adjustment platform 131 rotates around the line connecting the first connection point A and the second connection point B.

[0075] The position and inclination of the adjustment platform 131 can be adjusted by the position adjustment unit 133 and the angle adjustment unit 134 to achieve posture adjustment of the detection device 120 .

[0076] In some embodiments, the position adjustment unit 133 includes a guide rail 1331, a running mechanism, a first hydraulic rod 1332, a connecting rod 1333, and a second universal joint 1334. The first end of the first hydraulic rod 1332 is connected to the guide rail 1331 through the running mechanism, and the second end of the first hydraulic rod 1332 is connected to the adjustment platform 131 through the connecting rod 1333 and the second universal joint 1334 in sequence. The guide rail 1331 can be set to an arc shape, such as a circular arc or an elliptical arc, and the support unit 132 is located on the inner side of the guide rail 1331. The structure of the second universal joint 1334 is the same as that of the first universal joint 1322. The posture controller can control the running mechanism to move along the guide rail 1331, driving the adjustment platform 131 to rotate around the first connection point A.

[0077] In one embodiment, the angle between the running mechanism and the first hydraulic rod 1332 remains unchanged or changes regularly, where the regular change is, for example, a change according to a preset rule based on the position of the running mechanism on the guide rail 1331. The second universal joint 1334 is configured so that, in the projection on the first plane 136, the angle between the line connecting the first connection point A and the second connection point B and the axis of the first hydraulic rod 1332 remains unchanged. For example, the connecting rod 1333 is fixedly connected to the second end of the first hydraulic rod 1332. During the movement of the running mechanism along the guide rail 1331, the connecting seat 13224 of the second universal joint 1334 and the second articulated seat 13222 cannot rotate relative to each other along the first plane 136. The first hydraulic rod 1332 adaptively extends or shortens, so that the running mechanism can drive the second connection point B to rotate around the support unit 132. In addition, when the posture adjustment device 130 is deformed and stuck due to impact, the length of the first hydraulic rod 1332 and the angle between the first hydraulic rod 1332 and the line connecting the first connection point A and the second connection point B can be adjusted to enable the posture adjustment device 130 to be reset.

[0078] In one embodiment, the angle between the running mechanism and the first hydraulic rod 1332 remains unchanged or changes regularly, where the regular change is, for example, a change according to a preset rule based on the position of the running mechanism on the guide rail 1331. During the running of the running mechanism along the guide rail 1331, the angle between the line connecting the first connection point A and the second connection point B and the axis of the first hydraulic rod 1332 will change, and the first hydraulic rod 1332 will adaptively extend or shorten to realize the rotation of the second connection point B around the axis of the support column 1321.

[0079] In one embodiment, the angle between the running mechanism and the first hydraulic rod 1332 is variable. The first hydraulic rod 1332 is capable of maintaining a constant length while the running mechanism drives point B to rotate. As the running mechanism travels along the guide rail 1331, the angle between the line connecting the first connection point A and the second connection point B and the axis of the first hydraulic rod 1332 changes, enabling the second connection point B to rotate about the support unit 132. It should be noted that in this embodiment, if the posture adjustment device 130 is deformed or stuck due to an impact, the length of the first hydraulic rod 1332 can be adjusted to reset the posture adjustment device 130.

[0080] It should be noted that the mechanical movement of the position adjustment unit 133 is not limited to the above embodiment. The length of the first hydraulic rod 1332 itself in the position adjustment unit 133, the angle between the first hydraulic rod 1332 and other structures, and the shape of the guide rail 1331 can all be adjusted as needed, as long as the second connection point B can be rotated around the support unit 132.

[0081] Guide rail 1331 guides the rotation of first hydraulic rod 1332, causing connecting rod 1333, second universal joint 1334, and second connection point B to rotate about the axis of support column 1321, thereby causing adjustment platform 131 to rotate about the axis of support column 1321. This allows for simple and reliable position adjustment of adjustment platform 131. Furthermore, by allowing the running mechanism to travel a considerable distance on guide rail 1331 to drive second connection point B to rotate a relatively small angle about the axis of support column 1321, precise control of the rotation angle can be achieved, thereby improving the accuracy of posture adjustment of detection device 120.

[0082] In some embodiments, the running mechanism includes a first motor 1335, a rack, a gear, and a slide 1336. The rack is mounted on a guide rail 1331, and the slide 1336 is slidably mounted on the guide rail 1331. A first end of a first hydraulic rod 1332 is connected to the slide 1336. The first motor 1335 and the gear are both mounted on the slide 1336. The first motor 1335 is connected to the gear, and the gear and rack mesh. The first motor 1335 is connected to a posture controller. The posture controller controls the rotation of the first motor 1335, which drives the gear to roll on the rack, driving the slide 1336 to slide along the guide rail 1331. The slide 1336 then rotates the first hydraulic rod 1332, ultimately adjusting the position of the adjustment platform 131. The angle between the first hydraulic rod 1332 and the running mechanism can be variable. This can be achieved by making the angle between the first hydraulic rod 1332 and the slide 1336 variable, or by making the slide 1336 rotatable.

[0083] The slide 1336 is driven to slide along the guide rail 1331 by the motor, gear and rack, so that the position of the slide 1336 on the guide rail 1331 can be accurately controlled, thereby achieving accurate control of the position of the adjustment platform 131.

[0084] In some embodiments, the position adjustment unit 133 further includes a locking mechanism comprising a positioning pin, a telescopic bracket, and a driver. The telescopic bracket is disposed on the slide 1336, and the positioning pin is disposed within the telescopic bracket. The driver is connected to the positioning pin and is configured to drive the positioning pin to extend and retract radially along the gear to release or lock the gear. The driver is connected to the attitude controller and can extend and retract the positioning pin based on signals from the attitude controller.

[0085] The gears are locked by the locking mechanism, thereby preventing the slide 1336 from sliding along the guide rail 1331 during use of the overhead travelling vehicle 100, thereby preventing the posture of the detection device 120 from changing.

[0086] In some embodiments, the angle adjustment unit 134 includes a second motor 1341, a rocker arm 1342, a second hydraulic rod 1343, a third universal joint 1344, and a fourth universal joint 1345. The second motor 1341 is disposed on the main body 110, and the rocker arm 1342 is connected to the second motor 1341. The first end of the second hydraulic rod 1343 is connected to the rocker arm 1342 via the third universal joint 1344. The rocker arm 1342 is configured to drive the first end of the second hydraulic rod 1343 to rotate along a third plane 138, which intersects the first plane 136. The third universal joint 1344 is configured to rotate the second hydraulic rod 1343 along the first plane 136. The second end of the second hydraulic rod 1343 is connected to the adjustment platform 131 via the fourth universal joint 1345. The second motor 1341 is connected to the attitude controller. The structures of the third and fourth universal joints 1344 and 1345 can be the same as those of the first universal joint 1322.

[0087] The third connection point C can be driven to rotate around the line connecting the first connection point A and the second connection point B by the second motor 1341, the rocker arm 1342 and the second hydraulic rod 1343, so that the inclination angle of the adjustment platform 131 relative to the main body 110 can be adjusted simply and reliably.

[0088] Typically, in the case of an angle or position offset failure of the detection device 120, the position offset range is usually small, and can be adjusted together by the angle of the detection surface, so that the detection angle and detection range are within the qualified range after adjustment. The present application controls the rotation of the adjustment platform 131 around the support unit 132 through the adjustment mechanism, which can effectively adjust the posture of the detection device 120, that is, adjust the angle of the detection surface, avoid unnecessary adjustment actions that lead to erroneous changes in the position of the detection surface, and reduce the difficulty of posture adjustment. Specifically, the present application controls the rotation of the adjustment platform 131 along the intersecting first plane 136 and the second plane 137 of the adjustment mechanism, respectively, and realizes the free adjustment of the adjustment platform 131 and the detection surface angle only through two motors.

[0089] It should be noted that, depending on the installation position of the detection device 120 on the adjustment platform 131, the angle adjustment of the detection device 120 may or may not cause the position of the detection device 120 to change. These position offsets are usually small and can be adjusted together by adjusting the angle of the detection surface to ensure that the detection angle and detection range are within the qualified range after adjustment.

[0090] In some embodiments, the connecting end of the connecting rod 1333 and the second universal joint 1334 can be extended and retracted in a direction perpendicular to the first plane 136, and can maintain its positional relationship with the main body 110 after extension and retraction. When adjusting the position and inclination of the adjustment platform 131, the length of the connecting rod 1333 is maintained constant. If the posture adjustment device 130 is impacted and deformed or stuck, the connecting rod 1333 can be controlled to extend and retract, thereby resetting the posture adjustment device 130.

[0091] By controlling the extension and retraction of the connecting rod 1333 , the posture adjustment device 130 can be quickly reset from a fault state, thereby improving the maintainability of the posture adjustment device 130 .

[0092] In some embodiments, the connecting rod 1333 includes a driving device, which is communicated with the attitude controller and can control the extension and length maintenance of the connecting rod 1333 according to the signal of the attitude controller, thereby further avoiding manual intervention in the sensor maintenance process.

[0093] The main body 110 further includes a housing 140. In some embodiments not shown, the posture adjustment device 130 is disposed within the housing 140, and the detection device 120 is exposed from the housing 140. The housing 140 encloses the posture adjustment device 130, thereby reducing contamination of the production environment by pollutants generated by the movement of the internal mechanism of the posture adjustment device 130.

[0094] It should be noted that the detection device 120 can be exposed from the housing 140, including situations where the detection device 120 is located outside the housing 140, and also including situations where the detection device 120 is disposed within the housing 140 and the area of ​​the housing 140 corresponding to the detection surface of the detection device 120 is configured as a light-transmitting area or a hollow area, depending on the specific situation. It should also be noted that the detection surface of the detection device 120 can be exposed from the housing 140, which means that at least the light-sensitive surface of the detection device 120 is exposed from the housing 140. When the detection surface also includes a light-emitting surface, the light-emitting surface is also exposed from the housing 140.

[0095] In some embodiments, a plurality of detection devices 120 are provided on the overhead crane 100, and the detection devices 120 correspond to the posture adjustment devices 130 one by one. The angle of the detection surface of each detection device 120 relative to the main body 110 is independently adjusted, thereby enabling accurate adjustment of the angle of the detection surface of each detection device 120; in some embodiments, a plurality of detection devices 120 are provided on the overhead crane 100, and the plurality of detection devices 120 are provided on one posture adjustment device 130, and the angles of the detection surfaces of the plurality of detection devices 120 relative to the main body 110 are synchronously adjusted. Since the detection surface angle has a certain qualified range, the synchronous adjustment can also achieve the posture adjustment of the plurality of detection devices 120 to meet the requirements.

[0096] In some embodiments, the posture adjustment device 130 may further include a base 135 , and the adjustment platform 131 , the support unit 132 and the adjustment mechanism are all disposed on the base 135 , that is, the posture adjustment device 130 is mounted on the main body 110 through the base 135 .

[0097] The adjustment platform 131 , the support unit 132 and the adjustment mechanism are all arranged on the base 135 , and then mounted on the main body 110 through the base 135 . The posture adjustment device 130 can be installed and disassembled as a whole, which facilitates maintenance and replacement of the posture adjustment device 130 .

[0098] In the present application, when the detection device 120 of the overhead travelling vehicle 100 requires posture adjustment, the posture adjustment device 130 can automatically adjust the posture of the detection device 120 based on the posture detection results of the detection device 120, such as images captured by a camera or the illumination range of a light-emitting surface. Furthermore, the posture adjustment device 130 can also be in communication with a main controller 400, which controls the posture adjustment device 130 to adjust the posture of the detection device 120 based on the detection results of the detection device 120. For example, the main controller 400 can be used to control the posture adjustment device 130 to adjust the posture of the detection device 120 by visually observing the illumination range of the detection device 120 on a scale. The main controller 400 can be, for example, a remote control.

[0099] In some embodiments, a posture detection device 200 may be provided to match the detection device 120, and the posture detection device 200 feeds back the detection results to the main controller 400, which then controls the posture adjustment device 130 to automatically adjust the posture of the detection device 120. The specific process of the posture detection device 200 detecting the posture of the detection device 120 and the main controller 400 controlling the posture adjustment device 130 to adjust the posture of the detection device 120 will be described in detail below.

[0100] This application also provides a crane transportation system, see Figure 4 and Figure 9 As shown, the overhead crane transportation system includes the overhead crane 100 disclosed above, the posture detection device 200, the main track 310 and the main controller 400. The overhead crane 100 is suspended and mounted on the main track 310. The overhead crane 100 can travel on the main track 310 to pick up, place and transport goods. It should be understood that the overhead crane transportation system may include multiple overhead cranes 100, and the main controller 400 can control the operation of multiple overhead cranes 100. The posture detection device 200 is mounted on the main track 310 or on other structures. The posture detection device 200 is used to detect the posture of the detection device 120. The main controller 400 can at least send a posture control signal based on the detection result of the posture detection device 200 to control the posture adjustment device 130 to adjust the posture of the detection device 120.

[0101] During the operation of the overhead crane transportation system, when one of the overhead cranes 100 reaches the preset detection conditions, the main controller 400 controls the overhead crane 100 to move to the detection position in front of the posture detection device 200, and controls the posture detection device 200 to detect the posture of the detection device 120 on the overhead crane 100, and then determines whether the posture of the detection device 120 needs to be adjusted through the posture adjustment device 130 based on the detection result.

[0102] During the operation of the overhead crane 100, the posture detection device 200 regularly detects whether the detection device 120 has any angle or position offset, and when an angle or position offset exists, the posture adjustment device 130 promptly corrects it, thereby reducing or eliminating the overhead crane transportation system shutdown caused by the sensor having an angle or position offset failure, and ensuring the normal operation of the overhead crane transportation system.

[0103] In some embodiments, the detection device 120 can emit detection light, the detection surface includes a light emitting surface of the detection light, the posture detection device 200 includes a measurement board 210, the measurement board 210 includes a driving substrate 211 and a plurality of photodetectors 212 connected to the driving substrate 211, and the plurality of photodetectors 212 are arrayed on one side of the driving substrate 211, such as Figure 5 The measuring board 210 is used to measure the irradiation area of ​​the detection light, and the main controller 400 controls the posture adjustment device 130 to work according to the measurement result of the measuring board 210 .

[0104] The photoelectric detector 212 array is used to detect the irradiation area of ​​the detection light emitted by the detection device 120, and indirectly detect the posture of the detection device 120. It has a simple structure and high detection accuracy, and can timely detect the angle or position offset generated by the detection device 120 and correct it.

[0105] In some embodiments, the posture detection device 200 further includes an anomaly detection unit 220, and the measurement plate 210 includes a reference point 213. The anomaly detection unit 220 is configured to calculate an offset of an illumination area of ​​the detection light emitted by the detection device 120 from the reference point 213. The main controller 400 controls the posture adjustment device 130 to adjust the posture of the detection device 120 based on the offset, so that the offset of the illumination area of ​​the detection light emitted by the detection device 120 from the reference point 213 is less than or equal to a first preset value, which may be zero.

[0106] It should be noted that a crosshair can be drawn on the surface of the measurement plate 210, and the intersection of the crosshairs or the circular area around the intersection is the reference point 213. By drawing the crosshairs on the measurement plate 210, the offset of the illumination area of ​​the detection light emitted by the detection device 120 from the reference point 213 can be manually detected.

[0107] When the offset of the irradiation area of ​​the detection light from the reference point 213 is greater than the first preset value, the posture adjustment device 130 adjusts the posture of the detection device 120 in the opposite direction of the offset. During the adjustment process, the abnormality detection unit 220 can calculate the offset in real time based on the detection results of the measuring board 210 until the offset of the irradiation area of ​​the detection light from the reference point 213 is less than the first preset value, at which time the posture adjustment device 130 stops adjusting.

[0108] The abnormality detection unit 220 detects the offset of the irradiation area of ​​the detection light from the reference point 213. The posture adjustment device 130 can determine the adjustment amplitude of the position adjustment unit 133 and the angle adjustment unit 134 based on the offset, which is conducive to the posture adjustment device 130 to quickly adjust the posture of the detection device 120 into place.

[0109] In some embodiments, the abnormality detection unit 220 can calculate the offset of the irradiation area of ​​the detection light emitted by the detection device 120 from the reference point 213, and can calculate the adjustment amplitude of the position adjustment unit 133 and the angle adjustment unit 134 based on the offset, that is, the number of pulses that the motors in the position adjustment unit 133 and the angle adjustment unit 134 need to rotate.

[0110] The deviation of the illumination area of ​​the detection light from the reference point 213, as well as the number of pulses required for the motors in the position adjustment unit 133 and the angle adjustment unit 134, are calculated by the anomaly detection unit 220. This simplifies the structure of the attitude controller and reduces the manufacturing costs of the overhead crane 100 and the overhead crane transportation system. Optionally, the anomaly detection unit 220 is connected to the main controller 400, and the main controller 400 transmits the required number of pulses of the motors to the attitude adjustment device 130 via an attitude control signal. However, in some embodiments, after obtaining the detection results of the measurement board 210, the main controller 400 calculates the deviation and generates an attitude adjustment signal based on the deviation to control the operation of the attitude adjustment device 130.

[0111] It should be noted that the abnormality detection unit 220 may include a central processing unit (CPU) and a memory, the memory stores a control program, and the central processing unit executes this control program to realize the calculation of the offset of the irradiation area of ​​the detection light from the reference point 213 and the number of pulses that the motor in the position adjustment unit 133 and the angle adjustment unit 134 needs to rotate.

[0112] In some embodiments, the overhead travelling crane 100 includes a plurality of detection devices 120 , and the illumination areas of at least some of the detection devices 120 are located at different positions in the horizontal direction or the height direction of the measurement plate 210 .

[0113] The posture detection device 200 also includes a mounting base 230, a translation mechanism 240, and a third motor 250. The translation mechanism 240 is mounted on the mounting base 230, and the measurement plate 210 is mounted on the translation mechanism 240. The third motor 250 is connected to the translation mechanism 240 and is configured to drive the translation mechanism 240 to move the measurement plate 210 horizontally or vertically. The translation mechanism 240 includes a nut-screw mechanism. The third motor 250 is connected to the main controller 400.

[0114] It should be noted that if Figure 5In the illustrated embodiment, the horizontal direction of the measurement plate 210 refers to the left-right direction in the figure.

[0115] For example, there are two detection devices 120, each comprising an obstacle avoidance sensor 121 and an anti-collision sensor 122 spaced apart along the height of the measurement plate 210. When both detection devices 120 are aligned with no angular or positional offset, the attitude detection device 200 is in the first state, with the detection light emitted by the upper anti-collision sensor 122 illuminating the reference point 213. By translating the measurement plate 210 downward through the translation mechanism 240, the attitude detection device 200 is switched to the second state, where the detection light emitted by the lower obstacle avoidance sensor 121 illuminates the reference point 213.

[0116] The measuring plate 210 can be used to measure different positions of the detection device 120 by driving the measuring plate 210 to move horizontally or vertically via the translation mechanism 240. Furthermore, the size of the measuring plate 210 can be reduced, which helps reduce the manufacturing cost of the posture detection device 200.

[0117] In some embodiments, the posture detection device 200 further includes a position control unit 260, and the third motor 250 is connected to the main controller 400 via the position control unit 260. The main controller 400 can issue a detection instruction to the detection device 120, and the detection instruction of the detection device 120 corresponds to the detection device 120 to be detected. The position control unit 260 is used to control the third motor 250 to operate according to the detection instruction of the detection device 120, so as to move the measurement plate 210 to a position corresponding to the detection device 120 to be detected;

[0118] The posture detection device 200 further includes a position sensor 270 . The position sensor 270 is connected to the position control unit 260 . The position sensor 270 is used to detect the position of the measurement plate 210 .

[0119] In one embodiment, the position sensor 270 includes a distance sensor, and the position sensor 270 transmits the measured distance between the position sensor 270 and the measuring plate 210 to the position control unit 260; in one embodiment, the position sensor 270 includes a light emitting portion and a light receiving portion configured in alignment, and when the light emitted by the light emitting portion is not blocked by the measuring plate 210 and is received by the light receiving portion, the measuring plate 210 has not been translated into place; when the light emitted by the light emitting portion is blocked by the measuring plate 210 and is not received by the light receiving portion, the measuring plate 210 has been translated into place, and the light receiving portion transmits the light reception situation to the position control unit 260; it can be understood that any sensor that can realize the position detection of the measuring plate 210 can be used for the position sensor 270.

[0120] In one embodiment, the position control unit 260 controls the third motor 250 to operate according to a detection instruction from the detection device 120, so as to move the measurement plate 210 to a position corresponding to the detection device 120 to be detected. When the position control unit 260 confirms that the measurement plate 210 has translated into position according to the position sensor 270, the position control unit 260 sends an in-position signal to the main controller 400. When the position control unit 260 confirms that the measurement plate 210 has not translated into position according to the position sensor 270, the position control unit 260 controls the third motor 250 to operate again to move the measurement plate 210 to a position corresponding to the detection device 120 to be detected, until the measurement plate 210 has translated into position. Alternatively, if the position control unit 260 controls the third motor 250 to operate again multiple times but still fails to translate the measurement plate 210 into position, the position control unit 260 sends an error signal to the main controller 400. The main controller 400 can initiate subsequent posture detection of the detection device 120 according to the in-position signal, or issue an alarm according to the error signal, prompting manual intervention.

[0121] It should be noted that when multiple detection devices 120 are set in the same posture adjustment device 130, the main controller 400 controls the operation of the same posture adjustment device 130. When the number of detection devices 120 is multiple and they are set one-to-one with the posture adjustment devices 130, the main controller 400 controls the operation of the posture adjustment devices 130 corresponding to the detection instructions of the detection devices 120.

[0122] By detecting whether the translation mechanism 240 has translated the measurement plate 210 into position through the position control unit 260 and the position sensor 270 , it is possible to avoid inaccurate posture detection results of the detection device 120 caused by position deviation of the measurement plate 210 .

[0123] In some embodiments, the posture detection device 200 is movably installed below the main track 310. When the posture detection device 200 is needed to detect the posture of the detection device 120, the posture detection device 200 is moved to the detection position. When the posture detection device 200 is not needed to detect the posture of the detection device 120, the posture detection device 200 can be moved away from the main track 310 to avoid collision between the posture detection device 200 and the overhead travelling vehicle 100 when moving along the main track 310.

[0124] In some embodiments, the overhead crane transportation system further includes a first branch track 320, and both ends of the first branch track 320 are connected to different positions of the main track 310, such as Figure 6 The posture detection device 200 is movably installed below the first track 320 or fixedly installed on the first track 320 .

[0125] The posture detection device 200 is set on the first branch track 320. When the posture detection device 200 is needed to detect the posture of the detection device 120, the overhead crane 100 can be controlled to move to the first branch track 320, which can prevent the posture detection device 200 from interfering with the operation of the overhead crane 100 on the main track 310.

[0126] In order to allow the overhead crane 100 to continue moving forward and return to the main track 310 after the detection, the posture detection device 200 can be movably connected to the first branch track 320 to avoid the overhead crane 100 when the overhead crane 100 passes by. In addition, the overhead crane transportation system can also include a second branch track 330, the two ends of the second branch track 330 are respectively connected to the first point and the second point on the first branch track 320, and the posture detection device 200 is installed between the first point and the second point, thereby achieving the connection between the second branch track 330 and the first branch track 320 on which the posture detection device 200 is installed. Figure 7 As shown. The posture detection device 200 is installed between the first point and the second point, including that the posture detection device 200 is fixedly installed between the first point and the second point of the first branch track 320, thereby simplifying the structure of the posture detection device 200 and reducing its cost; it can also be that the posture detection device 200 is movably installed between the first point and the second point, and the posture detection device 200 can detect the posture of the detection device 120 at a position between the first point and the second point, which is not specifically limited in this application. Among them, the first branch track 320 includes a track section located on the side of the first point away from the second point, and the overhead crane 100 can be detected by the posture detection device 200 at the track section of the detection device 120, and the track section corresponds to the detection position. That is, when the posture detection device 200 is required to detect the posture of the detection device 120, the overhead crane 100 is controlled to move to the aforementioned track section of the first branch track 320 where the posture detection device 200 is installed. After the detection, the overhead crane 100 bypasses the posture detection device 200 through the second branch track 330 where the posture detection device 200 is not installed. The walking route of the overhead crane 100 is as follows Figure 7 Indicated by the arrow.

[0127] In some embodiments, the posture detection device 200 is fixedly mounted on the first branch rail 320 and includes a measurement plate 210, a mounting base 230, and a translation mechanism 240. The mounting base 230 is disposed on the first branch rail 320 and is a door-shaped frame. The mounting base 230 includes a crossbeam 231 and two upright columns 232. The two upright columns 232 are disposed at opposite ends of the crossbeam 231 and are perpendicular to the crossbeam 231. The crossbeam 231 is connected to the first branch rail 320. The translation mechanism 240 connects the measurement plate 210 and the mounting base 230. Specifically, two translation mechanisms 240 may be provided to connect the upright columns 232 and the measurement plate 210. The translation mechanism 240 drives the measurement plate 210 to move, allowing the overhead travelling vehicle 100 to pass between the measurement plate 210 and the mounting base 230.

[0128] Because translation mechanism 240 is provided to drive measurement plate 210 in horizontal or vertical motion, measurement plate 210 can be used to measure obstacle avoidance sensors 121 at different locations. Using translation mechanism 240 to move measurement plate 210 away from mounting base 230 leaves sufficient space for overhead crane 100 to pass through. This eliminates the need to move posture detection device 200 as a whole to avoid the overhead crane 100, simplifies installation of posture detection device 200, and reduces the cost of manufacturing the overhead crane transportation system.

[0129] In some embodiments, the main controller 400 controls the posture detection device 200 to detect the posture of the detection device 120, and controls the posture adjustment device 130 to adjust the posture of the detection device 120 based on the detection result. The posture detection device 200 can detect the posture of the detection device 120 in real time during the posture adjustment process of the detection device 120, and the posture adjustment device 130 can adjust the posture of the detection device 120 in real time based on the detection result until the posture of the detection device 120 is adjusted to the desired position. The main controller 400 can also first calculate the amplitude of the posture adjustment of the detection device 120, and then control the posture adjustment device 130 to directly adjust the detection device 120 to the desired position. The main controller 400 may include a central processing unit and a memory, the memory storing a control program, and the central processing unit executing the control program to control the posture detection device 200 to detect the posture of the detection device 120, and control the posture adjustment device 130 to adjust the posture of the detection device 120 based on the detection result.

[0130] The present application also provides a method for controlling a crane transportation system, which is used to control the crane transportation system disclosed above. The crane transportation system includes a main controller 400, which is used to execute the method for controlling the crane transportation system. Figure 8 As shown, the control method of the overhead crane transportation system includes:

[0131] S100: Obtaining automatic detection time, which includes the operating time of the overhead crane 100. The starting point of the operating time of the overhead crane 100 is the last time the detection device 120 of the overhead crane 100 was detected by the posture detection device 200 or the last time the posture adjustment device 130 was adjusted.

[0132] S200: When it is confirmed that the automatic detection time is greater than a second preset value, the overhead travelling crane is controlled to move to a detection position, where the detection surface of the detection device 120 faces the posture detection device 200 and the distance between the overhead travelling crane 100 and the posture detection device 200 is within a preset range;

[0133] S300 : According to the detection result of the posture detection device 200 , the overhead travelling crane 100 is controlled to continue to operate or the posture adjustment device 130 is controlled to adjust the posture.

[0134] In step S100, the running time of the overhead crane 100 is T sum for:

[0135] T sum =T0+T1+T2+……+T n-1 +T n ;

[0136] Where n is the number of days the overhead crane 100 is in operation, T n is the daily operating time, T0 is the compensation coefficient, and T0 can be 0.

[0137] When the detection position is determined in step S200, the detection device 120 may be controlled to detect the distance between the overhead crane 100 and the posture detection device 200. For example, the detection device 120 may include an obstacle avoidance sensor 121 that emits detection light for distance measurement, thereby detecting the distance between the overhead crane 100 and the posture detection device 200. Alternatively, the main controller 400 may directly or indirectly control the overhead crane 100 to travel to a preset position.

[0138] It is understood that the longer the operating time, the higher the possibility of the detection device 120 experiencing angular or positional deviation failures. Regularly inspecting the overhead crane 100 based on its operating time can reduce or eliminate downtime of the overhead crane transportation system caused by angular or positional deviation failures of the detection device 120, thereby ensuring the normal operation of the overhead crane transportation system.

[0139] In some embodiments, the automatic detection time is a parameter related to at least one of the operating time of the overhead crane 100 , the number of overhead crane alarms, the number of overhead crane failures, and the number of overhead crane offline times.

[0140] An alarm of the overhead crane 100 indicates that there may be a fault in the overhead crane 100, but the overhead crane 100 can continue to operate; an overhead crane fault indicates that the overhead crane 100 has a fault and needs to stop running and be repaired, but the repair can be carried out on the track on which the overhead crane 100 is running, and there is no need to take the overhead crane 100 offline; an overhead crane 100 offline indicates that a serious fault has occurred in the overhead crane 100 and the overhead crane 100 needs to be removed from the track on which it is running for repair.

[0141] Automatic detection time T total Can be:

[0142] T total =T sum ×50%+a×Count1×20%+b×Count2×10%+c×Count3×20%;

[0143] Among them, Count1 is the number of overhead crane alarms, Count2 is the number of overhead crane failures, Count3 is the number of overhead crane offlines, and a, b, and c are adjustment coefficients for adjusting the operating time of overhead crane 100 based on the number of overhead crane alarms, the number of overhead crane failures, and the number of overhead crane offlines, respectively.

[0144] Overhead crane alarms, failures, and offline times, as well as the corresponding maintenance, can all cause the detection device 120 to experience angular or positional deviations. By incorporating the number of overhead crane alarms, failures, and offline times into the operating hours of the overhead crane 100, and by enabling early detection when overhead crane 100 failures are frequent, this can reduce or eliminate downtime in the overhead crane transport system caused by angular or positional deviations in the detection device 120, ensuring normal operation of the overhead crane transport system.

[0145] In some technical solutions, the overhead crane 100 includes a main body 110 and a detection device 120, which is mounted directly on the main body 110. The overhead crane 100 is connected to the Master Controller Panel (MCP), which in turn is connected to the Material Controller System (MCS). The MCS controls the overhead crane 100 to transport cargo based on instructions from the MCS. Because the detection device 120 cannot be adjusted, the detection device 120 can experience angular and positional deviations during operation, maintenance, and troubleshooting, impacting the normal operation of the overhead crane transportation system.

[0146] In this embodiment, see Figure 9 As shown, the overhead crane transportation system includes an overhead crane transportation system 10, which includes a communication module 500 and the main controller 400, anomaly detection unit 220, and position control unit 260 disclosed above. The main controller 400 can be connected to the overhead crane control center via the communication module 500. The main controller 400 indirectly controls the overhead crane 100 to move to the detection position through the overhead crane control center to perform posture detection of the detection device 120, etc. The overhead crane transportation system 10 or the main controller 400 can also include a time calculation module 600. The overhead crane transportation system 10 can obtain the operating status of the overhead crane 100 from the overhead crane control center. The operating status includes the operating time of the overhead crane 100, the number of overhead crane alarms, the number of overhead crane failures, and the number of overhead crane offlines, which are used by the time calculation module 600 to calculate the automatic detection time. In other words, the overhead crane transportation system in this embodiment can be obtained by modifying existing equipment, achieving posture detection and correction of the detection device 120 without increasing the load on the overhead crane control center, and at a low cost.

[0147] In other embodiments, the overhead crane transportation system 10 further includes an overhead crane management module 700, such as Figure 10As shown, the overhead crane management module 700 is in communication with the overhead crane 100 and the main controller 400. The overhead crane management module 700 is used to control the overhead crane 100 in transporting cargo, traveling to the detection position to perform posture detection of the detection device 120, and so on. The time calculation module 600 can obtain the operating status of the overhead crane 100 through the overhead crane management module 700. The operating status includes the operating time of the overhead crane 100, the number of overhead crane alarms, the number of overhead crane failures, and the number of overhead crane offlines, which are used by the time calculation module 600 to calculate the automatic detection time. The overhead crane transportation system 10 can be directly connected to the material control center. The material control center and the overhead crane can be connected to the overhead crane transportation system 10 via the communication module 500.

[0148] The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified with "first," "second," etc., may explicitly or implicitly include one or more of such features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0149] In this application, unless otherwise specified or limited, terms such as "assembly" and "connection" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0150] In the description of this specification, the reference terms "some embodiments", "exemplarily", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0151] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application. Therefore, any changes or modifications made in accordance with the claims and description of the present application should fall within the scope of the patent application.

Claims

1. An overhead crane, characterized in that: include: The main body is used for walking along the main track, picking up and placing and transporting goods, including wafer boxes; A detection device, provided on the main body, for detecting environmental information; a posture adjustment device connected to the main body and the detection device, wherein the posture adjustment device can adjust the angle of the detection surface of the detection device relative to the main body by adjusting the posture of the detection device; The posture adjustment device includes an adjustment platform, a support unit, and an adjustment mechanism. The adjustment platform is used to carry the detection device. The support unit includes a support column and a first universal joint. The first end of the support column is connected to the main body, and the second end of the support column is connected to the adjustment platform through the first universal joint. The adjustment mechanism is connected to the adjustment platform and is used to adjust the posture of the adjustment platform. The adjustment mechanism includes a position adjustment unit, an angle adjustment unit and a posture controller, the connection points of the support unit, the position adjustment unit and the angle adjustment unit with the adjustment platform are respectively a first connection point, a second connection point and a third connection point, the first connection point, the second connection point and the third connection point are spaced apart from each other, the position adjustment unit is used to drive the second connection point to rotate around the projection point of the first connection point on the first plane along a first plane, so that the adjustment platform rotates around the support column, the angle adjustment unit is used to drive the third connection point to rotate around the projection point of the first connection point on the second plane along a second plane, so that the adjustment platform rotates around the line connecting the first connection point and the second connection point, the second plane is perpendicular to the line connecting the first connection point and the second connection point, and the first plane intersects the second plane, and the posture controller can receive a posture control signal to control the operation of the position adjustment unit and the angle adjustment unit; The position adjustment unit includes a guide rail, a running mechanism, a first hydraulic rod, a connecting rod, and a second universal joint. The first end of the first hydraulic rod is connected to the guide rail through the running mechanism, and the second end of the first hydraulic rod is connected to the adjustment platform through the connecting rod and the second universal joint in sequence. The posture controller is capable of controlling the running mechanism to move along the guide rail, thereby driving the adjustment platform to rotate around the first connection point. The angle adjustment unit includes a second motor, a rocker arm, a second hydraulic rod, a third universal joint and a fourth universal joint. The second motor is arranged on the main body, the rocker arm is connected to the second motor, the first end of the second hydraulic rod is connected to the rocker arm through the third universal joint, the rocker arm is used to drive the first end of the second hydraulic rod to rotate along a third plane, the third plane intersects with the first plane, the third universal joint is configured to make the second hydraulic rod rotate along the first plane, the second end of the second hydraulic rod is connected to the adjustment platform through the fourth universal joint, and the second motor is connected to the posture controller.

2. The overhead crane according to claim 1, characterized in that: The connecting end of the connecting rod and the second universal joint can be extended and retracted in a direction perpendicular to the first plane, and can maintain a positional relationship with the main body after extension and retraction.

3. The overhead crane according to claim 1, characterized in that: The running mechanism includes a first motor, a rack, a gear and a slide. The rack is arranged on the guide rail, and the slide is slidably arranged on the guide rail. The first end of the first hydraulic rod is connected to the slide. The first motor and the gear are both arranged on the slide. The first motor is connected to the gear, and the gear is meshed with the rack. The first motor is connected to the posture controller.

4. The overhead crane according to claim 3, characterized in that: The position adjustment unit also includes a locking mechanism, which includes a positioning pin, a telescopic bracket and a driver. The telescopic bracket is arranged on the slide, and the positioning pin is arranged in the telescopic bracket. The driver is connected to the positioning pin and is used to drive the positioning pin to extend and retract along the radial direction of the gear to release or lock the gear. The driver is connected to the posture controller.

5. The overhead crane according to claim 1, characterized in that: The posture adjustment device further includes a housing, at least the main body is disposed within the housing, and at least the detection device is exposed from the housing.

6. The overhead crane according to claim 1, characterized in that: The detection device includes an obstacle avoidance sensor or a camera.

7. A crane transportation system, characterized in that: include: Main track; The overhead travelling crane according to any one of claims 1 to 6, mounted in suspension on the main track; a posture detection device, used to detect the posture of the detection device; The main controller is capable of at least sending a posture control signal according to the detection result of the posture detection device to control the posture adjustment device to adjust the posture of the detection device.

8. The overhead crane transportation system according to claim 7, characterized in that: The detection device is capable of emitting detection light, the detection surface includes a light emitting surface of the detection light, the posture detection device includes a measurement board, the measurement board includes a driving substrate and a plurality of photodetectors connected to the driving substrate, the photodetector array is arranged on one side of the driving substrate, the measurement board is used to measure the irradiation area of ​​the detection light, and the main controller controls the operation of the posture adjustment device according to the measurement results of the measurement board.

9. The overhead crane transportation system according to claim 8, characterized in that: The posture detection device also includes an abnormality detection unit, the measurement plate includes a reference point, and the abnormality detection unit is used to calculate the offset of the irradiation area of ​​the detection light emitted by the detection device from the reference point. The main controller controls the posture adjustment device to adjust the posture of the detection device according to the offset, so that the offset of the irradiation area of ​​the detection light emitted by the detection device from the reference point is less than a first preset value.

10. The overhead crane transportation system according to claim 8, characterized in that: The overhead travelling crane comprises a plurality of the detection devices, and the irradiation areas of at least some of the detection devices are located at different positions in the horizontal direction or height direction of the measurement plate; The posture detection device also includes a mounting seat, a translation mechanism and a third motor. The translation mechanism is arranged on the mounting seat, and the measuring plate is arranged on the translation mechanism. The third motor is connected to the translation mechanism and is used to drive the translation mechanism to move so that the measuring plate moves along the horizontal direction or the height direction of the measuring plate. The third motor is connected to the main controller.

11. The overhead crane transportation system according to claim 10, characterized in that: The posture detection device further includes a position control unit, the third motor is connected to the main controller via the position control unit, the main controller is capable of issuing a detection device detection instruction, the detection device detection instruction corresponds to the detection device to be detected, and the position control unit is used to control the third motor to operate according to the detection device detection instruction, so as to move the measurement plate to a position corresponding to the detection device to be detected; The posture detection device further includes a position sensor connected to the position control unit, and the position sensor is used to detect the position of the measurement plate.

12. The overhead crane transportation system according to claim 7, characterized in that: The posture detection device is movably installed below the main track; or The overhead crane transportation system further includes a first branch track, both ends of which are respectively connected to different positions of the main track, and the posture detection device is movably installed below the first branch track or fixedly installed on the first branch track.

13. The overhead crane transportation system according to claim 12, characterized in that: The detection device can emit detection light, and the detection surface includes a light emitting surface of the detection light. The posture detection device is fixedly installed on the first branch rail. The posture detection device includes a measuring plate, a mounting seat and a translation mechanism. The measuring plate is used to measure the irradiation area of ​​the detection light. The mounting seat is set on the first branch rail. The translation mechanism connects the measuring plate and the mounting seat. The translation mechanism can drive the measuring plate to move so that the overhead crane can pass between the measuring plate and the mounting seat.

14. The overhead crane transportation system according to claim 12, wherein: The overhead crane transportation system also includes a second branch track, the two ends of which are respectively connected to a first point and a second point on the first branch track, the posture detection device is installed between the first point and the second point, and the first branch track includes a track section located on the side of the first point away from the second point.

15. A method for controlling an overhead crane transportation system, characterized in that: The method for controlling an overhead crane transportation system is used to control the overhead crane transportation system according to any one of claims 7 to 14, and the method for controlling an overhead crane transportation system comprises: Acquire automatic detection time, the automatic detection time including the operation time of the overhead crane, the timing starting point of the operation time of the overhead crane is the last time the detection device of the overhead crane was detected by the posture detection device or the last time the posture adjustment device was adjusted; When it is confirmed that the automatic detection time is greater than a second preset value, the overhead travelling crane is controlled to move to a detection position, wherein the detection position is a position where the detection surface of the detection device faces the posture detection device and the distance between the overhead travelling crane and the posture detection device is within a preset range; According to the detection result of the posture detection device, the overhead crane is controlled to continue running or the posture adjustment device is controlled to perform posture adjustment.

16. The control method of the overhead crane transportation system according to claim 15, characterized in that: The automatic detection time is a parameter related to at least one of the operating time of the overhead crane, the number of overhead crane alarms, the number of overhead crane failures, and the number of overhead crane offline times.

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