Teaching crown block material taking and placing device and system

Abstract

The utility model relates to a device and a system for teaching material taking and placing of a crown block. The device comprises a teaching material box; the teaching bottom plate is arranged below the teaching material box; the distance measuring module is arranged at the bottom of the teaching material box; the first communication module is arranged in the teaching material box and is connected with the distance measuring module; the PLC module is arranged in the teaching material box; the PLC module is connected with the mechanical contact switch and the first communication module. The crown block is used for grabbing or placing the teaching material box; wherein the crown block grabs the teaching material box to descend or ascend, and in the descending or ascending process of the teaching material box, the distance between the bottom of the teaching material box and the teaching bottom plate detected through the distance measuring module is transmitted to the PLC module through the first communication module; the PLC module transmits the received distance to the crown block, and the crown block stores the descending or ascending distance and is directly used for next grabbing or placing of the teaching material box. According to the utility model, the material box grabbing and releasing efficiency of the demonstration crown block can be effectively improved, the parameter accuracy is improved, and the material box grabbing and releasing stability of the crown block is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of overhead cranes, in particular to a device and a system for teaching overhead cranes to take and place materials. Background Art

[0002] The overhead crane (OHT) runs on the track and needs to accurately move to the position of each port, and then grab or place the material box at the current port.

[0003] The existing method for OHT to obtain the position parameters of the material box is through manual teaching of OHT. Specifically, when the existing OHT is teaching the material box of a certain port, the debugging personnel are required to remotely connect to the debugging program of the control module to control the OHT to move to the track position corresponding to the current port, and then control the gripper of the OHT to extend, descend and rotate until the gripper successfully grasps or places the material box, and then control the gripper to rotate, rise and retract.

[0004] The shortcomings of the existing technology are as follows: this process requires manual judgment of the accuracy of the position, and needs to be repeated many times to successfully complete a material box grabbing and placing action, which is inefficient. Moreover, because the position parameters are all manually judged, the parameter accuracy is low, which can easily cause obvious shaking when grabbing or placing the material box. Utility Model Content

[0005] Aiming at the deficiencies of the prior art, the utility model discloses a device and a system for teaching a crane to take and place materials.

[0006] The technical solution adopted by the utility model is as follows:

[0007] In a first aspect, a device for teaching a crane to take and place materials is provided, comprising:

[0008] Teaching material box;

[0009] A teaching bottom plate, arranged below the teaching material box;

[0010] A distance measuring module, disposed at the bottom of the teaching material box, for measuring the distance between the bottom of the teaching material box and the teaching bottom plate;

[0011] At least three mechanical contact switches are arranged at the bottom of the teaching material box;

[0012] A first communication module, disposed in the teaching material box and connected to the distance measuring module;

[0013] A PLC module is provided in the teaching material box; the PLC module is connected to the mechanical contact switch and the first communication module respectively;

[0014] A crane is used to grab or place the teaching material box;

[0015] Among them, the overhead crane grabs the teaching material box and descends or ascends. During the descent or ascent of the teaching material box, the distance between the bottom of the teaching material box and the teaching base plate detected by the distance measuring module is transmitted to the PLC module through the first communication module; the PLC module transmits the received distance to the overhead crane, and the overhead crane stores the descent or ascent distance and directly uses it for the next grabbing or placement of the teaching material box.

[0016] In one embodiment of the utility model, it also includes a camera module arranged inside the teaching material box; the teaching base plate is provided with a mark facing the teaching material box, the camera module is used to photograph the mark, obtain the position offset information of the teaching material box relative to the mark and transmit the information to the PLC module, and the PLC module controls the overhead crane to grab or place the teaching material box to the mark.

[0017] In one embodiment of the present invention, the mark is a cross line, the center of which coincides with the center of the teaching base plate.

[0018] In one embodiment of the present invention, the first communication module is a communication module based on the RS-485 communication protocol; the PLC module is connected to the first communication module via an RS485 interface.

[0019] In one embodiment of the utility model, it also includes a second communication module disposed in the teaching material box and connected to the PLC module, and the PLC module transmits data with the overhead traveling crane via the second communication module.

[0020] In one embodiment of the present invention, the second communication module is a Wi-Fi-based communication module; the PLC module is connected to the second communication module via an RS485 interface.

[0021] In one embodiment of the utility model, it also includes a power supply module arranged in the teaching material box; the power supply module is respectively connected to the distance measuring module, the mechanical contact switch, the first communication module, the PLC module and the second communication module.

[0022] In one embodiment of the utility model, there are three mechanical contact switches, namely a first mechanical contact switch, a second mechanical contact switch and a third mechanical contact switch. The first mechanical contact switch and the third mechanical contact switch are located on opposite sides of the teaching material box, and the second mechanical contact switch is located on the other side of the teaching material box.

[0023] In one embodiment of the present invention, the distance measurement module is a laser sensor.

[0024] In a second aspect, a system for teaching overhead crane to pick up and place materials is provided, comprising:

[0025] At least one track;

[0026] As provided in the first aspect, the device for teaching the overhead crane to pick up and put out materials; the overhead crane of the device for teaching the overhead crane to pick up and put out materials moves along the track.

[0027] The above technical solution of the utility model has at least the following advantages compared with the prior art:

[0028] The teaching overhead crane material picking and placing device described in the utility model can obtain the following position parameters required for grabbing or placing the current port material box by performing a placement operation on the teaching material box: X (position of the gripper in the track direction), Y (distance the gripper extends laterally), H (distance the gripper descends) and R (rotation angle of the gripper). It has high teaching efficiency and parameter accuracy, and is more stable when grabbing or placing the teaching material box. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to make the content of the utility model more clearly understood, the utility model is further described in detail below based on specific embodiments of the utility model in combination with the accompanying drawings.

[0030] Figure 1 It is a structural schematic diagram of a device for teaching a crane to take and put materials in the utility model.

[0031] Figure 2 It is a schematic diagram of a system for teaching a crane to take and put materials in the utility model.

[0032] Figure 3 It is a control block diagram of a system for teaching overhead crane to take and put materials in the utility model.

[0033] Figure 4 It is a work flow chart of a system for teaching overhead crane to take and put materials in the utility model.

[0034] Explanation of the reference numerals in the specification: 100, teaching base plate; 102, mark; 200, teaching material box; 301, first mechanical contact switch; 302, second mechanical contact switch; 303, third mechanical contact switch; 400, distance measurement module; 500, camera module; 600, second communication module; 701, power supply module; 702, first communication module; 703, PLC module; 800, trolley body; 900, gripper part. DETAILED DESCRIPTION

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

[0036] The above and other technical contents, features and effects of the present invention will be clearly presented in the following detailed description of the embodiments with reference to the accompanying drawings. The directional terms mentioned in the following embodiments, such as up, down, left, right, front or back, etc., are only the directions of the reference drawings. Therefore, the directional terms used are used to illustrate and not to limit the present invention. In addition, in all embodiments, the same reference numerals represent the same elements.

[0037] Embodiment 1

[0038] Combination Figures 1 to 3 A device for teaching a crane to pick up and put out materials includes a teaching material box 200, a teaching base plate 100, a distance measuring module 400, at least three mechanical contact switches, a first communication module 702, a PLC module 703 and a crane.

[0039] The teaching base plate 100 is disposed below the teaching material box 200 .

[0040] The distance measuring module 400 is disposed at the bottom of the teaching material box 200 . The distance measuring module 400 is used to measure the distance between the bottom of the teaching material box 200 and the teaching bottom plate 100 .

[0041] At least three mechanical contact switches are disposed at the bottom of the teaching material box 200 .

[0042] The first communication module 702 is disposed in the teaching material box 200 and connected to the distance measuring module 400 .

[0043] The PLC module 703 is disposed in the teaching material box 200. The PLC module 703 is connected to the mechanical contact switch and the first communication module 702 respectively.

[0044] The overhead crane is configured to grab or place the teaching material box 200 .

[0045] Among them, the overhead crane grabs the teaching material box 200 and descends or ascends. During the process of the teaching material box 200 descending or ascending, the distance between the bottom of the teaching material box 200 and the teaching base plate 100 detected by the distance measuring module 400 is transmitted to the PLC module 703 through the first communication module 702; the PLC module 703 transmits the received distance to the overhead crane, and the overhead crane stores the descending or ascending distance and directly uses it for the next grasping or placement of the teaching material box 200.

[0046] This embodiment provides a device for teaching overhead crane to pick up and put materials, which does not require manual judgment of the height of the gripper 900 rising or falling, and achieves high-precision measurement and judgment of the height of the manipulator, reducing errors and uncertainties that may occur in manual judgment.

[0047] In this embodiment, the overhead travelling vehicle comprises a vehicle body 800 and a gripper 900 connected to the vehicle body 800. A control module is arranged in the vehicle body 800. The control module may adopt a controller of model AMAX-5580.

[0048] In this embodiment, the first communication module 702 is a communication module based on the RS-485 communication protocol. The PLC module 703 is connected to the first communication module 702 via an RS485 interface.

[0049] Furthermore, the device for teaching the overhead crane to take and put materials also includes a second communication module 600 disposed in the teaching material box 200 and connected to the PLC module 703 , and the PLC module 703 transmits data with the overhead crane through the second communication module 600 .

[0050] Furthermore, it also includes a power supply module 701 disposed in the teaching material box 200. The power supply module 701 is respectively connected to the distance measuring module 400, the mechanical contact switch, the first communication module 702, the PLC module 703 and the second communication module 600. The power supply module 701 is used to power the distance measuring module 400, the mechanical contact switch, the first communication module 702, the PLC module 703 and the second communication module 600 to ensure the normal operation of the components in the teaching material box 200. Among them, the power supply module 701 can use a 24V battery.

[0051] The working principle of this embodiment is as follows:

[0052] The operator first places the teaching base plate 100 at the current port, and then controls the overhead crane to grab the teaching material box 200 and move it to the position of the current port through the operation debugging program.

[0053] After the overhead crane moves to the position, the gripper 900 is controlled to extend above the port, and then the gripper 900 is controlled to descend. The distance measuring module 400 detects the distance between the bottom of the teaching material box 200 and the teaching bottom plate 100 and transmits the detected parameter to the first communication module 702. The first communication module 702 transmits the parameter to the PLC module 703, and the PLC module 703 transmits the parameter to the control module through the second communication module 600. When the parameter is less than the first preset value, the overhead crane controls the gripper 900 to decelerate and descend. Among them, the first preset value can be 500mm.

[0054] When the teaching material box 200 descends onto the teaching base plate 100, the first mechanical contact switch 301, the second mechanical contact switch 302 and the third mechanical contact switch 303 at the bottom of the teaching material box 200 are all closed, and the PLC module 703 transmits the signal to the control module after receiving it. The control module controls the gripper part 900 to stop descending and records the current descending distance parameter H of the gripper part 900, so as to obtain the descending or ascending height required by the gripper part 900 to grasp or place the material box in the current port.

[0055] Embodiment 2

[0056] Combination Figures 1 to 3 , which is different from the first embodiment, is that, in order to further improve the operation of accurately grasping or placing the teaching material box 200, this embodiment provides a device for teaching overhead crane to take and place materials, and also includes a camera module 500 arranged inside the teaching material box 200.

[0057] The device for teaching the overhead crane to pick up and put out materials provided in this embodiment can effectively improve the efficiency of teaching the overhead crane to grab and put out the material box, improve the accuracy of parameters, and improve the stability of the overhead crane to grab and put out the material box.

[0058] In this embodiment, the camera module 500 uses a smart camera, which is generally composed of an image acquisition unit, an image processing unit, image processing software, a network communication device, etc. The functions of each part are as follows: the image acquisition unit is equivalent to a CCD / CMOS camera and an image acquisition card in the ordinary sense, which converts the optical image into an analog / digital image and outputs it to the image processing unit; the image processing unit is similar to an image acquisition / processing card, which can store the image data of the image acquisition unit in real time and perform image processing with the support of the image processing software; the image processing software mainly completes the image processing functions with the support of the hardware environment of the image processing unit, such as geometric edge extraction, Bl ob, grayscale histogram, OCV / OVR, one-dimensional code / two-dimensional code recognition, and simple positioning and search. In a smart camera, the above algorithms are usually encapsulated into fixed modules, which can be directly applied by users without programming; the network communication device is an important component of the smart camera, which mainly completes the communication tasks of control information and image data. Smart cameras generally have built-in Ethernet communication devices and support a variety of standard networks and bus protocols, so that multiple smart cameras can form a larger machine vision system. It should be noted that the model of the camera module 500 is selected and adjusted by those skilled in the art as needed.

[0059] In this embodiment, the teaching base plate 100 is provided with a mark 102 facing the teaching material box 200, and the camera module 500 is used to photograph the mark 102, obtain the position offset information of the teaching material box 200 relative to the mark 102 and transmit the information to the PLC module 703, and the PLC module 703 controls the overhead crane to grab or place the teaching material box 200 to the mark 102.

[0060] Specifically, the mark 102 is a cross line, the center of which coincides with the center of the teaching base plate 100 .

[0061] like Figure 4 As shown, the working principle of this embodiment is as follows:

[0062] The operator first places the teaching base plate 100 at the current port, and then controls the overhead crane to grab the teaching material box 200 and move it to the position of the current port through the operation debugging program.

[0063] After the overhead crane moves to the position, the gripper 900 is controlled to extend above the port, and then the gripper 900 is controlled to descend. The distance measuring module 400 detects the distance between the bottom of the teaching material box 200 and the teaching bottom plate 100 and transmits the detected parameter to the first communication module 702. The first communication module 702 transmits the parameter to the PLC module 703, and the PLC module 703 transmits the parameter to the control module through the second communication module 600. When the parameter is less than the first preset value, the overhead crane controls the gripper 900 to decelerate and descend. Among them, the first preset value can be 500mm.

[0064] When the teaching material box 200 descends onto the teaching base plate 100, the first mechanical contact switch 301, the second mechanical contact switch 302 and the third mechanical contact switch 303 at the bottom of the teaching material box 200 are all closed. After receiving the signal, the PLC module 703 transmits it to the control module. The control module controls the gripper part 900 to stop descending and records the current descending distance parameter H of the gripper part 900.

[0065] Then the control module controls the gripper 900 to grab the teaching material box 200 and rise with the teaching material box 200. The distance measuring module 400 detects the distance parameter between the bottom of the teaching material box 200 and the teaching base plate 100 and transmits the parameter to the first communication module 702. The first communication module 702 transmits the parameter to the PLC module 703, and the PLC module 703 transmits the parameter to the control module through the second communication module 600. When the parameter is equal to the second preset value, the control module controls the gripper 900 to stop rising. Among them, the second preset value can be 100mm.

[0066] Wait for the teaching material box 200 to be stable. After the teaching material box 200 is stable, the PLC module 703 controls the camera module 500 to take a photo of the teaching base plate 100. The camera module 500 converts the position of the mark 102 obtained by the shooting to the offset of the teaching material box 200 in the three directions of X (the position of the gripper 900 in the track direction), Y (the distance the gripper 900 moves horizontally) and R (the rotation angle of the gripper 900), and records them as X1, Y1 and R1, and transmits the above parameters to the PLC module 703. The PLC module 703 transmits the above parameters to the control module through the second communication module 600. The control module finally calculates the compensated X, Y and R, and then combines the measured gripper 900 descending distance parameter H to obtain the position parameter required by the gripper 900 when grabbing or placing the material box in the current port. In actual production, the overhead crane only needs to call this parameter to realize the operation of accurately grabbing or placing the material box in the current port.

[0067] Embodiment 3

[0068] This embodiment provides a system for teaching overhead crane to pick up and put out materials, comprising at least one track and a device for teaching overhead crane to pick up and put out materials as provided in Embodiment 1 or Embodiment 2. The overhead crane of the device for teaching overhead crane to pick up and put out materials moves along the track.

[0069] It should be noted that the main design point of the utility model lies in the structural improvement of the device for teaching the overhead crane to take and put materials. Other structures of the overhead crane, such as the electrical connection part and the mechanical structure part of the overhead crane, will not be described in detail.

[0070] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. A device for teaching overhead crane to take and put materials, characterized in that: include: Teaching material box (200); A teaching base plate (100) is arranged below the teaching material box (200); A distance measuring module (400) is arranged at the bottom of the teaching material box (200) and is used to measure the distance between the bottom of the teaching material box (200) and the teaching base plate (100); At least three mechanical contact switches are arranged at the bottom of the teaching material box (200); A first communication module (702) is disposed in the teaching material box (200) and connected to the distance measuring module (400); A PLC module (703) is disposed in the teaching material box (200); the PLC module (703) is connected to the mechanical contact switch and the first communication module (702) respectively; A crane, used for grabbing or placing the teaching material box (200); The overhead crane grasps the teaching material box (200) and descends or ascends. During the process of the teaching material box (200) descending or ascending, the distance between the bottom of the teaching material box (200) and the teaching base plate (100) detected by the distance measuring module (400) is transmitted to the PLC module (703) via the first communication module (702); the PLC module (703) transmits the received distance to the overhead crane, and the overhead crane stores the descending or ascending distance and directly uses it for the next grasping or placement of the teaching material box (200).

2. The device for teaching overhead crane to take and put materials according to claim 1 is characterized in that: It also includes a camera module (500) arranged inside the teaching material box (200); the teaching base plate (100) is provided with a mark (102) facing the teaching material box (200); the camera module (500) is used to photograph the mark (102), obtain the position offset information of the teaching material box (200) relative to the mark (102) and transmit the information to the PLC module (703); the PLC module (703) controls the overhead crane to grab or place the teaching material box (200) at the mark (102).

3. The device for teaching overhead crane to take and put materials according to claim 2 is characterized in that: The mark (102) is a cross line, the center of which coincides with the center of the teaching base plate (100).

4. The device for teaching overhead crane to take and put materials according to claim 1 is characterized in that: The first communication module (702) is a communication module based on the RS-485 communication protocol; the PLC module (703) is connected to the first communication module (702) via an RS485 interface.

5. The device for teaching overhead crane to take and put materials according to claim 1 is characterized in that: It also includes a second communication module (600) disposed in the teaching material box (200) and connected to the PLC module (703), and the PLC module (703) performs data transmission with the overhead traveling crane via the second communication module (600).

6. The device for teaching overhead crane to take and put materials according to claim 5 is characterized in that: The second communication module (600) is a wifi-based communication module; the PLC module (703) is connected to the second communication module (600) via an RS485 interface.

7. The device for teaching overhead crane to take and put materials according to claim 6 is characterized in that: It also includes a power supply module (701) disposed in the teaching material box (200); the power supply module (701) is respectively connected to the distance measuring module (400), the mechanical contact switch, the first communication module (702), the PLC module (703) and the second communication module (600).

8. The device for teaching overhead crane to take and put materials according to claim 1 is characterized in that: The mechanical contact switches are provided in three numbers, namely a first mechanical contact switch (301), a second mechanical contact switch (302) and a third mechanical contact switch (303); the first mechanical contact switch (301) and the third mechanical contact switch (303) are located on opposite sides of the teaching material box (200), and the second mechanical contact switch (302) is located on the other side of the teaching material box (200).

9. The device for teaching overhead crane to take and put materials according to claim 1, characterized in that: The distance measuring module (400) is a laser sensor.

10. A system for teaching overhead crane to take and put materials, characterized in that: include: At least one track; The device for teaching overhead crane to take and put materials as described in any one of claims 1 to 9; The overhead crane of the device for teaching the overhead crane to take and put materials moves along the track.

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