CN118868543B - A magnetically driven wheeled logistics conveying device and conveying method - Google Patents
A magnetically driven wheeled logistics conveying device and conveying method Download PDFInfo
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- CN118868543B CN118868543B CN202411070645.2A CN202411070645A CN118868543B CN 118868543 B CN118868543 B CN 118868543B CN 202411070645 A CN202411070645 A CN 202411070645A CN 118868543 B CN118868543 B CN 118868543B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/34—Reciprocating, oscillating or vibrating parts of the magnetic circuit
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- Microelectronics & Electronic Packaging (AREA)
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- Non-Mechanical Conveyors (AREA)
Abstract
本发明公开了一种磁驱轮式物流输送设备以及输送方法，涉及物流输送领域，包括用于为设备提供支撑的安装底座，所述安装底座的上方设置有动子模组，且动子模组的下方连接有定子模组，并且定子模组安装在安装底座的上方，所述安装底座的外侧连接有控制器，为定子模组和动子模组提供驱动控制信号，所述动子模组包括动力磁板、Y向滚轮、Z向滚轮、动子载板、缓冲块、皮带压块、感应磁板和X向滚轮。该磁驱轮式物流输送设备以及输送方法通过控制驱动器输入电流到电机，产生磁场与动力磁板相互作用使动子进行高速运动，通过调整电流大小以达到改变动子运动时地加减速度。
The present invention discloses a magnetically driven wheeled logistics conveying device and a conveying method, which relates to the field of logistics conveying, and includes a mounting base for providing support for the device, a mover module is arranged above the mounting base, and a stator module is connected below the mover module, and the stator module is mounted above the mounting base, and a controller is connected to the outside of the mounting base to provide driving control signals for the stator module and the mover module, and the mover module includes a power magnetic plate, a Y-direction roller, a Z-direction roller, a mover carrier plate, a buffer block, a belt pressure block, an induction magnetic plate, and an X-direction roller. The magnetically driven wheeled logistics conveying device and the conveying method control the driver to input current to the motor, generate a magnetic field that interacts with the power magnetic plate to make the mover move at high speed, and adjust the current size to change the acceleration and deceleration of the mover during movement.
Description
Technical Field
The invention relates to the technical field of logistics conveying, in particular to magnetic drive wheel type logistics conveying equipment and a conveying method.
Background
Along with the rapid development of modern logistics industry, the demand of logistics conveying equipment with high efficiency, safety and environmental protection is growing day by day, and transmission conveying equipment is mostly belt conveyor or chain conveyor, and application number is CN202110086190.3,2021, 6 month 1 day public a logistics intelligent conveying platform, including mobile platform, adjusting device and conveyor, mobile platform lower extreme evenly be provided with the gyro wheel, mobile platform upper end mid-mounting has adjusting device, adjusting device upper end mid-mounting has conveyor. The invention can solve the problems that the prior equipment has poor conveying effect when sorting and conveying the logistics packages, can not realize the function of multi-angle sorting and conveying of the logistics packages, further influences the sorting efficiency of the logistics packages, has poor positioning effect when sorting and dumping the logistics packages, can not effectively convey the logistics packages to a designated position, and has larger friction between the logistics packages and a logistics platform, so that the dumped logistics packages are thrown and stopped on the logistics platform; the invention discloses assembled logistics conveying equipment with the application number of CN201710534489.4,2017, 11 months and 24 days, which comprises a conveying shell, supporting feet, a first conveying area, a barrel-shaped article conveying seat, a conveying belt and a conveying motor, wherein the supporting feet are welded at four corners of the lower side of the conveying shell, an assembled connecting block is welded at one side of the bottom of the supporting foot, the conveying belt is horizontally arranged in the conveying shell, a driving wheel and a driven wheel are arranged at two ends of the conveying belt, guardrails are arranged at two ends of the conveying shell, two partition plates are arranged between the guardrails, the conveying belt is divided into a first conveying area, a second conveying area and a third conveying area through the partition plates, and the barrel-shaped article conveying seat is arranged on the conveying belt of the third conveying area.
In the field of logistics conveying, the problems of large friction, high energy consumption, high maintenance cost and the like of traditional conveying equipment such as a belt conveyor, a chain conveyor and the like exist.
Disclosure of Invention
The invention aims to provide magnetic drive wheel type logistics conveying equipment and a conveying method, which are used for solving the problems of large friction, high energy consumption, high maintenance cost and the like of the traditional conveying equipment such as a belt conveyor, a chain conveyor and the like in the background technology.
In order to achieve the above purpose, the magnetic drive wheel type logistics conveying equipment comprises an installation base for providing support for the equipment, wherein a rotor module is arranged above the installation base, a stator module is connected to the lower side of the rotor module, the stator module is arranged above the installation base, a controller is connected to the outer side of the installation base, driving control signals are provided for the stator module and the rotor module, the rotor module comprises a power magnetic plate, a Y-direction roller, a Z-direction roller, a rotor carrier plate, a buffer block, a belt press block, an induction magnetic plate and an X-direction roller, the rotor carrier plate is arranged above the power magnetic plate, the Y-direction roller, the Z-direction roller and the X-direction roller are rotatably arranged below the rotor carrier plate, the Y-direction roller, the Z-direction roller and the X-direction roller are mutually perpendicular, the Y-direction roller, the Z-direction roller and the X-direction roller are arranged in pairs, the buffer blocks are arranged at the left end and the right end of the rotor carrier plate, the belt press block is arranged below the rotor carrier plate, and the induction magnetic plate is arranged on the side of the belt press block.
Further optimize this technical scheme, the stator module includes first apron, Z to limiting plate, Y to limiting plate, encoder, driver, encoder apron, motor, second apron, the top of first apron is provided with the second apron, and the below of second apron is provided with the motor, the side of first apron is provided with Z to limiting plate, and the outside of Z to limiting plate is provided with Y to limiting plate, Z to limiting plate and Y to limiting plate mutually perpendicular setting, the below of motor is provided with the driver, and the top of driver is provided with the encoder to the outside of encoder is provided with the encoder apron.
Further optimize this technical scheme, the below of active cell carrier plate is provided with clean mechanism, and clean mechanism is located Y to the outside of gyro wheel, cleans the removal face of X to the gyro wheel through clean mechanism.
Further optimizing the technical scheme, the cleaning mechanism comprises a mounting seat, a connecting block, a fixing seat, a movable wheel, a driving belt, a cleaning plate, a baffle and a driving mechanism;
The mounting seat is arranged at the outer side of the X-direction roller;
the connecting block is fixed on the inner side of the mounting seat;
The fixed seat is fixed below the rotor carrier plate and is connected with the connecting block to provide support for the mounting seat;
the movable wheels are arranged in the mounting seats in pairs, and the movable wheels are in rotary connection with the mounting seats;
The driving belt is arranged at the outer side of the movable wheel, and the movable wheel drives the driving belt to move when rotating;
the cleaning plate is fixed on the surface of the driving belt and moves along with the driving belt;
the baffle is fixed below the mounting seat and positioned at the inner side of the cleaning plate to block impurities from passing through the cleaning plate;
the transmission mechanism is connected with the movable wheel to control the rotation of the movable wheel.
Further optimizing the technical scheme, the transmission mechanism comprises a transmission shaft, a bevel gear, a driving shaft, a supporting seat and a laminating wheel;
The transmission shaft is fixed in the middle of the movable wheel;
Bevel gears fixed at the inner ends of the transmission shafts;
the driving shaft is mutually perpendicular to the transmission shaft and is mutually meshed with the transmission shaft through a bevel gear;
the supporting seat is fixed on the inner side of the mounting seat, and the driving shaft penetrates through the supporting seat and forms rotary connection with the supporting seat;
laminating wheel, fix in the top of drive shaft, and laminating wheel's surface is rubber material constitution to laminating wheel and Y are to the gyro wheel laminating each other.
Further optimize this technical scheme, unsmooth cooperation structure between the upper end of connecting block and the fixing base, and the locking groove has been seted up to the top of connecting block to the inside block of locking groove has the locking piece, the locking piece sets up and constitutes upper and lower sliding structure between the inside of fixing base and fixing base, and the outside of locking piece is circular-arc structural design, and the top of locking piece is fixed with the second spring, the bottom of locking groove is provided with the release board, and the below of release board is connected with the control panel, and constitutes upper and lower sliding structure between control panel and the connecting block, the below of control panel is fixed with the third spring, provides the drop-down restoring force for the control panel, the inner of control panel is fixed with the attraction piece, and the attraction piece moves along with the control panel, the inside of fixing base is fixed with the magnetic path, and magnetic path and attraction piece inter attraction.
Further optimize this technical scheme, the front side of mount pad is provided with blowing mechanism, sweeps the small granule impurity on the removal orbit.
Further optimizing the technical scheme, the blowing mechanism comprises an extrusion plate, a mounting cover, a self-resetting air bag, a pressing plate, a movable plate, a first spring, an air inlet pipe, a blowing pipe, a first unidirectional conduction device and a second unidirectional conduction device;
the extrusion disc is fixed at the outer end of the transmission shaft, and the circle center of the extrusion disc and the circle center of the transmission shaft are arranged in a staggered manner;
the mounting cover is fixed on the outer side of the mounting seat;
The self-resetting air bag is arranged in the mounting cover;
the pressing plate is arranged in the installation cover and between the installation cover to form a horizontal sliding structure;
the movable plate is fixed on the outer side of the pressing plate, and the surface of the movable plate is attached to the extrusion disc;
The first spring is connected with the movable plate and provides an outward pushing restoring force for the movable plate;
the air inlet pipe is arranged above the self-resetting air bag;
the air blowing pipe is arranged below the self-resetting air bag;
the first unidirectional conductor is arranged in the air inlet pipe, and the conducting direction of the first unidirectional conductor is from outside to inside;
the second one-way conduction device is arranged in the air blowing pipe, and the conduction direction of the second one-way conduction device is from inside to outside.
A method of transporting a magnetically driven wheeled logistics transport apparatus, the method comprising the steps of:
step one, placing articles to be conveyed on a rotor carrier plate by a worker;
Step two, the encoder senses the strength of the induction magnet group on the sub-module to convert the strength into a position signal and feed the position signal back to the driver, and the controller can read the position of the sub-module through the driver;
Step three, the controller sends a motion instruction to the driver, and the driver converts the received instruction into a current signal and outputs the current signal to a motor where the sub-module is located;
step four, current flows through a motor to generate a magnetic field to act with a power magnet group, so that the generated magnetic thrust drives a rotor module to move in the X direction by depending on an X-direction roller on the rotor module, and meanwhile, the rotor module is ensured not to deviate by depending on a Y-direction roller and a Z-direction roller;
Step five, in the moving process of the sub-module, the encoder corresponding to the position of the sub-module feeds back the sensed and converted position signal to the driver of the sub-module in real time;
Step six, the controller continuously scans and reads the position information of the rotor fed back by all the drivers through a powerful real-time system, calculates the current speed of the rotor according to time and the moving position, and sends a motion instruction to the drivers in real time to adjust the state of the rotor;
Step seven, when the mover is about to reach the target station, the controller sends a motion instruction of deceleration to the driver according to the motion plan;
Step eight, the driver converts the received deceleration movement instruction into a current new signal to the motor, and at the moment, the magnetic field generated by the motor and the power magnet group act to generate a thrust opposite to the movement direction of the sub-module so as to achieve the effect of decelerating the sub-module;
Step nine, under the real-time adjustment of the controller according to the motion planning, the mover can be finally decelerated to a designated station;
And step ten, when the sub-module is to be controlled to move to the next station, the appointed station can be reached by repeating the steps one to nine, so that the independent control of all the sub-modules on the equipment is realized, and the efficient and accurate logistics conveying effect is achieved.
Compared with the prior art, the invention has the beneficial effects that:
controlling a driver to input current to a motor, generating interaction of a magnetic field and a power magnetic plate to enable a rotor to move at a high speed, and adjusting the current to achieve acceleration and deceleration when the rotor moves;
The encoder reads the difference of the magnetic field intensities corresponding to different positions of the induction magnet group, and finally converts the magnetic field intensities into position signals through an effective algorithm, and the resolution ratio of the encoder is improved to improve the accuracy of position feedback, so that the aim of improving the positioning accuracy is fulfilled;
The encoder reads the difference of the magnetic field intensities corresponding to different positions of the induction magnet group, and finally converts the magnetic field intensities into position signals through an effective algorithm, and the resolution ratio of the encoder is improved to improve the accuracy of position feedback, so that the aim of improving the positioning accuracy is fulfilled;
By designing X, Y, Z-direction rollers on the rotor module, the rotor is ensured to effectively move in the X direction, and meanwhile, the large change of an air gap between a power magnetic plate and a motor caused by the jumping of the rotor module in the Y and Z directions is avoided, so that the running stability of the rotor module is effectively improved;
Independent control of different sub-modules is realized through a strong motion control system of the controller so as to cope with more conveying line scenes, such as a multi-path, multi-branch and other turnout shunting scene;
the cleaning mechanism can clean the moving track of the X-direction roller wheel through the arrangement, so that the X-direction roller wheel is prevented from jolting or shaking when moving due to the adhesion of impurities, the running stability of the sub-module is improved, the impurities of the cleaning mechanism are continuously swept out, and the continuous cleaning effect can be maintained.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic top view of a sub-module according to the present invention;
FIG. 3 is a schematic view showing the bottom view of the sub-module of the present invention;
FIG. 4 is a schematic diagram of an exploded view of a stator module according to the present invention;
FIG. 5 is a schematic diagram of a side view structure of a mover carrier plate according to the present invention;
FIG. 6 is a schematic view of the main structure of the Y-direction roller;
FIG. 7 is a schematic perspective view of a mounting base according to the present invention;
FIG. 8 is a schematic side view of a mounting base of the present invention;
FIG. 9 is a schematic view of a top-down construction of a mounting cup of the present invention;
FIG. 10 shows a connecting block and a connecting block according to the invention the connection cross-section structure of the fixing seat is shown in the schematic diagram.
The magnetic force sensor comprises a rotor module, a power magnetic plate, a Y-direction roller, a 103-Z-direction roller, a 104-rotor carrier plate, a 105-buffer block, a 106-belt pressing block, a 107-induction magnetic plate, a 108-X-direction roller, a 2-stator module, a 201-first cover plate, a 202-Z-direction limiting plate, a 203-Y-direction limiting plate, a 204-encoder, a 205-driver, a 206-encoder cover plate, a 207-motor, a 208-second cover plate, a 3-mounting base, a 4-mounting seat, a 5-connecting block, a 6-fixing seat, a 7-movable wheel, a 8-driving belt, a 9-cleaning plate, a 10-baffle plate, a 11-driving shaft, a 12-bevel gear, a 13-driving shaft, a 14-supporting seat, a 15-attaching wheel, a 16-pressing plate, a 17-mounting cover, a 18-self-resetting air bag, a 19-pressing plate, a 20-movable plate, a 21, a first spring, a 22-air inlet pipe, a 23, an air blowing pipe, a 24, a first one-way device, a 25, a second one-way device, a 26, a locking groove, a 27, a locking block, a 28, a second spring, a 29, a third spring, a control plate, a 31 and a magnetic attraction plate.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-10, the invention provides a magnetic wheel type logistics conveying device, which comprises a mounting base 3 for providing support for the device;
Embodiment one: the invention provides a technical proposal, discloses a rotor module 1 arranged above a mounting base 3, a stator module 2 connected below the rotor module 1, the stator module 2 arranged above the mounting base 3, a controller connected outside the mounting base 3, and a driving control signal provided for the stator module 2 and the rotor module 1, wherein the rotor module 1 comprises a power magnetic plate 101, a Y-direction roller 102, a Z-direction roller 103, a rotor carrier plate 104, a buffer block 105, a belt press block 106, an induction magnetic plate 107 and an X-direction roller 108, a rotor carrier plate 104 is arranged above the power magnetic plate 101, a Y-direction roller 102, a Z-direction roller 103 and an X-direction roller 108 are rotatably arranged below the rotor carrier plate 104, the rolling directions of the Y-direction roller 102, the Z-direction roller 103 and the X-direction roller 108 are mutually perpendicular, the Y-direction roller 102, the Z-direction roller 103 and the X-direction roller 108 are arranged in pairs, the left end and the right end of the rotor carrier plate 104 are both provided with buffer blocks 105, the lower part of the rotor carrier plate 104 is provided with a belt pressing block 106, the side edge of the belt pressing block 106 is provided with an induction magnetic plate 107, the stator module 2 comprises a first cover plate 201, a Z-direction limiting plate 202, a Y-direction limiting plate 203, an encoder 204, a driver 205, an encoder cover plate 206, a motor 207 and a second cover plate 208, the second cover plate 208 is arranged above the first cover plate 201, the motor 207 is arranged below the second cover plate 208, the side edge of the first cover plate 201 is provided with the Z-direction limiting plate 202, the outer side of the Z-direction limiting plate 202 is provided with the Y-direction limiting plate 203, the Z-direction limiting plate 202 and the Y-direction limiting plate 203 are mutually perpendicular, the driver 205 is arranged below the motor 207, the encoder 204 is arranged above the driver 205, and the encoder cover plate 206 is arranged outside the encoder 204;
a conveying method of magnetic drive wheel type logistics conveying equipment comprises the following steps:
step one, a worker places an article to be conveyed on a sub-carrier plate 104;
Step two, the encoder 204 senses the intensity of the induction magnet group on the sub-module 1 so as to convert the intensity into a position signal and feed the position signal back to the driver 205, and the controller can read the position of the sub-module through the driver 205;
step three, the controller sends a motion instruction to the driver 205, and the driver 205 converts the received instruction into a current signal and outputs the current signal to the motor 207 where the sub-module 1 is located;
Step four, the current flows through the motor 207 to generate a magnetic field to act with the power magnet group, so that the generated magnetic thrust drives the X-direction roller 108 on which the rotor module 1 is supported to move in the X direction, and meanwhile, the Y-direction roller 102 and the Z-direction roller 103 are relied on to ensure that the rotor module is not deviated;
Step five, during the movement process of the sub-module 1, the encoder 204 corresponding to the position where the sub-module 1 is located feeds back the sensed and converted position signal to the driver 205 where the sub-module is located in real time;
Step six, the controller continuously scans and reads the position information of the active cell fed back by all the drivers 205 through a powerful real-time system, calculates the current speed of the active cell according to the time and the moving position, and sends a motion instruction to the drivers 205 in real time to adjust the state of the active cell;
Step seven, when the mover is about to reach the target station, the controller sends a motion instruction of deceleration to the driver 205 according to the motion plan;
Step eight, the driver 205 converts the received deceleration motion command into a current new signal to the motor 207, and at this time, the magnetic field generated by the motor 207 and the power magnet group act to generate a thrust opposite to the motion direction of the sub-module 1, so as to achieve the effect of decelerating the sub-module 1;
Step nine, under the real-time adjustment of the controller according to the motion planning, the mover can be finally decelerated to a designated station;
And step ten, when the sub-module 1 is to be controlled to move to the next station, the designated station can be reached by repeating the steps one to nine, so that the independent control of all the sub-modules on the equipment is realized, and the efficient and accurate logistics conveying effect is achieved.
The controller sends a motion command to the driver 205 in the sub-module 2, the driver 205 converts the received motion command signal into a current signal and sends the current signal to the motor 207, when current passes through the lead, a magnetic field is generated around the current signal, the power magnet group in the sub-module 1 generates a constant magnetic field, when two magnetic fields interact, a moment can be generated, the sub-module receives a thrust force in the direction of the guide rail, and the X-direction roller 108 is used for guiding, and meanwhile, the Y-direction roller 102, the Y-direction limiting plate 203, the Z-direction roller 103 and the Z-direction limiting plate 202 are combined to ensure that the sub-module 1 can move in the X direction, and meanwhile, the sub-module 1 can not deviate in the direction Y, Z. The encoder 204 in the stator module 2 has a plurality of sensors capable of sensing the magnetic field intensity change, and when the mover moves, the distance between the sensing magnet groups in the mover module 1 changes, so that the magnetic field intensity sensed by the encoder 204 also changes, and the position of the mover can be dynamically calculated by an algorithm and fed back to the driver 205. The driver 205 reads the positions of the different sub-modules 1 according to the encoder 204, and controls the current magnitude and direction of the motor 207 where the sub-module 1 is located, so as to realize accurate and independent control of the different sub-modules.
On the basis of the first embodiment, a cleaning mechanism is arranged below a rotor carrier plate 104, the cleaning mechanism is arranged on the outer side of a Y-direction roller 102, the cleaning mechanism cleans the moving surface of an X-direction roller 108 through the cleaning mechanism, the cleaning mechanism comprises a mounting seat 4, a connecting block 5, a fixed seat 6, a movable wheel 7, a driving belt 8, a cleaning plate 9, a baffle 10 and a transmission mechanism, the mounting seat 4 is arranged on the outer side of the X-direction roller 108, the connecting block 5 is fixed on the inner side of the mounting seat 4, the fixed seat 6 is fixed below the rotor carrier plate 104, the fixed seat 6 and the connecting block 5 are connected to provide a support for the mounting seat 4, the movable wheel 7 is arranged in pairs in the mounting seat 4, and the movable wheel 7 and the mounting seat 4 form a rotary connection, the driving belt 8 is arranged on the outer side of the movable wheel 7, the driving belt 8 is driven to move when rotating, the cleaning plate 9 is fixed on the surface of the driving belt 8, the baffle 10 is fixed on the lower side of the mounting seat 4, the baffle 10 is arranged on the inner side of the cleaning plate 9, the baffle 9 is fixed on the cleaning plate, the inner side of the cleaning plate 9 is fixed on the inner side, the driving shaft 7 and the driving shaft 11 is connected to the inner side of the driving shaft 11, the driving shaft 11 is formed by the bevel gear 11, the bevel gear 11 and the bevel gear 13 is fixed between the driving shaft 11 and the driving shaft 13, the bevel gear 11 is fixed between the driving shaft 11 and the bevel gear 13 through the driving shaft 11, the driving shaft 11 and the driving shaft 13 and the bevel gear 13, the bevel gear 13 is fixed in the bearing 13 and 13, the rotary support is fixedly connected in the middle, and 13, the bevel gear 13 and 13 is fixedly and 13 through the rotary between the driving shaft 13 and 13 through the rotary shafts and 13, and the laminating wheel 15 and the Y-direction roller 102 are mutually laminated;
When the rotor carrier plate 104 moves, the Y-direction roller 102 rotates, the bonding wheel 15 is driven to rotate through friction force when the Y-direction roller 102 rotates, the bonding wheel 15 drives the driving shaft 13 to rotate, the driving shaft 13 drives the driving shaft 11 to rotate through the bevel gear 12, the driving shaft 11 drives the movable wheel 7 to rotate, the movable wheel 7 drives the driving belt 8 and the cleaning plate 9 to move, the cleaning plate 9 cleans the moving position of the X-direction roller 108, the impurities are prevented from affecting the cleaning plate, and meanwhile, the baffle 10 can avoid the impurities from passing through the baffle 10, so that the cleaning plate 9 can be scanned off.
Embodiment III: on the basis of the second embodiment, a concave-convex matching structure between the upper end of the connecting block 5 and the fixed seat 6 is disclosed, a locking groove 26 is formed above the connecting block 5, a locking block 27 is clamped in the locking groove 26, the locking block 27 is arranged between the inside of the fixed seat 6 and the fixed seat 6 to form a vertical sliding structure, the outer side of the locking block 27 is in an arc-shaped structural design, a second spring 28 is fixed above the locking block 27, a release plate 29 is arranged at the bottom of the locking groove 26, a control plate 30 is connected below the release plate 29, a vertical sliding structure is formed between the control plate 30 and the connecting block 5, a third spring 31 is fixed below the control plate 30 to provide a downward pulling restoring force for the control plate 30, an attraction block 32 is fixed at the inner end of the control plate 30, the attraction block 32 moves along with the control plate 30, a magnetic block 33 is fixed inside the fixed seat 6, the magnetic block 33 and the suction block 32 are mutually attracted, the front side of the mounting seat 4 is provided with a blowing mechanism for blowing small particle impurities on a moving track, the blowing mechanism comprises a pressing disc 16, a mounting cover 17, a self-resetting air bag 18, a pressing plate 19, a movable plate 20, a first spring 21, an air inlet pipe 22, an air blowing pipe 23, a first one-way conducting device 24 and a second one-way conducting device 25, the pressing disc 16 is fixed at the outer end of a transmission shaft 11, the circle center of the pressing disc 16 and the circle center of the transmission shaft 11 are arranged in a staggered manner, the mounting cover 17 is fixed at the outer side of the mounting seat 4, the self-resetting air bag 18 is arranged in the mounting cover 17, the pressing plate 19 is arranged between the inner side of the mounting cover 17 and the mounting cover 17 to form a horizontal sliding structure, the movable plate 20 is fixed at the outer side of the pressing plate 19, the surface of the movable plate 20 is attached to the pressing disc 16, the first spring 21, the movable plate 20 is connected with the movable plate 20 to provide an extrapolation reset force, the air inlet pipe 22 is arranged above the self-resetting air bag 18, the air blowing pipe 23 is arranged below the self-resetting air bag 18, the first one-way conduction device 24 is arranged in the air inlet pipe 22, the conduction direction of the first one-way conduction device 24 is from outside to inside conduction, the second one-way conduction device 25 is arranged in the air blowing pipe 23, and the conduction direction of the second one-way conduction device 25 is from inside to outside conduction;
When the transmission shaft 11 rotates, the extrusion plate 16 is driven to eccentrically rotate, the extrusion plate 16 pushes the movable plate 20 to move, the first spring 21 is matched with the first movable plate 20 to drive the pressing plate 19 to reciprocally move, the pressing plate 19 reciprocally extrudes the self-resetting air bag 18 when moving, when the pressing plate 19 extrudes the self-resetting air bag 18, air in the self-resetting air bag is blown out through the second one-way conducting device 25 and the air blowing pipe 23, external air is introduced into the self-resetting air bag 18 through the air inlet pipe 22 and the first one-way conducting device 24 when the pressing plate 19 releases extrusion of the self-resetting air bag 18, the connecting block 5 can be detached from the fixed seat 6, the control plate 30 can be pushed when detached, the release plate 29 is driven to move, the release plate 29 pushes the locking block 27 to move, the connection between the locking block 27 and the locking groove 26 is released, meanwhile, the attraction block 32 and the magnetic block 33 are staggered, and then the connecting block 5 can be pulled out of the fixed seat 6.
What is not described in detail in this specification is prior art known to those skilled in the art.
Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.
Claims (8)
1. A magnetically driven wheeled logistics transportation device comprising a mounting base (3) for providing support for the device;
The rotor module is characterized in that a rotor module (1) is arranged above the mounting base (3), a stator module (2) is connected below the rotor module (1), the stator module (2) is arranged above the mounting base (3), a controller is connected to the outer side of the mounting base (3), driving control signals are provided for the stator module (2) and the rotor module (1), the rotor module (1) comprises a power magnetic plate (101), a Y-direction roller (102), a Z-direction roller (103), a rotor carrier plate (104), a buffer block (105), a belt press block (106), an induction magnetic plate (107) and an X-direction roller (108), the rotor carrier plate (104) is arranged above the power magnetic plate (101), the Y-direction roller (102), the Z-direction roller (103) and the X-direction roller (108) are rotatably arranged below the rotor carrier plate (104), the rolling directions of the Y-direction roller (102), the Z-direction roller (103) and the X-direction roller (108) are mutually perpendicular, the Y-direction roller (102), the Z-direction roller (103) and the X-direction roller (108) are arranged at the right end of the two sides of the rotor carrier plate (104), the buffer block (104) is provided with the right end of the right-direction press block (104), the side edge of the belt pressing block (106) is provided with an induction magnetic plate (107);
Stator module (2) are including first apron (201), Z to limiting plate (202), Y to limiting plate (203), encoder (204), driver (205), encoder apron (206), motor (207), second apron (208), the top of first apron (201) is provided with second apron (208), and the below of second apron (208) is provided with motor (207), the side of first apron (201) is provided with Z to limiting plate (202), and the outside of Z to limiting plate (202) is provided with Y to limiting plate (203), and Z is to limiting plate (202) and Y to limiting plate (203) mutually perpendicular setting, the below of motor (207) is provided with driver (205), and the top of driver (205) is provided with encoder (204) to the outside of encoder (204) is provided with encoder apron (206).
2. The magnetic wheel type logistics conveying equipment according to claim 1, wherein a cleaning mechanism is arranged below the rotor carrier plate (104), the cleaning mechanism is located on the outer side of the Y-direction roller (102), and the moving surface of the X-direction roller (108) is cleaned through the cleaning mechanism.
3. The magnetic drive wheel type logistics conveying apparatus of claim 2, wherein the cleaning mechanism comprises a mounting seat (4), a connecting block (5), a fixing seat (6), a movable wheel (7), a driving belt (8), a cleaning plate (9), a baffle plate (10) and a driving mechanism;
The mounting seat (4) is arranged at the outer side of the X-direction roller (108);
The connecting block (5) is fixed on the inner side of the mounting seat (4);
The fixed seat (6) is fixed below the rotor carrier plate (104), and the fixed seat (6) is connected with the connecting block (5) to provide support for the mounting seat (4);
The movable wheels (7) are arranged in the mounting seats (4) in pairs, and the movable wheels (7) are in rotary connection with the mounting seats (4);
The driving belt (8) is arranged at the outer side of the movable wheel (7), and the movable wheel (7) drives the driving belt (8) to move when rotating;
the cleaning plate (9) is fixed on the surface of the driving belt (8) and moves along with the driving belt (8);
the baffle (10) is fixed below the mounting seat (4), and the baffle (10) is positioned at the inner side of the cleaning plate (9) to block impurities from passing through the cleaning plate (9);
The transmission mechanism is connected with the movable wheel (7) to control the rotation of the movable wheel (7).
4. A magnetic drive wheel type logistics transportation apparatus according to claim 3, wherein the transmission mechanism comprises a transmission shaft (11), a bevel gear (12), a driving shaft (13), a supporting seat (14) and a fitting wheel (15);
the transmission shaft (11) is fixed in the middle of the movable wheel (7);
a bevel gear (12) fixed at the inner end of the transmission shaft (11);
the driving shaft (13) is perpendicular to the driving shaft (11), and the driving shaft (13) is meshed with the driving shaft (11) through a bevel gear (12);
the supporting seat (14) is fixed on the inner side of the mounting seat (4), and the driving shaft (13) penetrates through the supporting seat (14) and is in rotary connection with the supporting seat (14);
And the laminating wheel (15) is fixed above the driving shaft (13), the surface of the laminating wheel (15) is made of rubber, and the laminating wheel (15) and the Y-direction roller (102) are mutually laminated.
5. The magnetic drive wheel type logistics conveying equipment according to claim 3, wherein a concave-convex matching structure is arranged between the upper end of the connecting block (5) and the fixed seat (6), a locking groove (26) is formed in the upper portion of the connecting block (5), a locking block (27) is clamped in the locking groove (26), the locking block (27) is arranged between the inner portion of the fixed seat (6) and the fixed seat (6) to form an up-down sliding structure, the outer side of the locking block (27) is of an arc-shaped structure, a second spring (28) is fixed on the upper portion of the locking block (27), a release plate (29) is arranged at the bottom of the locking groove (26), a control plate (30) is connected to the lower portion of the release plate (29), a third spring (31) is fixed on the lower portion of the control plate (30) to provide a downward pulling reset force for the control plate (30), an attraction block (32) is fixed on the inner end of the control plate (30), the attraction block (32) moves along with the control plate (30), and the attraction block (33) and the inner portion of the fixed block (33) are mutually attracted by the magnetic block (33).
6. The magnetic wheel type logistics conveying equipment according to claim 4, wherein the front side of the mounting seat (4) is provided with an air blowing mechanism for blowing small particle impurities on a moving track.
7. A magnetic wheel type logistics transportation apparatus according to claim 6, wherein the blowing mechanism comprises a squeeze plate (16), a mounting cover (17), a self-resetting air bag (18), a pressure plate (19), a movable plate (20), a first spring (21), an air inlet pipe (22), a blowing pipe (23), a first one-way conduction device (24) and a second one-way conduction device (25);
The extrusion disc (16) is fixed at the outer end of the transmission shaft (11), and the circle center of the extrusion disc (16) and the circle center of the transmission shaft (11) are arranged in a staggered manner;
The mounting cover (17) is fixed on the outer side of the mounting seat (4);
a self-resetting air bag (18) arranged inside the mounting cover (17);
A pressing plate (19) arranged inside the mounting cover (17) and between the mounting cover (17) to form a horizontal sliding structure;
The movable plate (20) is fixed on the outer side of the pressing plate (19), and the surface of the movable plate (20) is attached to the extrusion disc (16);
A first spring (21) connected with the movable plate (20) for providing an outward restoring force for the movable plate (20);
an air inlet pipe (22) arranged above the self-resetting air bag (18);
a gas blowing pipe (23) arranged below the self-resetting air bag (18);
the first unidirectional conductor (24) is arranged in the air inlet pipe (22), and the conducting direction of the first unidirectional conductor (24) is from outside to inside;
the second one-way conduction device (25) is arranged in the air blowing pipe (23), and the conduction direction of the second one-way conduction device (25) is from inside to outside.
8. The method for transporting a magnetically driven wheel type logistics transportation apparatus according to claim 1, wherein the method comprises the following steps:
Step one, a worker places articles to be conveyed on a sub-carrier plate (104);
step two, the encoder (204) senses the intensity of the induction magnet group on the sub-module (1) so as to convert the intensity into a position signal and feed the position signal back to the driver (205), and the controller can read the position of the sub-module through the driver (205);
Step three, the controller sends a motion instruction to the driver (205), and the driver (205) converts the received instruction into a current signal and outputs the current signal to a motor (207) where the sub-module (1) is positioned;
step four, current flows through a motor (207) to generate a magnetic field to act with a power magnet group, so that the generated magnetic thrust drives a rotor module (1) to move in the X direction by depending on an X-direction roller (108) on the rotor module, and meanwhile, the rotor module is ensured not to deviate by depending on a Y-direction roller (102) and a Z-direction roller (103);
Step five, in the motion process of the sub-module (1), the encoder (204) corresponding to the position of the sub-module feeds back the sensed and converted position signal to the driver (205) in real time;
step six, the controller continuously scans and reads the position information of the active cell fed back by all the drivers (205) through a powerful real-time system, calculates the current speed of the active cell according to time and the moving position, and sends a motion instruction to the drivers (205) in real time to adjust the state of the active cell;
step seven, when the mover is about to reach the target station, the controller sends a motion instruction of deceleration to the driver (205) according to the motion plan;
Step eight, the driver (205) converts the received deceleration motion instruction into a current new signal to the motor (207), and at the moment, the magnetic field generated by the motor (207) and the power magnet group act to generate a thrust opposite to the motion direction of the sub-module (1), so as to achieve the effect of decelerating the sub-module (1);
Step nine, under the real-time adjustment of the controller according to the motion planning, the mover can be finally decelerated to a designated station;
and step ten, when the sub-module (1) is to be controlled to move to the next station, the designated station can be reached by repeating the steps one to nine, so that the independent control of all the sub-modules on the equipment is realized, and the efficient and accurate logistics conveying effect is achieved.
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| CN202411070645.2A CN118868543B (en) | 2024-08-06 | 2024-08-06 | A magnetically driven wheeled logistics conveying device and conveying method |
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| CN202411070645.2A CN118868543B (en) | 2024-08-06 | 2024-08-06 | A magnetically driven wheeled logistics conveying device and conveying method |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113019816A (en) * | 2021-03-15 | 2021-06-25 | 深圳市凯达扬自动化有限公司 | Full-automatic EC five-axis side surface glue sealing equipment |
| CN113734720A (en) * | 2021-09-13 | 2021-12-03 | 浙江大学先进电气装备创新中心 | Direct-drive multi-track flexible conveying system and control method thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113783396B (en) * | 2021-09-13 | 2022-05-10 | 浙江大学先进电气装备创新中心 | Direct-drive type annular flexible conveying system and cooperative control method thereof |
| CN117175975B (en) * | 2023-11-02 | 2024-02-20 | 苏州元磁智控科技有限公司 | Double-track horizontal magnetic suspension structure |
| CN117383259A (en) * | 2023-11-22 | 2024-01-12 | 深圳市广盈智能设备有限公司 | Planar magnetic suspension ferry conveying line |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113019816A (en) * | 2021-03-15 | 2021-06-25 | 深圳市凯达扬自动化有限公司 | Full-automatic EC five-axis side surface glue sealing equipment |
| CN113734720A (en) * | 2021-09-13 | 2021-12-03 | 浙江大学先进电气装备创新中心 | Direct-drive multi-track flexible conveying system and control method thereof |
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