CN118992567B - A magnetic transport system and method of using the same - Google Patents
A magnetic transport system and method of using the same Download PDFInfo
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- CN118992567B CN118992567B CN202411489475.1A CN202411489475A CN118992567B CN 118992567 B CN118992567 B CN 118992567B CN 202411489475 A CN202411489475 A CN 202411489475A CN 118992567 B CN118992567 B CN 118992567B
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 173
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001179 sorption measurement Methods 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 claims description 3
- 230000009699 differential effect Effects 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 230000035699 permeability Effects 0.000 claims description 3
- 230000005294 ferromagnetic effect Effects 0.000 claims description 2
- 238000003860 storage Methods 0.000 abstract description 13
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000005389 magnetism Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000006872 improvement Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010892 electric spark Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
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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
- B65G54/00—Non-mechanical conveyors not otherwise provided for
- B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明涉及仓储设备领域，具体是一种磁性运输系统及其使用方法；所述磁性运输系统包括直线轨道段和交叉轨道段，直线轨道段与交叉轨道段拼接形成轨道网络，轨道网络用于磁吸运输车在其上利用磁性吸附并依靠电力驱动行驶；所述磁吸运输车包括机架、车辆控制芯片，设置在机架中部两侧的驱动电机和蓄电池，还包括与驱动电机相连接的驱动轮，在机架上设有强磁吸盘，强磁吸盘用于将整个磁吸运输车吸附在空中轨道上，驱动电机、蓄电池与车辆控制芯片通过数据线和电源线连接并受车辆芯片的控制。本发明提高了轨道车运输和通行的效率，适用于复杂交错的轨道路径和较多站点的应用场景，同时，本发明实现自动化控制，节省硬件制造成本，减少人员劳动强度。
The present invention relates to the field of storage equipment, specifically a magnetic transport system and a method for using the same; the magnetic transport system includes a straight track segment and a cross track segment, the straight track segment and the cross track segment are spliced to form a track network, the track network is used for a magnetic suction transport vehicle to travel on it by magnetic adsorption and relying on electric drive; the magnetic suction transport vehicle includes a frame, a vehicle control chip, a drive motor and a battery arranged on both sides of the middle of the frame, and also includes a drive wheel connected to the drive motor, a strong magnetic suction cup is arranged on the frame, the strong magnetic suction cup is used to adsorb the entire magnetic suction transport vehicle on the aerial track, the drive motor, the battery and the vehicle control chip are connected via a data line and a power line and are controlled by the vehicle chip. The present invention improves the efficiency of rail vehicle transportation and passage, and is suitable for application scenarios with complex and interlaced track paths and a large number of stations. At the same time, the present invention realizes automatic control, saves hardware manufacturing costs, and reduces labor intensity.
Description
Technical Field
The invention relates to the field of storage equipment, in particular to a carrying trolley for sorting and inspection and a matched track, and particularly relates to a magnetic transportation system and a use method thereof.
Background
In warehouse systems, where floor space is limited, a conveyor system is often deployed in the air that includes an air rail that shuttles between various transportation stations and a carriage that runs on the air rail.
With the above-described forms of conveyor systems, the overhead track becomes intricate as more and more transportation stations are provided. For example, reversing mechanisms are required between different transportation stations to achieve operations such as track changing, turning and the like of the carrying and unloading.
For the reversing mechanism, a disc rotary track rail system and a parallel moving rail system which are proposed by bulletin No. CN218023754U, CN217758134U and the like are commonly included, and the up-and-down moving rail system is required to be additionally provided with a power mechanism for providing driving force and matched with rail changing and turning operations of the carrying trolley.
As more and more reversing mechanisms are used, the conveying network formed by the air rails is certainly more and more complex and bulkier, and for the carrying trolley, in order to adapt to the reversing mechanism of the air rails, a reversing gear train such as the one proposed by the bulletin number CN110329282a also has to be arranged on the vehicle body.
The reversing mechanism, the reversing gear train and the matched power mechanism can certainly reduce the reliability of the whole conveying system and increase the maintenance cost. It follows that there is still a need for improvement in air delivery systems in the field of current warehousing.
Disclosure of Invention
The invention aims to overcome the defects and provide a simpler air track and a matched magnetic attraction carrier vehicle which operate based on an intelligent automatic control technology, so that the operation efficiency and reliability of the whole conveying system can be improved, and the use cost of the conveying system can be reduced.
In order to achieve the above object, the present invention is achieved by:
The magnetic transportation system comprises an air track without a reversing mechanism and a magnetic transportation vehicle, wherein the air track without the reversing mechanism comprises a linear track section and a cross track section, the linear track section is spliced with the cross track section to form a grid-shaped track network, the track network is used for the magnetic transportation vehicle to drive the magnetic transportation vehicle to run by utilizing magnetic attraction and depending on electric power, the magnetic transportation vehicle comprises a frame, a vehicle control chip, a driving motor and a storage battery, the driving motor and the storage battery are arranged on two sides of the middle of the frame, the driving wheel are connected with the driving motor and are positioned on the left side and the right side of the frame, a strong magnetic sucker is arranged on the frame and used for adsorbing the whole magnetic transportation vehicle on the air track, the driving wheel is used for driving the whole magnetic transportation vehicle to run on the air track, and the storage battery is used as a power supply for supplying power for the whole magnetic transportation vehicle, and the driving motor, the storage battery and the vehicle control chip are connected through a data wire and a power wire and are controlled by the vehicle chip.
Further, the aerial track without the reversing mechanism comprises a cross track section and a track extension section arranged around the platform, wherein the track extension section is used for being spliced with the linear track section.
Furthermore, the aerial track without the reversing mechanism is characterized in that the linear track section and the crossed track section are made of strip-shaped magnetic metal sections.
The invention firstly proposes an aerial track system as described above, which, in comparison with conventional track systems, omits a steering mechanism for reversing and also omits an arc-shaped track, instead of having a simple structure, the aerial track system provided by the invention has the advantages of simple structure, low manufacturing cost and more compact and efficient whole track conveying system.
The invention also provides a magnetic transport vehicle, which adopts a driving mode of double motors and double driving wheels with flexible steering and compact structure in terms of mechanical structure, and simultaneously, the magnetic transport vehicle is adsorbed on the air track through a strong magnetic chuck, and particularly, the driving wheels arranged at the two sides of the magnetic transport vehicle are driven by respective driving motors to synchronously rotate to drive the magnetic transport vehicle to move forwards and backwards, when a driving route is required to be changed, the magnetic transport vehicle moves to a cross track section, and the driving wheels at the two sides rotate at a differential speed to steer a vehicle body even 360 degrees, so that the steering and reversing purposes are realized.
Above-mentioned transportation truck is inhaled to magnetism still includes universal ball, universal ball imbeds around the frame bottom, makes the frame even under the magnetism adsorption state, still has the clearance with the aerial track between.
The strong magnetic suction carrier vehicle can be a permanent magnetic suction cup, is not electrified and does not need to be powered, and suction force can be adjusted by increasing or reducing the distance between the permanent magnetic suction cup and the track.
On the basis of the above, the magnetic transport vehicle provided by the invention further has the functions of 'intellectualization' and 'automation', and is specifically as follows:
The vehicle control chip uses the wireless communication module to interact with a background data control center in real time and transmit data, and the data comprise vehicle position, driving path, speed, estimated arrival time, load weight and mission plan.
RFID electronic tags with point position information are arranged on an aerial track line at intervals, an RFID electronic tag reading module is arranged on a magnetic transport vehicle, and the RFID electronic tag reading module is connected with a vehicle control chip, so that the vehicle can recognize own position information by reading the RFID electronic tags on the aerial track line when passing by, and the running parameter, steering or parking can be adjusted in time conveniently.
Based on the communication module and the background data interaction network, the magnetic transport vehicle provided by the invention can operate according to a preset task plan by itself without human real-time intervention.
On the basis, in order to improve the operation efficiency between the magnetic transport vehicle and the aerial track, sliding contact electrodes are arranged at four corners of the bottom of the magnetic transport vehicle, so that when the magnetic transport vehicle contacts with the charged track electrodes, the storage battery is charged intermittently and rapidly.
Further, the charging mode of the magnetic transport vehicle is specifically divided into two modes, one is that the electrode pops up and contacts with the electrified aerial track when the vehicle moves, and low-current low-power charging is performed. And the other is to perform short-time high-current high-power quick charging when the vehicle arrives at the working station and stops.
On the basis of the above, in order to ensure that the automatic operation between the magnetic transport vehicle and the air track is stable and reliable, the invention adds a plurality of detection components on the magnetic transport vehicle and connects the detection components with the control chip of the magnetic transport vehicle, thereby improving the operation stability of the magnetic transport vehicle. Specifically, the implementation is as follows:
1. The magnetic attraction transport vechicle, the bottom of magnetic attraction transport vechicle be provided with proximity sensor, proximity sensor passes through the data line with vehicle control chip and is connected, when the magnetic attraction transport vechicle is marched on the aerial track, proximity sensor detects ferromagnetic aerial track in magnetism and inhale the offset numerical value of transport vechicle in real time, when detecting the offset numerical value too big, vehicle control chip control driving motor differential action and rectify the route of traveling, if detect the numerical value and be that proximity switch damages or the vehicle exists and wash out the track risk, then the magnetic attraction transport vechicle stops to travel to prevent that the magnetic attraction transport vechicle off tracking or wash out behind the track and drop.
2. The magnetic transport vehicle is characterized in that the front part and the rear part of the magnetic transport vehicle are provided with laser ranging sensors, the laser ranging sensors are connected with a vehicle control chip and are used for detecting the following distance between the front part and the rear part of the magnetic transport vehicle, and when the following distance is detected to be too close, the vehicle control chip controls a motor to reduce the running speed, so that the magnetic transport vehicle keeps a certain following safety distance, and rear-end collision of the vehicle is avoided.
Aiming at the magnetic attraction transportation system provided by the invention, the invention further discloses a specific using method between the magnetic attraction transportation system and the magnetic attraction transportation system:
the application method of the magnetic attraction transportation system comprises the following steps:
step 1, paving an aerial track according to the requirement of a designed route, and suspending the aerial track in the air indoors through screw hoisting or upright posts to electrify the aerial track, wherein the voltage on the aerial track is 36V;
step2, butting the magnetic transport vehicle on an air rail, enabling the magnetic transport vehicle to be adsorbed on the air rail, and simultaneously loading cargoes to be carried on the magnetic transport vehicle;
Step 3, a transport instruction is sent from a background data control center to a vehicle control chip of the magnetic transport vehicle through a wireless communication module;
step 4, the vehicle control chip drives the magnetic transport vehicle to run according to the transport instruction, and the transport track rechecking and checking work is carried out by reading the RFID electronic tags on the aerial track along the way;
step 5, after the goods reach the destination according to the transport instruction, removing the goods from the magnetic transport vehicle;
and 6, finishing the transportation process, and returning the magnetic transport vehicle to the standby place according to the transportation instruction.
In the above-mentioned application method, before the magnetic transport vehicle loads goods and executes the transport instruction, it should be measured whether its magnetic attraction meets the transport requirement, avoid the magnetic transport vehicle from accidentally dropping while executing the transport instruction, in order to avoid the occurrence of the stated situation, the invention further proposes the safe measuring and calculating formula between magnetic transport vehicle and aerial track is:
1. When the strong magnetic chuck is a permanent magnet:
Wherein F is attraction, (BH) max is magnetic energy product, A is surface area of the magnet, d is distance between the magnet and the track, and k is constant of shape of the magnet, magnetic field distribution and track material;
2. when the strong magnetic chuck is an electromagnet:
Where N is the number of turns of the coil, I is the current in the coil, A is the pole area, g is the air gap, i.e. the distance between the magnet and the track, and μ0 is the vacuum permeability.
In summary, the magnetic transportation system and the use method thereof provided by the invention improve the transportation and passing efficiency of the rail car, simplify the structure of the matched rail, reduce the track laying cost, and are suitable for application scenes of complex staggered track paths and more stations, such as storage, logistics, sorting, inspection and the like. Furthermore, the invention has the advantages of high integration and compact design, automatic control, more hardware manufacturing cost saving, operation efficiency improvement and personnel labor intensity and labor cost reduction.
Drawings
Fig. 1 is a schematic diagram of a magnetic transport vehicle and an aerial track according to the present invention.
Fig. 2 is a schematic structural diagram of a magnetic transport vehicle according to the present invention.
Fig. 3 is a schematic diagram of a magnetic transport vehicle according to the present invention.
Fig. 4 is a schematic structural diagram of a magnetic transport vehicle according to the present invention.
Fig. 5 is a schematic diagram of a magnetic transport vehicle and an aerial track according to the present invention.
Fig. 6 is a schematic diagram of a magnetic transport vehicle and an aerial track according to the present invention.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the application, are intended to be within the scope of the claimed application based on embodiments of the present application.
As shown in fig. 1, 5-6, the air track without the reversing mechanism comprises a straight track section 1 and an intersecting track section, wherein the straight track section 1 is spliced with the intersecting track section to form a grid-shaped track network, and the formed track network is used for a magnetic transport vehicle 2 to drive by utilizing magnetic attraction and relying on electric power. The crossed track section comprises a platform 3 and a track extension section 4 arranged around the platform 3, wherein the track extension section 4 is used for being spliced with the linear track section 1.
The above-mentioned aerial track without reversing mechanism, straight line track section 1 and cross track section all adopt the magnetic metal section bar of banded to make.
Further, as the above-mentioned adaptation subassembly of the aerial track that does not have reversing mechanism, the transport vechicle 2 is inhaled to magnetism specifically as follows:
As shown in fig. 2, 3-4, the device comprises a frame 5, a vehicle control chip, a driving motor 6 and a storage battery which are arranged on two sides of the middle of the frame 5, a driving wheel 7 which is connected with the driving motor 6 and is positioned on the left side and the right side of the frame 5, a strong magnetic chuck 8 which is used for adsorbing the whole magnetic transport vehicle 2 on an air track is arranged on the frame 5, the driving wheel 7 is used for driving the whole magnetic transport vehicle to run on the air track, the storage battery is used as a power supply for supplying power for the whole magnetic transport vehicle 2, the driving motor 6, the storage battery and the vehicle control chip are connected through a data line and a power line and are controlled by the vehicle chip, and the device further comprises universal balls 9, wherein the universal balls 9 are embedded around the bottom of the frame 5, so that a gap is reserved between the frame 5 and the air track even in a magnetic adsorption state.
Above-mentioned transport vechicle 2 is inhaled to magnetism, through setting up the drive wheel 7 in transport vechicle 2 both sides is inhaled to magnetism, and transport vechicle 2 is inhaled to magnetism to synchronous rotation drive under the order of drive motor 6 respectively is preceding, reversing, and when needs change the route of traveling, transport vechicle 2 is inhaled to magnetism and is traveling to the cross track section, and the drive wheel 7 of both sides is rotatory with the differential, carries out the turning to of automobile body and even 360 degrees gyrations to realize turning to, the purpose of switching over.
In this embodiment, the strong magnetic chuck 8 is a permanent magnetic chuck, which is neither electrified nor powered, and the suction force can be adjusted by increasing or decreasing the distance between the permanent magnetic chuck and the track.
The magnetic transport vehicle further has the functions of 'intellectualization' and 'automation', and further comprises a wireless communication module, wherein the wireless communication module is connected with a vehicle control chip through a data line, the vehicle control chip interacts with a background data control center in real time and transmits data by using the wireless communication module, and the data comprise vehicle positions, driving paths, speeds, estimated arrival time, load weight and mission plans.
RFID electronic tags with point position information are arranged on an aerial track line at intervals, an RFID electronic tag reading module is arranged on the magnetic transport vehicle 2 and is connected with a vehicle control chip, so that the vehicle can recognize own position information by reading the RFID electronic tags on the aerial track line when passing by, and the running parameters, steering or parking can be adjusted in time conveniently.
Based on the communication module and the background data interaction network, the magnetic transport vehicle provided by the invention can operate according to a preset task plan by itself without human real-time intervention.
On the basis of the above, in order to improve the operation efficiency between the magnetic attraction carrier 2 and the aerial track, the bottom four corners of the magnetic attraction carrier 2 are provided with sliding contact electrodes 12, so that when the magnetic attraction carrier 2 contacts with the charged track electrodes, the storage battery is charged intermittently and rapidly.
In the specific implementation process, the charging mode of the magnetic transport vehicle is specifically divided into two types, one is that the electrode pops up and contacts the electrified aerial track when the vehicle moves to carry out low-current and low-power charging, and for safety, because the high-current and high-power charging trolley moves, electric sparks can be generated, electrode contacts and the electrified track can be corroded in an accelerating way, and the service life and the maintenance period are shortened. The other is a charging mode which is not mentioned in the embodiment but can be implemented in the same way, namely, when the vehicle arrives at the working station and stops, the short-time high-current high-power quick charging is carried out.
On the basis of the above, in order to ensure that the automatic operation between the magnetic transport vehicle 2 and the air track is stable and reliable, a plurality of detection components are added on the magnetic transport vehicle and are connected with a control chip of the magnetic transport vehicle 2, so that the operation stability of the magnetic transport vehicle 2 is improved. Specifically, the implementation is as follows:
1. The magnetic attraction transport vechicle 2, the bottom of transport vechicle 2 is provided with proximity sensor 11, proximity sensor 11 passes through the data line with vehicle control chip to be connected, when transport vechicle 2 is inhaled to the magnetism when advancing on the aerial track, proximity sensor detects the magnetic attraction transport vechicle 2 in real time and deviates from the numerical value, when detecting that deviating from the numerical value too big, vehicle control chip control driving motor differential action and rectifying the travel route, if detect the numerical value and probably be proximity switch damage or the vehicle exists and wash out the track risk, then the transport vechicle stops traveling to prevent that the transport vechicle from off tracking or washing out the track back and droing.
2. The magnetic transport vehicle 2 is characterized in that the laser ranging sensors 10 are arranged at the front and rear parts of the magnetic transport vehicle 2, the laser ranging sensors 10 are connected with the vehicle control chip and are used for detecting the following distance between the front and rear parts of the magnetic transport vehicle 2, and when the following distance is detected to be too close, the vehicle control chip controls the motor to reduce the running speed, so that the magnetic transport vehicle 2 keeps a certain following safety distance, and rear-end collision of the vehicle is avoided.
In embodiment 2, the specific use method of the air track and the matched magnetic transport vehicle provided in embodiment 1 is as follows:
The application method of the air rail and magnetic transport vehicle without the reversing mechanism comprises the following steps of
Step 1, paving an aerial track according to the requirement of a designed route, and suspending the aerial track in the air indoors through screw hoisting or upright posts to electrify the aerial track, wherein the voltage on the aerial track is 36V;
step2, butting the magnetic transport vehicle on an air rail, enabling the magnetic transport vehicle to be adsorbed on the air rail, and simultaneously loading cargoes to be carried on the magnetic transport vehicle;
Step 3, a transport instruction is sent from a background data control center to a vehicle control chip of the magnetic transport vehicle through a wireless communication module;
step 4, the vehicle control chip drives the magnetic transport vehicle to run according to the transport instruction, and the transport track rechecking and checking work is carried out by reading the RFID electronic tags on the aerial track along the way;
step 5, after the goods reach the destination according to the transport instruction, removing the goods from the magnetic transport vehicle;
and 6, finishing the transportation process, and returning the magnetic transport vehicle to the standby place according to the transportation instruction.
In the above-mentioned application method, before the magnetic transport vehicle loads goods and executes the transport instruction, it should be measured whether its magnetic attraction meets the transport requirement, avoid the magnetic transport vehicle from accidentally dropping while executing the transport instruction, in order to avoid the occurrence of the stated situation, the invention further proposes the safe measuring and calculating formula between magnetic transport vehicle and aerial track is:
1. When the strong magnetic chuck is a permanent magnet:
Wherein F is attraction, (BH) max is magnetic energy product, A is surface area of the magnet, d is distance between the magnet and the track, and k is constant of shape of the magnet, magnetic field distribution and track material;
2. when the strong magnetic chuck is an electromagnet:
Where N is the number of turns of the coil, I is the current in the coil, A is the pole area, g is the air gap, i.e. the distance between the magnet and the track, and μ0 is the vacuum permeability.
In summary, the magnetic transportation system and the use method thereof provided by the invention improve the transportation and passing efficiency of the rail car, simplify the structure of the matched rail, reduce the track laying cost, and are suitable for application scenes of complex staggered track paths and more stations, such as storage, logistics, sorting, inspection and the like. Furthermore, the invention has the advantages of high integration and compact design, automatic control, more hardware manufacturing cost saving, operation efficiency improvement and personnel labor intensity and labor cost reduction.
While the present application has been described in detail with reference to the embodiments, it will be apparent to those skilled in the art that the foregoing embodiments may be modified or equivalents may be substituted for some of the features thereof, and any modification, equivalent substitution, improvement, etc. within the spirit and principles of the present application should be included in the scope of the present application.
Claims (10)
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| CN116750019A (en) * | 2023-05-22 | 2023-09-15 | 武汉中车智能运输系统有限公司 | Air rail transport vehicle, air rail transport system and online cargo loading and unloading method |
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| CN105668231B (en) * | 2016-03-28 | 2017-09-29 | 冷国强 | Intelligent magnetic moves transporter |
| GB201716204D0 (en) * | 2017-10-04 | 2017-11-15 | Ocado Innovation Ltd | Transporting vessel, object handling system and method of relocating a transporting vessel |
| EP4053052A1 (en) * | 2021-02-26 | 2022-09-07 | ATS Automation Tooling Systems Inc. | System and method for moving element transport in a conveyor system |
| CN219361032U (en) * | 2022-11-04 | 2023-07-18 | 李胜善 | Double-track truss air traffic line |
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| CN116750019A (en) * | 2023-05-22 | 2023-09-15 | 武汉中车智能运输系统有限公司 | Air rail transport vehicle, air rail transport system and online cargo loading and unloading method |
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