Magnetic drive type multi-load space storage transfer device and transfer method thereof

Abstract

The invention provides a magnetic drive type multi-load space storage transfer device and a transfer method thereof, and belongs to the field of aerospace. The problems that a traditional space modularization cubesat storage structure is single in storage load type, small in storage load number and incapable of being applied to current experiment loads are solved. The device comprises a storage device, an electric telescopic rod and a transfer device, the transfer device is located below the storage device, the storage device comprises a storage top plate, storage side plates and a vertical pushing mechanism, and the storage side plates comprise an inner side fixed side plate, an inner fixed side plate, a movable side plate and an outer fixed side plate which are sequentially arranged at intervals; the top ends of the inner side fixing side plate, the inner fixing side plate and the outer fixing side plate are fixedly connected with the storage top plate, the top end of the movable side plate is slidably connected with the storage top plate, a vertical pushing mechanism is arranged on the storage side plate, and the two sides of the inner fixing side plate and the two sides of the outer fixing side plate are connected with linear guide rails. The device is mainly used for multi-load space storage and transfer.

Description

Technical Field

[0001] The present invention belongs to the field of aerospace, and in particular relates to a magnetically driven multi-load space storage and transfer device and a transfer method thereof. Background Art

[0002] With human exploration of space, the number of experiments that need to be carried out in space and the time astronauts perform missions in space stations have increased dramatically. Therefore, there are certain requirements for the number of experimental payloads in space, and the required payloads need to be launched into space at one time in a single launch mission.

[0003] After the experimental payload enters space, a dedicated device is required to store the payload, and the stored payload must be transported to a designated location with transfer equipment. Therefore, higher requirements are placed on the storage device, which should have a variety of payload storage capabilities and high-density storage capabilities. The transfer equipment should be able to transfer the stored payload at high speed and reliably, the disturbance to the payload should be as small as possible, and it should be able to adapt to the microgravity environment. Currently, there is little research on on-orbit storage and transfer equipment. Compared with traditional cubic satellite storage deployers, the payload types and quantities are single, and the structure cannot meet the mission requirements.

[0004] Three-dimensional stacking storage uses storage side panels and top panels to stack the entire column of loads, with high storage density. By installing side panels at different positions, it can accommodate different types of loads. The planar electromagnetic transfer device does not require external mechanical transmission, has high transfer efficiency, and has a small mass and volume. However, in order to achieve the movement of the side panels to adapt to different loads, it is necessary to add motors and transmission equipment to achieve this, which increases the overall volume and weight of the device. The suspension force provided by the existing planar electromagnetic transfer device is not suitable for the microgravity environment of space, and the dense arrangement of the coils results in a large volume and mass. Summary of the invention

[0005] In view of this, the present invention aims to propose a magnetically driven multi-load space storage and transfer device and a transfer method thereof, so as to solve the problem that the storage loads of the traditional space modular cubic satellite storage structure are of a single type and small quantity, and cannot be applied to current experimental loads.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a magnetically driven multi-load space storage and transfer device, which includes a storage device, an electric telescopic rod and a transfer device, wherein the transfer device is located below the storage device, and the storage device includes a storage top plate, a storage side plate and a vertical pushing mechanism, wherein the storage side plate includes an inner fixed side plate, an inner fixed side plate, a movable side plate and an outer fixed side plate which are arranged in sequence, wherein the top ends of the inner fixed side plate, the inner fixed side plate and the outer fixed side plate are fixedly connected to the storage top plate, and the top end of the movable side plate is slidably connected to the storage top plate, and a vertical pushing mechanism is arranged on the storage side plate, and both sides of the inner fixed side plate and the outer fixed side plate are connected to linear guide rails, and the movable side plate Linear bearings are arranged on both sides of the plate, and the linear bearings are slidably connected with the linear guide rails. A movable permanent magnet is arranged at the bottom of the movable side plate. The storage side plate and the storage top plate form a storage area for accommodating the load. The stator module includes a yoke, a transfer track, a coil and a coil fixing frame. The transfer track and the coil fixing frame are both arranged on the yoke, and the coil is wound on the coil fixing frame. The mover module includes a mover mounting frame, a tray, an upper yoke and a permanent magnet assembly. The tray is connected above the mover mounting frame, the upper yoke is arranged in the mover mounting frame, and the permanent magnet assembly is arranged below the upper yoke. The mover module slides on the stator module, and the yoke is connected to the storage top plate through an electric telescopic rod.

[0007] Furthermore, the storage side panels and the storage top panel are both provided with ball screws, and the load surface and the top of the movable side panel are both provided with grooves that cooperate with the ball screws.

[0008] Furthermore, the vertical pushing mechanism includes a synchronous pulley, a synchronous belt and a pushing wheel, the synchronous pulley is installed on the storage side panel through an axis, the synchronous belt is meshed with the synchronous pulley, the pushing wheel is connected to the axis, the side surface of the load is provided with teeth, and the pushing wheel is meshed with the teeth.

[0009] Furthermore, a sliding groove is provided on the storage top plate, and an external threaded bearing is provided on the upper end of the movable side plate, and the external threaded bearing is connected with the sliding groove in cooperation.

[0010] Furthermore, the number of upper magnetic yokes in a single mover module is four, and the four upper magnetic yokes are arranged orthogonally. A permanent magnet assembly is provided directly below each upper magnetic yoke, and the four permanent magnet assemblies are arranged in the form of a Halbach permanent magnet array.

[0011] Furthermore, four of the coil fixing frames form a group, and an array of four coil fixing frames in each group is arranged in the gap of the transfer track. Multiple groups of coil fixing frames are arranged on the yoke. There is an air gap between the permanent magnet assembly and the yoke, and the coil is located in the air gap. The permanent magnet assembly and the coil are arranged opposite to each other. The coil fixing frame is a square fixing frame, and the coil is a square coil. The four coil fixing frames in each group are arranged symmetrically in a square.

[0012] Furthermore, the permanent magnet assembly includes a left vertical permanent magnet, a transverse permanent magnet and a right vertical permanent magnet, and the left vertical permanent magnet, the transverse permanent magnet and the right vertical permanent magnet are arranged in order from left to right, and the magnetization directions of the left vertical permanent magnet, the transverse permanent magnet and the right vertical permanent magnet are from left to right: top S and bottom N, left N and right S, top N and bottom S or top N and bottom S, left S and right N, top S and bottom N.

[0013] Furthermore, a magnetic block and a positioning rod are arranged on the upper surface of the tray, and the magnetic block is embedded in the tray in a square symmetrical arrangement.

[0014] Furthermore, the magnetic yoke and the upper magnetic yoke are both made of soft magnetic alloy 1J50 material, the permanent magnet assembly is made of NdFeB alloy hard magnetic material, and the storage top plate, storage side plate, transfer track and mover mounting frame are all made of 1060 aluminum alloy material.

[0015] The present invention also provides a transfer method of a magnetic drive multi-load space storage and transfer device, which is as follows:

[0016] During storage, a whole row of loads is placed in a storage area formed by the storage side panels and the storage top panel to accommodate the loads, and the loads are pushed downward by the vertical pushing mechanism. The loads move downward until they are placed on the tray of the mover module, and the above process is repeated to achieve separation of the whole row of loads;

[0017] During transportation, the electric telescopic rod extends to control the coil in the stator module to be energized, and the permanent magnet assembly and the magnetic yoke generate an adsorption force. At the same time, an electromagnetic force is generated in the magnetic field formed by the permanent magnet assembly and the magnetic yoke, which drives the mover module to move and complete the transportation.

[0018] During loading, the electric telescopic rod retracts, controlling the coil in the stator module to be energized. The electromagnetic force generated by the coil and the moving permanent magnet drives the moving side plate to move, and the load is loaded after adjusting to the required distance of the load.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] Compared with the cubic satellite storage deployment device in application, the present invention can adapt to experimental loads of various specifications. Compared with the movement method of the conventional side panels, the magnetic drive does not need to add other actuating devices, and the movement of the side panels can be achieved only by relying on the coils required by the existing transfer device.

[0021] The present invention uses a synchronous belt as a vertical pushing mechanism of the storage and transportation device, which can effectively separate the three-dimensional stacked experimental loads; the synchronous belt drives the pushing wheel, which has a small volume and mass, reducing the impact on the volume and mass of storage and transportation.

[0022] There is adsorption force between the mover module and the stator module of the transfer device of the present invention, which can adapt well to the microgravity in the space environment and ensure that the load does not detach during the transfer process; the square coils are symmetrically arranged in a square shape to improve the space utilization of the transfer device and ensure that the mover module is always subjected to electromagnetic driving force during the movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of a magnetic drive multi-load space storage and transfer device according to the present invention;

[0025] Figure 2 It is a schematic diagram of the three-dimensional structure of the movable side plate of the present invention;

[0026] Figure 3 It is a schematic diagram of the three-dimensional structure of the vertical pushing mechanism of the present invention;

[0027] Figure 4 It is a schematic diagram of the three-dimensional structure of the transfer device of the present invention;

[0028] Figure 5 This is a schematic diagram of the transverse cross-sectional structure of the mover module of the present invention;

[0029] Figure 6 This is a schematic diagram of a tangential cross-sectional structure of a mover module according to the present invention;

[0030] Figure 7 It is a schematic diagram of the three-dimensional structure of the mover module described in the present invention.

[0031] In the figure:

[0032] 1-storage device, 2-electric telescopic rod, 3-transfer device, 4-storage top plate, 5-inner fixed side plate, 6-inner fixed side plate, 7-movable side plate, 8-outer fixed side plate, 9-linear guide, 10-movable permanent magnet, 11-linear bearing, 12-ball screw, 13-synchronous pulley, 14-synchronous belt, 15-push wheel, 16-yoke, 17-transfer track, 18-coil, 19-coil fixing frame, 20-moving element mounting frame, 21-tray, 22-upper yoke, 23-permanent magnet assembly, 24-magnetic block, 25-positioning rod. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0034] See also Figure 1-7 The present embodiment is described as a magnetically driven multi-load space storage and transfer device, which comprises a storage device 1, an electric telescopic rod 2 and a transfer device 3, wherein the transfer device 3 is located below the storage device 1, and the storage device 1 comprises a storage top plate 4, a storage side plate and a vertical pushing mechanism, wherein the storage side plate comprises an inner fixed side plate 5, an inner fixed side plate 6, a movable side plate 7 and an outer fixed side plate 8 which are sequentially arranged at intervals, wherein the inner fixed side plate 5, the inner fixed side plate 6 and the outer fixed side plate 8 are fixedly connected to the storage top plate 4 by screws, and the movable side plate 7 The top end is slidably connected to the storage top plate 4, and a vertical pushing mechanism is arranged on the storage side plate. Both sides of the inner fixed side plate 6 and the outer fixed side plate 8 are connected to linear guide rails 9, and linear bearings 11 are arranged on both sides of the movable side plate 7. The linear bearings 11 are slidably connected to the linear guide rails 9, and a movable permanent magnet 10 is arranged at the bottom of the movable side plate 7. The inner fixed side plate 5, the inner fixed side plate 6, the movable side plate 7 and the outer fixed side plate 8 are arranged opposite to each other and with a certain gap therebetween, and a storage area for accommodating loads is formed by the storage side plates and the storage top plate 4.

[0035] The stator module includes a yoke 16, a transfer track 17, a coil 18 and a coil fixing frame 19, the transfer track 17 and the coil fixing frame 19 are both arranged on the yoke 16, the coil 18 is wound on the coil fixing frame 19, the mover module includes a mover mounting frame 20, a tray 21, an upper yoke 22 and a permanent magnet assembly 23, the tray 21 is connected above the mover mounting frame 20, the upper yoke 22 is arranged in the mover mounting frame 20, the permanent magnet assembly 23 is arranged below the upper yoke 22, the mover module slides on the stator module, and the yoke 16 is connected to the storage top plate 4 through the electric telescopic rod 2.

[0036] In this embodiment, the storage side panels and the storage top panel 4 are both provided with ball screws 12, and the load surface and the top of the movable side panel 7 are both provided with grooves that cooperate with the ball screws 12. The steel balls on the ball screws 12 extend out under the action of the spring and cooperate with the grooves to achieve position fixation. The ball screws 12 on the storage side panels cooperate with the grooves on the load surface to ensure the position of the load. The ball screws 12 on the storage top panel 4 cooperate with the grooves on the top of the movable side panel 7 to ensure the position of the movable side panel 7.

[0037] In this embodiment, the vertical pushing mechanism includes a synchronous pulley 13, a synchronous belt 14 and a pushing wheel 15. The synchronous pulley 13 is installed on the storage side panel through an axis. The synchronous belt 14 is meshed with the synchronous pulley 13. The pushing wheel 15 is connected to the axis. The side surface of the load is provided with teeth, and the pushing wheel 15 is meshed with the teeth.

[0038] In this embodiment, a sliding groove is provided on the storage top plate 4, and an external thread bearing is provided on the upper end of the movable side plate 7, and the external thread bearing is connected with the sliding groove in cooperation.

[0039] In this embodiment, there are four upper magnetic yokes 22 in a single mover module. The four upper magnetic yokes 22 are arranged orthogonally. A permanent magnet assembly 23 is provided directly below each upper magnetic yoke 22. The four permanent magnet assemblies 23 are arranged in a Halbach permanent magnet array.

[0040] In this embodiment, four of the coil fixing frames 19 form a group, and the four coil fixing frames 19 in each group are arranged in an array in the gap of the transfer track 17. Multiple groups of coil fixing frames 19 are arranged in an array on the yoke 16. There is an air gap between the permanent magnet assembly 23 and the yoke 16. The coil 18 is located in the air gap. The permanent magnet assembly 23 and the coil 18 are arranged opposite to each other. The coil fixing frame 19 is a square fixing frame, and the coil 18 is a square coil. The four coil fixing frames 19 in each group are arranged symmetrically in a square.

[0041] In this embodiment, the permanent magnet assembly 23 includes a left vertical permanent magnet, a transverse permanent magnet and a right vertical permanent magnet. The left vertical permanent magnet, the transverse permanent magnet and the right vertical permanent magnet are arranged in order from left to right, and the magnetization directions of the left vertical permanent magnet, the transverse permanent magnet and the right vertical permanent magnet are from left to right: top S and bottom N, left N and right S, top N and bottom S or top N and bottom S, left S and right N, top S and bottom N.

[0042] In this embodiment, a magnetic block 24 and a positioning rod 25 are disposed on the upper surface of the tray 21 , and the magnetic block 24 is embedded in the tray 21 in a square symmetrical arrangement.

[0043] In this embodiment, the yoke 16 and the upper yoke 22 are both made of soft magnetic alloy 1J50 material, the permanent magnet assembly 23 is made of NdFeB alloy hard magnetic material, and the storage top plate 4, storage side plate, transfer track 17 and mover mounting frame 20 are all made of 1060 aluminum alloy material.

[0044] This embodiment is a transfer method of a magnetic drive multi-load space storage and transfer device, which is specifically as follows:

[0045] During storage, a storage area for accommodating loads is formed by the storage side panels and the storage top panel 4. The entire row of loads is placed in the storage area. The bottom load is clamped by the ball screw 12 at the bottom of the storage side panels, and the upper load position is ensured by the storage top panel 4, thereby realizing the clamping of the entire row of loads. The load is pushed downward by the vertical pushing mechanism, which is driven by the synchronous belt 14 in conjunction with the synchronous pulley 13. The synchronous pulley 13 and the pushing wheel 15 are connected to the same shaft. When the synchronous belt 14 drives the synchronous pulley 13 to rotate, the pushing wheel 15 is driven to rotate through the shaft. The pushing wheel 15 contacts the side surface of the load through the installation position of the shaft, and meshes with the teeth on the side surface, thereby realizing the downward pushing of the load. The load moves downward, overcomes the elastic force of the spring of the ball screw 12 at the bottom layer and leaves the matching groove on the load. Thereafter, the elastic force of the spring of the ball screw 12 provides a certain friction force to ensure that the pushing process is controllable. The load moves downward until the bottom load is placed on the tray 21 of the mover module, and is held by the magnetic block 24 on the mover module, and the positioning rod 25 on the mover module determines the position. At this time, the ball screw 12 in the upper storage area is embedded in the groove of the current bottom load to be transferred, and enters the storage state. The above process is repeated to achieve the separation of the entire column of loads.

[0046] During transportation, the electric telescopic rod 2 is extended to control the coil 18 in the stator module to be energized, and the permanent magnet assembly 23 and the yoke 16 generate adsorption force to ensure that the mover module is always adsorbed on the transport track 17 to adapt to the microgravity environment. At the same time, electromagnetic force is generated in the magnetic field formed by the permanent magnet assembly 23 and the yoke 16. The setting of the upper yoke 22 reduces leakage magnetism and provides an installation place for the permanent magnet assembly 23. The four Halbach permanent magnet arrays in the permanent magnet assembly 23 are orthogonally arranged. The adjacent Halbach permanent magnets cooperate with the coil 18 to generate magnetic forces that are perpendicular to each other in the horizontal direction. The diagonal permanent magnets and the coil 18 generate magnetic forces in the same direction. Each movement only requires the two diagonal coils 18 in the required movement direction to be energized, and the mover module is driven by electromagnetic force to complete the transportation.

[0047] When all the loads stored in the storage device 1 are transported away, they need to be reloaded to adapt to the new loads. During loading, the electric telescopic rod 2 retracts a distance to the position where the electromagnetic force generated by the coil 18 and the mobile permanent magnet 10 is sufficient to drive the mobile side plate 7 to move, and the coil 18 in the stator module below the mobile side plate 7 is energized. The electromagnetic force generated by the coil 18 and the mobile permanent magnet 10 drives the mobile side plate 7 to move. The mobile side plate 7 ensures linear movement with the cooperation of the linear guide 9 and the linear bearing 11. The spacing between the storage side plates is adjusted to adapt to loads of different specifications. The position of the mobile side plate 7 is ensured by the ball screw 12 above the storage top plate 4 and the groove above the mobile side plate 7. The load is loaded after adjusting to the required spacing for the load.

[0048] The specific embodiments of the present invention disclosed above are only used to help explain the present invention. The specific embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. According to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well.

Claims

1. A magnetic drive multi-load space storage and transfer device, characterized in that: It comprises a storage device (1), an electric telescopic rod (2) and a transfer device (3). The transfer device (3) is located below the storage device (1). The storage device (1) comprises a storage top plate (4), a storage side plate and a vertical pushing mechanism. The storage side plate comprises an inner fixed side plate (5), an inner fixed side plate (6), a movable side plate (7) and an outer fixed side plate (8) which are arranged in sequence at intervals. The top ends of the inner fixed side plate (5), the inner fixed side plate (6) and the outer fixed side plate (8) are all fixedly connected to the storage top plate (4). The top end of the movable side plate (7) is slidably connected to the storage top plate (4). The storage side plate is provided with a vertical pushing mechanism. Both sides of the inner fixed side plate (6) and the outer fixed side plate (8) are connected to linear guide rails (9). Both sides of the movable side plate (7) are provided with linear bearings (11). The linear bearings (11) are slidably connected to the linear guide rails (9). A movable permanent magnet (10) is arranged at the bottom of the movable side plate (7); the storage side plate and the storage top plate (4) form a storage area for accommodating a load; the stator module comprises a yoke (16), a transfer track (17), a coil (18) and a coil fixing frame (19); the transfer track (17) and the coil fixing frame (19) are both arranged on the yoke (16); the coil (18) is wound on the coil fixing frame (19); the movable module comprises a movable mounting frame (20), a tray (21), an upper yoke (22) and a permanent magnet assembly (23); the tray (21) is connected above the movable mounting frame (20); the upper yoke (22) is arranged in the movable mounting frame (20); the permanent magnet assembly (23) is arranged below the upper yoke (22); the movable module slides on the stator module; and the yoke (16) is connected to the storage top plate (4) via an electric telescopic rod (2).

2. The magnetic drive multi-load space storage and transfer device according to claim 1, characterized in that: The storage side panels and the storage top panel (4) are both provided with ball screws (12), and the load surface and the top of the movable side panel (7) are both provided with grooves matching with the ball screws (12).

3. The magnetic drive multi-load space storage and transfer device according to claim 1, characterized in that: The vertical pushing mechanism comprises a synchronous pulley (13), a synchronous belt (14) and a pushing wheel (15); the synchronous pulley (13) is mounted on a storage side plate via a shaft; the synchronous belt (14) is meshed with the synchronous pulley (13); the pushing wheel (15) is connected to the shaft; the side surface of the load is provided with teeth; the pushing wheel (15) is meshed with the teeth.

4. The magnetic drive multi-load space storage and transfer device according to claim 1, characterized in that: The storage top plate (4) is provided with a sliding groove, and the upper end of the movable side plate (7) is provided with an external thread bearing, and the external thread bearing is connected with the sliding groove in a matching manner.

5. The magnetic drive multi-load space storage and transfer device according to claim 1, characterized in that: The number of upper magnetic yokes (22) in a single mover module is four, the four upper magnetic yokes (22) are arranged orthogonally, a permanent magnet assembly (23) is arranged directly below each upper magnetic yoke (22), and the four permanent magnet assemblies (23) are arranged in a Halbach permanent magnet array.

6. The magnetic drive multi-load space storage and transfer device according to claim 5, characterized in that: Four coil fixing frames (19) form a group, and the four coil fixing frames (19) of each group are arranged in an array in the gap of the transfer track (17). Multiple groups of coil fixing frames (19) are arranged in an array on the yoke (16). An air gap exists between the permanent magnet assembly (23) and the yoke (16), and the coil (18) is located in the air gap. The permanent magnet assembly (23) and the coil (18) are arranged opposite to each other. The coil fixing frames (19) are square fixing frames, and the coil (18) is a square coil. The four coil fixing frames (19) of each group are arranged symmetrically in a square shape.

7. The magnetic drive multi-load space storage and transfer device according to claim 6, characterized in that: The permanent magnet assembly (23) comprises a left vertical permanent magnet, a transverse permanent magnet and a right vertical permanent magnet, wherein the left vertical permanent magnet, the transverse permanent magnet and the right vertical permanent magnet are arranged in order from left to right, and the magnetization directions of the left vertical permanent magnet, the transverse permanent magnet and the right vertical permanent magnet are, from left to right, top S and bottom N, left N and right S, top N and bottom S or top N and bottom S, left S and right N, top S and bottom N.

8. The magnetic drive multi-load space storage and transfer device according to claim 1, characterized in that: The upper surface of the tray (21) is provided with a magnetic block (24) and a positioning rod (25), and the magnetic block (24) is embedded in the tray (21) in a square symmetrical arrangement.

9. The magnetic drive multi-load space storage and transfer device according to claim 1, characterized in that: The magnetic yoke (16) and the upper magnetic yoke (22) are both made of a soft magnetic alloy 1J50 material, the permanent magnet assembly (23) is made of a neodymium iron boron alloy hard magnetic material, and the storage top plate (4), storage side plates, transfer rails (17) and mover mounting frame (20) are all made of a 1060 aluminum alloy material.

10. A method for transporting a magnetically driven multi-load space storage and transport device as claimed in claim 1, characterized in that: During storage, a whole row of loads is placed in a storage area for accommodating the loads formed by the storage side panels and the storage top panel (4), and the loads are pushed downward by the vertical pushing mechanism. The loads move downward until they are placed on the tray (21) of the moving submodule, and the above process is repeated to achieve separation of the whole row of loads; During transportation, the electric telescopic rod (2) is extended, the coil (18) in the stator module is energized, the permanent magnet assembly (23) and the magnetic yoke (16) generate an adsorption force, and at the same time, an electromagnetic force is generated in the magnetic field formed by the permanent magnet assembly (23) and the magnetic yoke (16), which drives the mover module to move and complete the transportation; During loading, the electric telescopic rod (2) is retracted, and the coil (18) in the stator module is energized. The electromagnetic force generated by the coil (18) and the movable permanent magnet (10) drives the movable side plate (7) to move, and the load is loaded after adjusting to the required distance of the load.

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