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

Abstract

The application provides a magnetic drive type multi-load space storage transfer device and a transfer method thereof, and belongs to the field of aerospace. The application solves the problem of the single type and small quantity of the traditional space modularized cubic star storage structure, and cannot be applied to the current experimental load. 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, a storage side plate and a vertical pushing mechanism. The storage side plate comprises a fixed inner side plate, a fixed inner plate, a movable side plate and a fixed outer side plate which are sequentially and spacedly arranged. The top ends of the fixed inner side plate, the fixed inner plate and the fixed outer 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. The vertical pushing mechanism is arranged on the storage side plate. The fixed inner side plate and the fixed outer side plate are connected with linear guide rails on the two sides. The device is mainly used for the transfer of multi-load space storage.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of aerospace, in particular relates to a magnetic drive type multi-load space storage transfer device and a transfer method thereof. BACKGROUND

[0002] With the exploration of space by human beings, the number of experiments to be carried out in space and the time for astronauts to perform tasks in space stations have increased dramatically, so there is a certain requirement for the number of experimental loads in space, and the required loads need to be launched into space at one time.

[0003] After the experimental load enters space, a dedicated device is needed to store the load, and a transfer equipment is needed to transport the stored load to the designated position. Therefore, the storage device has high requirements, and the storage device should have the ability to store multiple loads and high-density storage. The transfer equipment should be able to transfer the stored load at high speed and reliably, and the disturbance to the load should be as small as possible, and it should be able to adapt to the microgravity environment. There is currently less research on in-orbit storage transfer equipment. By comparing with the traditional cubic star storage deployment device, the load type is single and the number is small, and the structure cannot meet the needs of the task.

[0004] Three-dimensional stacked storage stores loads in a whole column by means of storage side plates and top plates, and the storage density is high. By installing side plates at different positions, different types of loads can be adapted. The planar electromagnetic transfer device does not need external mechanical transmission, and the transfer efficiency is high, and the mass and volume are small. However, in order to realize the movement of the side plate to adapt to different loads, a motor and transmission equipment need to be added to realize it, which increases the overall volume and weight of the device. The existing planar electromagnetic transfer device cannot provide suspension force suitable for the space microgravity environment, and the dense arrangement of coils causes large volume and mass. SUMMARY

[0005] Therefore, the present application aims to provide a magnetic drive type multi-load space storage transfer device and a transfer method thereof to solve the problem that the traditional space modular cubic star storage structure has a single type and small number of stored loads, and cannot be applied to the current experimental load.

[0006] In order to achieve the above object, the application adopts the following technical scheme: a magnetic drive type multi-load space storage and transfer device, which 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, a storage side plate and a vertical pushing mechanism, the storage side plate comprises a fixed inner side plate, a fixed inner side plate, a movable side plate and a fixed outer side plate which are arranged in sequence, the top ends of the fixed inner side plate, the fixed inner side plate and the fixed outer 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, the vertical pushing mechanism is arranged on the storage side plate, the fixed inner side plate and the fixed outer side plate are connected with linear guides on both sides, linear bearings are arranged on both sides of the movable side plate, the linear bearings are slidably connected with the linear guides, 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 loads, the stator module comprises a yoke, a transfer track, a coil and a coil fixing frame, the transfer track and the coil fixing frame are arranged on the yoke, the coil is wound on the coil fixing frame, the mover module comprises 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, the permanent magnet assembly is arranged below the upper yoke, the mover module slides on the stator module, and the yoke is connected with the storage top plate through the electric telescopic rod.

[0007] Further, the storage side plate and the storage top plate are provided with wave bead screws, and the load surface and the top end of the movable side plate are provided with grooves matched with the wave bead screws.

[0008] Further, the vertical pushing mechanism comprises a synchronous pulley, a synchronous belt and a pushing wheel, the synchronous pulley is installed on the storage side plate through a shaft, the synchronous belt is engaged with the synchronous pulley, and the pushing wheel is connected with the shaft.

[0009] Further, a sliding groove is formed in the storage top plate, an external threaded bearing is arranged at the upper end of the movable side plate, and the external threaded bearing is connected with the sliding groove in a matched mode.

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

[0011] Further, the four coil fixing frames are a group, the four coil fixing frames of each group are arranged in the gap of the transfer track, and multiple groups of coil fixing frame arrays are arranged on the magnetic yoke.

[0012] Further, the permanent magnet assembly comprises a left vertical permanent magnet, a horizontal permanent magnet and a right vertical permanent magnet, and the left vertical permanent magnet, the horizontal permanent magnet and the right vertical permanent magnet are arranged in the order from left to right.

[0013] Further, the upper surface of the tray is provided with magnetic blocks and positioning rods, and the magnetic blocks are embedded in the tray in a square symmetric arrangement.

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

[0015] The application also provides a transfer method of the magnetic drive type multi-load space storage transfer device.

[0016] During storage, the loads are placed in the storage area formed by the storage side plate and the storage top plate, and the loads are pushed downward by the vertical pushing mechanism, and the loads are moved downward until they are placed on the tray of the mover module, and the above process is repeated to separate the loads in the column;

[0017] During transfer, the electric telescopic rod is extended, the coil in the stator module is controlled to be electrified, the permanent magnet assembly and the magnetic yoke generate an attractive force, and at the same time, an electromagnetic force is generated in the magnetic field formed by the permanent magnet assembly and the magnetic yoke to drive the movement of the mover module to complete the transfer.

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

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

[0020] Compared with the cube satellite storage deployment device in the application and application, the experimental load of various specifications can be adapted, compared with the moving mode of the conventional side plate, the magnetic drive does not need to add other actuating devices, and only relies on the coil required by the existing transfer device to realize the movement of the side plate.

[0021] The vertical pushing mechanism of the storage transfer device in the application uses a synchronous belt, which can effectively separate the three-dimensionally stacked experimental load; the synchronous belt driving pushing wheel has small volume and mass, and reduces the influence on the volume and mass of the storage transfer.

[0022] The mover module and the stator module of the transfer device have adsorption force, which can well adapt to microgravity in the space environment and ensure that the load does not fall off during the transfer process; the square coil is symmetrically arranged in a square shape, which can improve the space utilization rate of the transfer device and ensure that the mover module is always subjected to electromagnetic driving force during movement. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application, and are incorporated herein for explanation by reference. The schematic embodiments of the application and the description thereof are used to explain the application, and do not constitute an improper limitation on the application. In the drawings:

[0024] Figure 1 A magnetic drive type multi-load space storage transfer device three-dimensional structure schematic view is described in the application;

[0025] Figure 2 A moving side plate three-dimensional structure schematic view is described in the application;

[0026] Figure 3 A vertical pushing mechanism three-dimensional structure schematic view is described in the application;

[0027] Figure 4 A transfer device three-dimensional structure schematic view is described in the application;

[0028] Figure 5 A mover module transverse cross-sectional structure schematic view is described in the application;

[0029] Figure 6 A mover module tangential cross-sectional structure schematic view is described in the application;

[0030] Figure 7 A mover module three-dimensional structure schematic view is described in the application.

[0031] In the drawings:

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

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

[0034] Reference is made to Figures 1-7 The present embodiment is described as follows: a magnetic drive type multi-load space warehouse transport device includes a warehouse device 1, an electric telescopic rod 2 and a transport device 3. The transport device 3 is located below the warehouse device 1. The warehouse device 1 includes a warehouse top plate 4, a warehouse side plate and a vertical pushing mechanism. The warehouse side plate includes an inside fixed side plate 5, an inside fixed side plate 6, a moving side plate 7 and an outer fixed side plate 8 arranged in sequence and at intervals. The top ends of the inside fixed side plate 5, the inside fixed side plate 6 and the outer fixed side plate 8 are fixedly connected to the warehouse top plate 4 by screws. The top end of the moving side plate 7 is slidingly connected to the warehouse top plate 4. The vertical pushing mechanism is arranged on the warehouse side plate. The inside fixed side plate 6 and the outer fixed side plate 8 are connected to linear guide rails 9 on both sides. Linear bearings 11 are arranged on both sides of the moving side plate 7. The linear bearings 11 are slidingly connected to the linear guide rails 9. A moving permanent magnet 10 is arranged at the bottom of the moving side plate 7. The inside fixed side plate 5, the inside fixed side plate 6, the moving side plate 7 and the outer fixed side plate 8 are arranged in alignment and with a certain gap. A warehouse area for accommodating loads is formed by the warehouse side plate and the warehouse top plate 4.

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

[0036] In the embodiment, the storage side plate and the storage top plate 4 are provided with wave bead screws 12, and the load surface and the top end of the moving side plate 7 are provided with grooves matched with the wave bead screws 12. The steel balls on the wave bead screws 12 are extended under the action of the spring to match the grooves, so as to fix the position. The wave bead screws 12 on the storage side plate match the grooves of the load surface, so as to ensure the position of the load. The wave bead screws 12 on the storage top plate 4 match the grooves at the top end of the moving side plate 7, so as to ensure the position of the moving side plate 7.

[0037] In the embodiment, the vertical pushing mechanism includes a synchronous belt wheel 13, a synchronous belt 14 and a pushing wheel 15. The synchronous belt wheel 13 is installed on the storage side plate through a shaft, the synchronous belt 14 is engaged with the synchronous belt wheel 13, and the pushing wheel 15 is connected with the shaft. The side surface of the load is provided with a tooth, and the pushing wheel 15 is engaged with the tooth.

[0038] In the embodiment, the storage top plate 4 is provided with a sliding groove, and the upper end of the moving side plate 7 is provided with an external threaded bearing connected with the sliding groove in a matched mode.

[0039] In the embodiment, the number of the upper magnetic yokes 22 in a single mover module is four, and the four upper magnetic yokes 22 are arranged in a quadrature mode. Each upper magnetic yoke 22 is provided below with a permanent magnet assembly 23, and the four permanent magnet assemblies 23 are arranged in a Halbach permanent magnet array mode.

[0040] In the embodiment, the four 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 magnetic yoke 16. There is an air gap between the permanent magnet assembly 23 and the magnetic yoke 16. The coil 18 is located in the air gap. The permanent magnet assembly 23 is arranged opposite to the coil 18. 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 in a square symmetry mode.

[0041] In the embodiment, the permanent magnet assembly 23 includes a left vertical permanent magnet, a horizontal permanent magnet and a right vertical permanent magnet. The left vertical permanent magnet, the horizontal permanent magnet and the right vertical permanent magnet are arranged in a left-to-right sequence. The magnetization directions of the left vertical permanent magnet, the horizontal permanent magnet and the right vertical permanent magnet from left to right are as follows: upper S and lower N, left N and right S, upper N and lower S, or upper N and lower S, left S and right N, and upper S and lower N.

[0042] In the embodiment, the upper surface of the tray 21 is provided with magnetic blocks 24 and positioning rods 25. The magnetic blocks 24 are embedded in the tray 21 in a square symmetry arrangement mode.

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

[0044] The present embodiment is a transfer method of a magnetic drive type multi-load space warehouse transfer device, which is as follows:

[0045] When warehousing, the warehouse area containing the load is formed by the warehouse side plate and the warehouse top plate 4, and the whole column of loads is placed in the warehouse area. The bottommost load is clamped by the wave bead screw 12 at the bottom of the warehouse side plate, and the position of the load above is guaranteed by the warehouse top plate 4, thereby realizing the clamping of the whole column of loads. The load is pushed downward by the vertical pushing mechanism, which is driven by the synchronous belt 14 matched with the synchronous belt wheel 13. The synchronous belt wheel 13 and the pushing wheel 15 are connected to the same shaft. When the synchronous belt 14 drives the synchronous belt wheel 13 to rotate, the shaft drives the pushing wheel 15 to rotate. The installation position of the shaft makes the pushing wheel 15 contact with the side surface of the load and engage with the teeth on the side surface, thereby realizing the downward pushing of the load. The load moves downward and leaves the recess matched with the load by overcoming the elastic force of the spring of the bottommost wave bead screw 12. Thereafter, the elastic force of the spring of the wave bead screw 12 provides a certain friction force to ensure the controllability of the pushing process. The load moves downward until the bottommost load is placed on the tray 21 of the mover module, which is adsorbed and retained by the magnetic block 24 on the mover module, and the position is determined by the positioning rod 25 on the mover module. At this time, the wave bead screw 12 in the upper warehouse area is embedded in the recess of the current bottommost load to be transferred, and enters the warehouse state. The above process is repeated to realize the separation of the whole column of loads.

[0046] When transferring, 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 to ensure that the mover module is always adsorbed on the transfer track 17, adapt to the microgravity environment, and generate an electromagnetic force in the magnetic field formed by the permanent magnet assembly 23 and the magnetic yoke 16. The upper magnetic yoke 22 is provided to reduce magnetic leakage and provide a mounting place for the permanent magnet assembly 23. The four Halbach permanent magnet arrays in the permanent magnet assembly 23 are arranged orthogonally. The adjacent Halbach permanent magnets cooperate with the coil 18 to generate magnetic forces perpendicular to each other in the horizontal direction. The diagonal coils 18 in the two required motion directions are energized to drive the mover module to move and complete the transfer.

[0047] When all the loads in the warehouse device 1 are transported, the new loads need to be refilled. When filling, the electric telescopic rod 2 is retracted to a position where the electromagnetic force generated by the coil 18 and the moving permanent magnet 10 is enough to drive the moving side plate 7 to move, the coil 18 in the stator module below the control moving side plate 7 is electrified, the electromagnetic force generated by the coil 18 and the moving permanent magnet 10 drives the moving side plate 7 to move, the moving side plate 7 ensures linear movement under the cooperation of the linear guide rail 9 and the linear bearing 11, the spacing between each warehouse side plate is adjusted to adapt to different specifications of the load, the position of the moving side plate 7 is ensured by the cooperation of the wave bead screw 12 above the warehouse top plate 4 and the groove above the moving side plate 7, and the load is filled after the spacing required by the load is adjusted.

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

Claims

1. A magnetic drive multi-load space storage and transfer device, characterized by: It includes warehouse device (1), electric telescopic rod (2) and transfer device (3), the transfer device (3) is located below the warehouse device (1), the warehouse device (1) includes warehouse top plate (4), warehouse side plate and vertical pushing mechanism, the warehouse side plate includes inside fixed side plate (5), inner fixed side plate (6), mobile side plate (7) and outer fixed side plate (8) arranged in sequence, the top of inside fixed side plate (5), inner fixed side plate (6) and outer fixed side plate (8) is fixedly connected with warehouse top plate (4), the top of mobile side plate (7) is slidably connected with warehouse top plate (4), the vertical pushing mechanism is arranged on the warehouse side plate, the both sides of inner fixed side plate (6) and outer fixed side plate (8) are connected with linear guide rail (9), the both sides of mobile side plate (7) are provided with linear bearing (11), the linear bearing (11) is slidably connected with linear guide rail (9), the bottom of mobile side plate (7) is provided with mobile permanent magnet (10), the warehouse side plate and warehouse top plate (4) form the warehouse area containing load, the stator module includes yoke (16), transfer track (17), coil (18) and coil fixing frame (19), the transfer track (17) and coil fixing frame (19) are arranged on the yoke (16), the coil (18) is wound on the coil fixing frame (19), the mover module includes mover mounting frame (20), tray (21), upper yoke (22) and 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, the yoke (16) is connected with the warehouse top plate (4) through the electric telescopic rod (2).

2. The magnetic drive type multi-load space warehouse transfer device according to claim 1, characterized in that: The wave bead screw (12) is arranged on the warehouse side plate and warehouse top plate (4), and the load surface and the top of the mobile side plate (7) are provided with grooves matched with the wave bead screw (12).

3. The magnetic drive type multi-load space warehouse transfer device according to claim 1, characterized in that: The vertical pushing mechanism includes synchronous pulley (13), synchronous belt (14) and pushing wheel (15), the synchronous pulley (13) is installed on the warehouse side plate through a shaft, the synchronous belt (14) is engaged with the synchronous pulley (13), the pushing wheel (15) is connected with the shaft, and the side surface of the load is provided with teeth, and the pushing wheel (15) is engaged with the teeth.

4. The magnetic drive type multi-load space warehouse transfer device according to claim 1, characterized in that: The sliding groove is formed in the warehouse top plate (4), and the outer threaded bearing is arranged on the upper end of the mobile side plate (7) and connected with the sliding groove in a matched mode.

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

6. The magnetic drive type multi-load space warehouse transfer device according to claim 5, characterized in that: Four said coil fixing frames (19) are a group, and the four coil fixing frames (19) of each group are arrayed in the gap of the transfer track (17); a plurality of groups of coil fixing frames (19) are arrayed on the magnetic yoke (16); there is an air gap between the permanent magnet assembly (23) and the magnetic yoke (16); the coil (18) is located in the air gap; the permanent magnet assembly (23) is arranged opposite to the coil (18); the coil fixing frame (19) is a square fixing frame; the coil (18) is a square coil; and the four coil fixing frames (19) of each group are symmetrically arranged in a square.

7. The magnetic drive type multi-load space warehouse 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, which are arranged in the 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 in the order from left to right as follows: upper S and lower N, left N and right S, upper N and lower S, or upper N and lower S, left S and right N, upper S and lower N.

8. The magnetic drive multi-load space warehouse 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 symmetric arrangement.

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

10. A transfer method of the magnetic drive type multi-load space warehouse transfer device according to claim 1, characterized in that: During warehousing, the loads are placed in the warehouse area formed by the warehouse side plate and the warehouse top plate (4) to accommodate the loads, and the loads are pushed downward by the vertical pushing mechanism, and the loads are moved downward until they are placed on the tray (21) of the mover module, and the above process is repeated to separate the loads in the column; During transfer, the electric telescopic rod (2) is extended, the coil (18) in the stator module is controlled to be energized, the permanent magnet assembly (23) and the magnetic yoke (16) generate an attractive 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 movement of the mover module to complete the transfer; During loading, the electric telescopic rod (2) is retracted, the coil (18) in the stator module is controlled to be energized, and the electromagnetic force generated by the coil (18) and the moving permanent magnet (10) drives the movement of the moving side plate (7), and the moving side plate (7) is adjusted to the required distance of the loads before the loads are loaded.

Images